Wheel system and mobile chassis

Abstract

The utility model provides a wheel system and a mobile chassis, and relates to the technical field of vehicles and automatic driving, in particular to the technical field of automatic driving testing. The wheel system comprises a chassis supporting plate; a wheel axle; the wheel axle is rotatably installed on the follow-up device around a first axis, the follow-up device is rotatably installed on the chassis supporting plate around a second axis, and the chassis supporting plate is provided with a sliding groove, so that when the follow-up device rotates around the second axis, the wheel axle can slide into or slide out of the sliding groove; and the torsional spring devices are configured to apply torque to the follow-up device, so that the wheel axle tends to slide out of the sliding groove.

Description

Technical Field

[0001] This disclosure relates to the fields of vehicles and autonomous driving technology, and more particularly to the field of autonomous driving testing technology, specifically to a wheel system and a mobile chassis. Background Technology

[0002] Autonomous driving technology is a new element of smart cities that has gradually become more widespread in recent years with the development of new energy vehicles and intelligent traffic management. As the application scope of autonomous driving technology continues to expand, new stability requirements are being placed on the testing process to ensure the safety and reliability of autonomous vehicles during testing. In closed test tracks, autonomous vehicles need to simulate various complex scenarios, including interactions with obstacles such as dummies and fake vehicles, to verify their performance and safety under extreme conditions. Therefore, safe, efficient, and intelligent autonomous driving testing that simulates real traffic scenarios remains a research hotspot.

[0003] The technical means described in this section are not necessarily those previously conceived or employed. Unless otherwise specified, no technical means described in this section should be assumed to be prior art simply because it is included in this section. Similarly, unless otherwise specified, the issues mentioned in this section should not be considered to be generally accepted in any prior art. Utility Model Content

[0004] This disclosure provides a wheel system and a mobile chassis.

[0005] According to one aspect of this disclosure, a wheel system is provided, comprising: a chassis support plate; a wheel axle; a follower device, the wheel axle being rotatably mounted on the follower device about a first axis, the follower device being rotatably mounted on the chassis support plate about a second axis, the chassis support plate being provided with a groove such that the wheel axle can slide into or out of the groove when the follower device rotates about the second axis; and at least one set of torsion spring devices configured to apply a torque to the follower device to cause the wheel axle to tend to slide out of the groove.

[0006] In some embodiments, each of the at least one set of torsion spring devices includes a torsion spring, a torsion spring support rod, a torsion spring limiting head, and a torsion spring pressure rod. The torsion spring support rod and the torsion spring limiting head are fixedly mounted on the chassis support plate, and the torsion spring pressure rod is fixedly mounted on the follower device. The torsion spring is sleeved on the torsion spring support rod. The torsion spring includes a first torsion arm for contacting the torsion spring limiting head and a second torsion arm for contacting the torsion spring pressure rod. The torsion spring applies torque to the follower device through the second torsion arm.

[0007] In some embodiments, at least one set of torsion spring devices includes a first torsion spring device and a second torsion spring device. The first torsion spring device includes a first torsion spring, a first torsion spring support rod, a first torsion spring limiting head, and a first torsion spring pressure rod. The second torsion spring device includes a second torsion spring, a second torsion spring support rod, a second torsion spring limiting head, and a second torsion spring pressure rod. The first torsion spring support rod and the second torsion spring support rod are respectively installed on both sides of the follower device. The first torsion spring pressure rod is installed on one end of the follower device near the first axis, and the second torsion spring pressure rod is installed on the other end of the follower device near the second axis.

[0008] In some embodiments, a first torsion spring applies a thrust in a first direction to a first torsion spring rod to apply a first torque to the follower device, and a second torsion spring applies a thrust in a second direction different from the first direction to a second torsion spring rod to apply a second torque to the follower device, wherein the first torque and the second torque have the same direction.

[0009] In some embodiments, the torsion spring support rod, the first axis, and the second axis are arranged in parallel.

[0010] In some embodiments, the wheel system further includes: a drive shaft rotatably mounted on a chassis support plate about a second axis, a follower having a through hole at the second axis to receive the drive shaft and allow it to rotate freely; a first timing belt; a first drive pulley mounted at one end of the drive shaft; a first driven pulley mounted at one end of the wheel axle, the first drive pulley and the first driven pulley being mounted on the same side of the follower and driven by the first timing belt; a wheel mounted at the other end of the wheel axle; and a power output device configured to provide power to the drive shaft.

[0011] In some embodiments, the power output device includes: a gearbox fixedly mounted on a chassis support plate and connected to a drive shaft; a motor fixedly mounted on the chassis support plate; and a second synchronous belt configured to transmit power from the motor to the gearbox.

[0012] In some embodiments, the follower device includes: a follower support plate rotatably mounted on a chassis support plate about a second axis; a follower fixing sleeve fixedly mounted on the follower support plate about a first axis, the follower fixing sleeve having a bearing support frame configured to rotatably attach a wheel axle thereto; and a pad fixedly mounted on the follower device and used to provide a clearance between the first drive wheel and the follower support plate.

[0013] According to one aspect of this disclosure, a mobile chassis is provided, comprising: a chassis housing; and the aforementioned wheel system, the wheel system being attached within the chassis housing.

[0014] In some embodiments, the mobile chassis further includes supporting reinforcing ribs disposed within the chassis housing, and the chassis housing has arc-shaped edges.

[0015] According to one or more embodiments of this disclosure, a wheel axle is mounted on a follower device, and the follower device is rotatably mounted on a chassis support plate. A groove is provided on the chassis support plate, allowing the wheel axle to slide into the groove under external force. When the external force is removed, the wheel axle can slide out of the groove under the action of a torsion spring device, thus returning to its normal state.

[0016] The above methods effectively prevent damage caused by collisions or external forces, enhancing the adaptability and durability of the wheel system in complex scenarios. Furthermore, the use of torsion springs effectively reduces the longitudinal height of the entire wheel system, simplifies its structure, and makes the force on the wheel axle and follower device smoother during rotation, further improving the overall stability and durability of the wheel system.

[0017] It should be understood that the description in this section is not intended to identify key or essential features of the embodiments of this disclosure, nor is it intended to limit the scope of this disclosure. Other features of this disclosure will become readily apparent from the following description. Attached Figure Description

[0018] The accompanying drawings exemplify embodiments and form part of the specification, serving together with the textual description to explain exemplary implementations of the embodiments. The illustrated embodiments are for illustrative purposes only and do not limit the scope of the claims. Throughout the drawings, the same reference numerals refer to similar but not necessarily identical elements.

[0019] Figure 1 This is a schematic diagram of the wheel system in some embodiments of this disclosure;

[0020] Figure 2 This is a schematic diagram of the wheel system in some embodiments of this disclosure;

[0021] Figure 3 This is a schematic diagram of the follower device in some embodiments of this disclosure;

[0022] Figure 4 This is a schematic diagram of the support structure in some embodiments of this disclosure;

[0023] Figure 5 This is a schematic diagram of a mobile chassis in some embodiments of this disclosure;

[0024] Figure 6 This is a schematic diagram of the top of the mobile chassis in some embodiments of this disclosure;

[0025] Figure 7This is a schematic diagram of the bottom of the mobile chassis in some embodiments of this disclosure.

[0026] Figure label:

[0027] 100 Wheel system; 101 First axle; 102 Second axle; 110 Chassis support plate; 120 Wheel axle; 130 Follower device; 140 Torsion spring device; 140a First torsion spring device; 140b Second torsion spring device; 141a First torsion spring; 142a First torsion spring support rod; 143a First torsion spring limiting head; 144a First torsion spring pressure rod; 141b Second torsion spring; 142b Second torsion spring support rod; 143b Second torsion spring limiting head; 144b Second torsion spring pressure rod; 1411a First torsion arm of the first torsion spring; 1411b First torsion arm of the second torsion spring; 1412a Second torsion arm of the first torsion spring; 1412b Second torsion arm of the second torsion spring.

[0028] 200 Wheel system; 201 Drive shaft; 202 First synchronous belt; 203 First driving pulley; 204 First driven pulley; 205 Wheel; 206 Power output device; 2061 Gearbox; 2062 Motor; 2063 Second synchronous belt; 2064 Second driving pulley; 2065 Second driven pulley; 207 Motor fixing support rod; 208 Motor fixing plate.

[0029] 300 Follow-up device; 301 Follow-up support plate; 302 Follow-up fixing kit; 303 Pad block.

[0030] 401 Chassis support plate; 402 Slide groove; 403 Reducer fixing hole.

[0031] 500 mobile chassis.

[0032] 600 Mobile chassis; 601 Chassis shell; 602 Curved edge; 603 GPS antenna receiver; 604 Mobile wheels; 606 Dummy non-motorized vehicle fixing plate; 607 Remote control and GPS secondary antenna.

[0033] 700 Mobile chassis; 701 Chassis bottom protection plate; 702 Bottom circuit protection plate; 703 Support reinforcement ribs; 704 Wheel system. Detailed Implementation

[0034] In the following description, only certain exemplary embodiments are briefly described. As those skilled in the art will recognize, the described embodiments can be modified in various ways without departing from the spirit or scope of this disclosure. Therefore, the drawings and description are to be considered exemplary in nature and not restrictive.

[0035] In related technologies, wheel systems, especially those on mobile chassis used for autonomous driving testing, are prone to collisions, leading to system damage. To reduce destructive impacts, advanced driver assistance systems (ADAS) made of soft materials have been added; however, this approach is not suitable for complex testing scenarios, affecting testing efficiency.

[0036] Based on this, the present disclosure mounts the wheel axle on a follower device, and the follower device is rotatably mounted on a chassis support plate. A groove is provided on the chassis support plate, allowing the wheel axle to slide into the groove under external force. When the external force is removed, the wheel axle can slide out of the groove under the action of a torsion spring device, thus returning to its normal state.

[0037] The above methods effectively prevent damage caused by collisions or external forces, enhancing the adaptability and durability of the wheel system in complex scenarios. Furthermore, the use of torsion springs effectively reduces the longitudinal height of the entire wheel system, simplifies its structure, and makes the force on the wheel axle and follower device smoother during rotation, further improving the overall stability and durability of the wheel system.

[0038] The embodiments of this utility model will now be described in detail with reference to the accompanying drawings.

[0039] According to some embodiments, such as Figure 1 The diagram shown is a schematic of a wheel system 100 in some embodiments of the present disclosure. The wheel system 100 includes: a chassis support plate 110, a wheel axle 120, a follower device 130, and at least one set of torsion spring devices 140.

[0040] The wheel system in this disclosure is also referred to as a lifting device, a compressible power system, etc.

[0041] Figure 1 The following device 130 is shown in the figure. The wheel axle 120 is rotatably mounted on the following device 130 about a first axis 101. The following device 130 is rotatably mounted on a chassis support plate 110 about a second axis 102. The chassis support plate 110 is provided with a groove so that the wheel axle 120 can slide into or out of the groove when the following device 130 rotates about the second axis 102.

[0042] Figure 1 At least one set of torsion spring devices 140 is shown. The at least one set of torsion spring devices is configured to apply torque to the follower device 130 to cause the wheel axle 120 to tend to slide out of the groove.

[0043] In the example, the chassis support plate 110 is the basic structure of the wheel system, used to support and secure other components. The chassis support plate 110 may have slots for guidance or holes for connection. The wheel axle is the mounting component for the wheel, used to support the wheel. In some embodiments, the wheel system includes a power source, and the wheel axle can be used to transmit power to the wheel. The follower device 130 in the wheel system is used to connect the wheel axle 120 and the chassis support plate 110, and allows the wheel axle to slide into or out of a groove as the follower device rotates.

[0044] When the wheel system 100 is in normal working condition, there is no external force or the impact force is weak. The torsion spring device 140 applies torque to the follower device 130 to keep the wheel axle 120 in the normal working position, that is, outside the groove. At this time, the wheel on the wheel axle 120 can rotate normally and drive the wheel system and its attached chassis to move.

[0045] When the wheel system 100 is under external force, the impact force is relatively strong. The wheel axle is subjected to external force or collision, and the follower device 130 rotates around the second axis 102. The wheel axle 120 slides into the groove along the groove. In this state, the external force is transmitted to the chassis support plate, thereby avoiding direct contact between the wheel axle and the external force and reducing the possibility of damage.

[0046] When the wheel system 100 is in the recovery state, the external force is removed, and the torsion spring device 140 pushes the wheel axle 120 out of the groove through the elastic restoring force, restoring it to the normal working position.

[0047] The wheel system 100 using the embodiments of this disclosure has the following technical advantages:

[0048] In this disclosure, the wheel axle 120 is mounted on the follower device 130, and the follower device 130 is rotatably mounted on the chassis support plate 110. A groove is provided on the chassis support plate 110, allowing the wheel axle 120 to slide into the groove under external force. When the external force is removed, the wheel axle can slide out of the groove under the action of the torsion spring device 140, thus returning to its normal state.

[0049] The above methods effectively prevent damage caused by collisions or external forces, enhancing the adaptability and durability of the wheel system in complex scenarios. Furthermore, the use of torsion springs effectively reduces the longitudinal height of the entire wheel system, simplifies its structure, and makes the force on the wheel axle and follower device smoother during rotation, further improving the overall stability and durability of the wheel system.

[0050] According to some embodiments, such as Figure 1In the wheel system 100 shown, each of the at least one set of torsion spring devices 140 (140a, 140b) may include a torsion spring (141a, 141b), a torsion spring support rod (142a, 142b), a torsion spring limiting head (143a, 143b), and a torsion spring pressure rod (144a, 144b). The torsion spring support rod (142a, 142b) and the torsion spring limiting head (143a, 143b) can be fixedly mounted on the chassis support plate 110, and the torsion spring pressure rod (144a, 144b) can be fixed. Installed on the follower device 130, the torsion springs (141a, 141b) can be sleeved on the torsion spring support rods (142a, 142b). The torsion springs (141a, 141b) can include a first torsion arm (1411a, 1411b) for contacting the torsion spring limiting head (143a, 143b) and a second torsion arm (1412a, 1412b) for contacting the torsion spring pressure rod. The torsion springs (141a, 141b) can apply torque to the follower device 130 through the second torsion arm (1412a, 1412b).

[0051] In the example, torsion springs (141a, 141b) can be used to provide elastic torque; torsion spring support rods (142a, 142b) can fix the torsion springs and provide support by bolts or welding; torsion spring limit heads (143a, 143b) can limit the range of motion of the torsion springs and prevent excessive deformation; and torsion spring pressure rods (144a, 144b) can transmit the elastic force of the torsion springs (141a, 141b) to the follower device 130.

[0052] When no external force is applied, the torsion springs (141a, 141b) apply elastic force to the torsion spring pressure rods (144a, 144b) through the second torsion arms (1412a, 1412b), pushing the follower device 130 and the wheel axle 120 out of the groove and back to their normal working position. When the wheel axle is subjected to an external force (such as a collision), the torsion springs (141a, 141b) are compressed and store elastic potential energy. When the external force is removed, the torsion springs (141a, 141b) push the follower device 130 and the wheel axle 120 out of the groove and back to their normal working position through their own elastic restoring force via the second torsion arms (1412a, 1412b) and the torsion spring pressure rods (144a, 144b).

[0053] In this way, the torsion spring device can provide cushioning when the wheel axle is subjected to external forces, protecting the wheel axle and chassis from damage. Furthermore, by refining the specific configuration of the torsion spring device, such as the torsion spring support rod, torsion spring limit head, torsion spring and torsion spring pressure rod, and the fixing positions, connection relationships, and working principles of each component, not only is the system's impact resistance improved, but the automatic recovery function also ensures the system's stability and reliability, making it suitable for wheel system applications.

[0054] According to some embodiments, such as Figure 1 In the wheel system 100 shown, at least one set of torsion spring devices 140 may include a first torsion spring device 140a and a second torsion spring device 140b. The first torsion spring device 140a may include a first torsion spring 141a, a first torsion spring support rod 142a, a first torsion spring limiting head 143a and a first torsion spring pressure rod 144a. The second torsion spring device 140b includes a second torsion spring 141b, a second torsion spring support rod 142b, a second torsion spring limiting head 143b and a second torsion spring pressure rod 144b. The first torsion spring support rod 142a and the second torsion spring support rod 142b may be installed on both sides of the follower device 130, and the first torsion spring pressure rod 144a may be installed on one end of the follower device 130 near the first axis 101. The second torsion spring pressure rod 144b may be installed on the other end of the follower device 130 near the second axis 102.

[0055] In the example, the first torsion spring device 140a and the second torsion spring device 140b can be symmetrically arranged on both sides of the follower device 130. Based on the dual buffering mechanism of the double torsion spring device 140, under the action of external force (such as collision), the two sets of torsion spring devices are compressed at the same time to store elastic potential energy; when the external force is removed, the double torsion spring device 140 simultaneously restores torque, pushing the wheel axle 120 to slide out of the groove quickly.

[0056] The at least one set of torsion spring devices 140 in this disclosure may also be, but is not limited to, a double torsion spring device 140, or may be configured as a triple torsion spring device, a multi-torsion spring device, etc., and may also be a symmetrical or asymmetrical structure.

[0057] By incorporating multiple torsion springs into the servo mechanism, the force on the wheel axle is ensured to be uniform when sliding into or out of the groove, while providing a balanced torque to prevent skewing or instability caused by unilateral force. Furthermore, the dual buffer mechanism effectively reduces the impact of external forces on the wheel axle and chassis, while providing stronger self-recovery capabilities, significantly improving the overall stability of the system.

[0058] According to some embodiments, such as Figure 1 In the wheel system 100 shown, a first torsion spring 141a can apply a thrust in a first direction to a first torsion spring pressure rod 144a to apply a first torque to the follower device 130. A second torsion spring 141b can apply a thrust in a second direction, different from the first direction, to a second torsion spring pressure rod 144b to apply a second torque to the follower device 130. The first torque and the second torque can have the same direction. The thrust of the first torsion spring 141a and the thrust of the second torsion spring 141b cooperate with each other and act on the follower device 130. The torque is along the tangent direction of the second axis 102. The torques generated by the thrusts in different directions produce a resultant torque in the same direction of rotation, resulting in clockwise or counterclockwise rotation.

[0059] By using the above method, the torque design of the first torsion spring device and the second torsion spring device is refined, that is, the thrust in different directions generates the torque in the same direction, ensuring that the wheel axle is subjected to uniform force when sliding into or out of the groove, thereby enhancing the system's balance, stability and self-recovery capability.

[0060] According to some embodiments, the torsion spring support rod, the first axis (the axis corresponding to the wheel axle), and the second axis (the rotation center of the follower device) in the wheel system can be arranged in parallel. Therefore, this method ensures that the torsion spring device can efficiently transmit torque, avoiding torque loss due to angular deviations, as well as skewness or instability.

[0061] Furthermore, since the first axis containing the torsion spring support rod and the vehicle axle is parallel to the second axis, the rotation center of the servo device, the torsion spring can be placed parallel to the vehicle axle. Compared to other vehicle suspension systems, this design significantly reduces the longitudinal height of the wheel system. As will be described below, the wheel system disclosed herein can be used in an unmanned driving test mobile chassis. The lower longitudinal height results in less interference from the mobile chassis to the test vehicle, and less impact force when the test vehicle or other objects run over the mobile chassis, thereby further enhancing the overall stability and durability of the wheel system and the mobile chassis.

[0062] In some embodiments, the torsion spring support rod, the first axis, and the second axis can be arranged horizontally. This further ensures that the wheel system has a low longitudinal height.

[0063] According to some embodiments, such as Figure 2 The diagram shown illustrates a wheel system 200 according to some embodiments of this disclosure. The wheel system 200 includes the chassis support plate, wheel axle, follower device, and at least one set of torsion springs (not shown) from the vehicle system 100 described above. It also includes a drive shaft 201, a first synchronous belt 202, a first driving pulley 203, a first driven pulley 204, a wheel 205, and a power output device 206. These components collectively constitute the power output and transmission device in the wheel system 200.

[0064] Figure 2 The wheel system shown in the diagram has a driveshaft rotatably mounted on a chassis support plate about a second axis. A follower device may have a through-hole at the second axis to accommodate the driveshaft and allow it to rotate freely. A first drive wheel 203 may be mounted at one end of the driveshaft 201; a first driven wheel 204 may be mounted at one end of the wheel axle, and the first drive wheel 203 and the first driven wheel 204 may be mounted on the same side of the follower device and driven by a first synchronous belt 202; a wheel 205 may be mounted at the other end of the wheel axle; and a power output device 206 may be configured to provide power to the driveshaft 201.

[0065] By incorporating a power output device and a transmission system within the wheel system, objects equipped with this system can move spontaneously. This approach ensures that the synchronous belt drive maintains a precise transmission ratio, guaranteeing that the wheel's rotational speed and direction meet the requirements of autonomous driving testing. This ensures the system maintains high reliability under complex operating conditions and reduces test interruptions caused by transmission failures. Furthermore, the compact layout of the power output device and transmission system saves space, making it suitable for autonomous driving testing scenarios with limitations on equipment size.

[0066] In some embodiments, the power output device 206 may include a motor, which may be mounted on the drive shaft 201 at the opposite end to the first drive wheel 203. In other words, the motor and the wheel 205 may be mounted on the same side of the follower device.

[0067] According to some embodiments, such as Figure 2 The power output device 206 shown may include: a gearbox 2061, a motor 2062, and a second synchronous belt 2063. The gearbox 2061 may be fixedly mounted on a chassis support plate and connected to a drive shaft; the motor 2062 may be fixedly mounted on the chassis support plate; the second synchronous belt 2063 may be configured to transmit power from the motor 2062 to the gearbox 2061.

[0068] Through the above methods, the coordinated operation of the motor and gearbox enables precise speed and torque control, while the synchronous belt drive ensures reliable power transmission. Furthermore, the compact layout of the power output device saves space, making it suitable for applications with limited equipment size.

[0069] In some embodiments, a second driving pulley 2064 may be provided on the output shaft of the motor 2062, a second driven pulley 2065 may be provided on the input shaft of the gearbox 2061, and a second synchronous belt 2063 may drive between the second driving pulley 2064 and the second driven pulley 2065.

[0070] In some embodiments, the motor 2062 can be fixedly mounted on the chassis support plate by the motor fixing support rod 207 and the motor fixing plate 208.

[0071] In some embodiments, the torsion spring support rod, the first axis (the axis where the wheel axle is located), the second axis (the axis where the drive shaft is located), and the output shaft of the motor can all be arranged in a horizontal direction.

[0072] Figure 3 The following is a schematic diagram of a follower device 300 according to some embodiments of the present disclosure. The follower device 300 may include: a follower support plate 301, a follower fixing sleeve 302, and a pad 303.

[0073] In some embodiments, the follower support plate 301 is rotatably mounted on the chassis support plate about the second axis to drive the entire follower device to rotate about the second axis. In addition, the follower support plate 301 can support the follower fixing sleeve 302 and the pad 303 mounted thereon.

[0074] The follower-mounted fixed sleeve 302 is fixedly mounted on the follower-mounted support plate around the first axis. A bearing support frame is provided on the follower-mounted fixed sleeve 302, configured to allow the wheel axle to be rotatably attached thereto. Thus, in this manner, the wheel axle can be ensured to rotate freely around the first axis. The bearing support frame rotatably attaches the wheel axle to the follower-mounted fixed sleeve via bearings, reducing friction during rotation and improving the system's operating efficiency.

[0075] The pad 303 is fixedly mounted on the follower device 300 and serves to provide a gap between the first drive wheel and the follower support plate 301. Thus, in this manner, the first drive wheel can rotate freely without interfering with the follower support plate, friction during rotation is reduced by providing an appropriate gap, and the pad's design also absorbs some vibration.

[0076] Figure 4 This is a schematic diagram of a chassis support plate 401 according to some embodiments of the present disclosure. The chassis support plate 401 is provided with a sliding groove 401 and a reducer fixing hole 403. The chassis support plate 401 serves to support the follower device. The sliding groove 402, used to guide the movement of the wheel axle, is provided on the chassis support plate 401 and is aligned with the movement direction of the wheel axle, providing a sliding path for the wheel axle. This allows the wheel axle to slide into the groove when subjected to external force and slide out after the external force is removed. The design of the sliding groove 402 takes into account the motion characteristics of the wheel axle and the direction of the external force, ensuring that the groove can effectively guide the movement of the wheel axle while reducing friction and wear during movement. The design of the reducer fixing hole 403 takes into account the size and installation requirements of the reducer, and is used to install the reducer, ensuring that the reducer can be firmly fixed to the chassis support plate and correctly connected to the drive shaft.

[0077] Figure 5 This is a schematic diagram of a mobile chassis 500 according to some embodiments of this disclosure. Corresponding to... Figure 5 The mobile chassis 500, Figure 6 The mobile chassis 600 in the schematic diagram of the top of the mobile chassis in some embodiments of this disclosure, and Figure 7 The mobile chassis 700 is shown in a schematic diagram of the bottom of the mobile chassis in some embodiments of this disclosure.

[0078] like Figure 6As shown, the mobile chassis 600 may include: chassis shell 601, arc edge 602, GPS antenna receiver 603, mobile wheels 604, dummy non-motorized vehicle fixing plate 605, remote control 606, and GPS secondary antenna 607.

[0079] like Figure 7 As shown, the mobile chassis 700 may also include: a chassis bottom protective plate 701, a bottom circuit protective plate 702, a support reinforcing rib 703, and a wheel system 704.

[0080] In some embodiments, such as Figure 6 and Figure 7 The mobile chassis shown may include: chassis housing 601 and wheel system 704 in the above embodiments, the wheel system 704 being attached to the chassis housing 601.

[0081] The 500, 600, and 700 mobile chassis can be used in autonomous driving testing scenarios. When testing vehicles in extreme scenarios at closed autonomous driving test tracks, for safety and controllability, dummies and dummy vehicles are often needed to construct the scenario. To enable the dummies and dummy vehicles to move omnidirectionally, mobile chassis can be used as the mobile devices for the dummies and dummy vehicles. In some high-risk extreme scenario tests, autonomous vehicles may sometimes collide with dummies and dummy vehicles, and the mobile chassis carrying these dummies and dummy vehicles are easily damaged by collisions, especially the chassis's wheel system.

[0082] The wheel system disclosed herein can effectively avoid damage caused by collisions or external forces, and has strong adaptability and durability in complex scenarios such as autonomous driving testing. In addition, the use of torsion springs can effectively reduce the longitudinal height of the entire wheel system, thereby reducing the overall height of the mobile chassis, mitigating the impact force on the mobile chassis when the autonomous vehicle collides with or runs over it, and improving the overall stability and durability of the mobile chassis.

[0083] In some embodiments, such as Figure 6 and Figure 7 The mobile chassis shown may also include: a supporting reinforcing rib 703 disposed within the chassis shell, and the chassis shell 601 having an arc-shaped edge 602. By providing the supporting reinforcing rib, the overall structural strength of the mobile chassis can be improved, thereby providing stronger resistance to crushing. The arc-shaped edge design reduces damage to the mobile chassis caused by impact when run over by a vehicle.

[0084] It should be understood that in this specification, the terms "center," "longitudinal," "transverse," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential" indicate the orientation or positional relationship or dimensions based on the orientation or positional relationship or dimensions shown in the accompanying drawings. These terms are used only for ease of description and are not intended to indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as limiting the scope of protection of this disclosure.

[0085] Furthermore, the terms "first," "second," and "third," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first," "second," or "third" may explicitly or implicitly include one or more of that feature. In the description of this disclosure, "a plurality of" means two or more, unless otherwise explicitly specified.

[0086] In this disclosure, unless otherwise expressly specified and limited, the terms "installation," "connection," "linking," "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection, an electrical connection, or a communication connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this disclosure according to the specific circumstances.

[0087] In this disclosure, unless otherwise expressly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0088] This specification provides many different implementations or examples that can be used to implement this disclosure. It should be understood that these different implementations or examples are entirely exemplary and are not intended to limit the scope of this disclosure in any way. Those skilled in the art will be able to conceive of various variations or substitutions based on the disclosure of this specification, and these should all be covered within the scope of this disclosure. Therefore, the scope of this disclosure should be determined by the scope defined in the appended claims.

Claims

1. A wheel system, characterized in that, The wheel system includes: Chassis support plate; Wheel axle; A follower device, wherein the wheel axle is rotatably mounted on the follower device about a first axis, and the follower device is rotatably mounted on the chassis support plate about a second axis. The chassis support plate is provided with a groove so that the wheel axle can slide into or out of the groove when the follower device rotates about the second axis; and At least one set of torsion springs is configured to apply torque to the follower device to cause the wheel axle to tend to slide out of the groove.

2. The wheel system according to claim 1, characterized in that, Each of the at least one set of torsion spring devices includes a torsion spring, a torsion spring support rod, a torsion spring limiting head, and a torsion spring pressure rod. The torsion spring support rod and the torsion spring limiting head are fixedly installed on the chassis support plate, the torsion spring pressure rod is fixedly installed on the follower device, the torsion spring is sleeved on the torsion spring support rod, the torsion spring includes a first torsion arm for contacting the torsion spring limiting head and a second torsion arm for contacting the torsion spring pressure rod, and the torsion spring applies torque to the follower device through the second torsion arm.

3. The wheel system according to claim 2, characterized in that, The at least one set of torsion spring devices includes a first torsion spring device and a second torsion spring device. The first torsion spring device includes a first torsion spring, a first torsion spring support rod, a first torsion spring limiting head, and a first torsion spring pressure rod. The second torsion spring device includes a second torsion spring, a second torsion spring support rod, a second torsion spring limiting head, and a second torsion spring pressure rod. The first torsion spring support rod and the second torsion spring support rod are respectively installed on both sides of the follower device. The first torsion spring pressure rod is installed on one end of the follower device near the first axis, and the second torsion spring pressure rod is installed on the other end of the follower device near the second axis.

4. The wheel system according to claim 3, characterized in that, The first torsion spring applies a thrust in a first direction to the first torsion spring pressure rod to apply a first torque to the follower device, and the second torsion spring applies a thrust in a second direction different from the first direction to the second torsion spring pressure rod to apply a second torque to the follower device, wherein the first torque and the second torque have the same direction.

5. The wheel system according to claim 2, characterized in that, The torsion spring support rod, the first axis, and the second axis are arranged in parallel.

6. The wheel system according to claim 1, characterized in that, The wheel system also includes: A drive shaft is rotatably mounted on the chassis support plate about the second axis, and the follower has a through hole at the second axis to accommodate the drive shaft and allow the drive shaft to rotate freely; First synchronous belt; A first drive wheel is mounted at one end of the drive shaft; The first driven wheel is mounted on one end of the wheel axle. The first driving wheel and the first driven wheel are mounted on the same side of the follower device and are driven by the first synchronous belt. A wheel, said wheel being mounted at the other end of said wheel axle; and A power output device is configured to provide power to the drive shaft.

7. The wheel system according to claim 6, characterized in that, The power output device includes: A gearbox, which is fixedly mounted on the chassis support plate and connected to the drive shaft; The motor is fixedly mounted on the chassis support plate; and The second synchronous belt is configured to transmit the power of the motor to the gearbox.

8. The wheel system according to claim 6, characterized in that, The follower device includes: A follower support plate, which is rotatably mounted on the chassis support plate about the second axis; A follower-mounted fixing sleeve, the follower-mounted fixing sleeve being fixedly mounted on the follower-mounted support plate around the first axis, the follower-mounted fixing sleeve being provided with a bearing support frame, the bearing support frame being configured to rotatably attach the wheel axle thereto; and A pad is fixedly mounted on the follower device and serves to provide a gap between the first drive wheel and the follower support plate.

9. A mobile chassis, characterized in that, The mobile chassis includes: Chassis shell; and The wheel system as claimed in any one of claims 1-8, wherein the wheel system is attached within the chassis housing.

10. The mobile chassis according to claim 9, characterized in that, The mobile chassis also includes supporting reinforcing ribs disposed within the chassis shell, and the chassis shell has an arc-shaped edge.

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