Rocker arm and swing rod type chassis and air-ground integrated hovercar

Abstract

The utility model discloses a rocker arm and swing rod type chassis and an air-ground integrated hovercar. The rocker arm and swing rod type chassis comprises a chassis body, a swing rod mechanism and two sets of rocker arms arranged on the two sides of the swing rod mechanism. The rocker arm comprises a central connecting piece and two rocker arm rods arranged at the two ends of the central connecting piece, the rocker arm rods are fixedly connected with the driving motor assembly through the steering joint motor assembly, and the output end of the driving motor assembly is fixedly connected with the driving wheel. The swing rod mechanism comprises a swing rod and a center torsion shaft arranged below the swing rod, the center torsion shaft is fixed in the chassis machine body, the two ends of the center torsion shaft are detachably connected with the inner sides of two center connecting pieces of the rocker arm respectively, and protruding lugs extending upwards from the two center connecting pieces are rotationally connected with the two ends of the swing rod through ball head pull rods respectively. The center of the swing rod is installed on a swing rod bearing seat through a swing rod bearing. By applying the scheme provided by the utility model, the steering radius is small, the driving direction is not limited, and the terrain adaptive capacity and the driving stability are improved.

Description

Technical Field

[0001] This utility model relates to the field of flying car technology, specifically to a rocker arm chassis and a land-air integrated flying car. Background Technology

[0002] Currently, amphibious flying cars come in two configurations: integrated land-air flying cars and detachable flying cars.

[0003] Among them, integrated land-air flying cars are mostly composed of multi-rotor aircraft with Ackerman chassis, or fixed-wing aircraft with Ackerman chassis. These integrated flying cars with Ackerman chassis are suitable for driving on paved roads and offer a certain level of comfort.

[0004] Although the Ackerman chassis technology is relatively mature, the Ackerman chassis itself also has certain drawbacks, such as a large turning radius and limited driving direction. This causes the fuselage of the integrated flying car based on the Ackerman chassis to tilt at a large angle when driving on uneven ground, making it unable to adapt well to the terrain and resulting in poor driving stability. Utility Model Content

[0005] This utility model provides a rocker arm chassis and a land-air integrated flying car, which has a small turning radius and unrestricted driving direction. When driving on uneven ground, the fuselage tilt angle is small, improving terrain adaptability and driving stability. The specific technical solution is as follows:

[0006] In a first aspect, this utility model provides a rocker arm type chassis, including: a chassis body, a rocker arm mechanism, and two sets of rocker arms disposed on both sides of the rocker arm mechanism;

[0007] The rocker arm includes a central link and two rocker arm rods located at both ends of the central link. The rocker arm rods are fixedly connected to a steering joint motor assembly, the steering joint motor assembly is fixedly connected to a drive motor assembly, and the output end of the drive motor assembly is fixedly connected to the drive wheel of the integrated land and air flying car.

[0008] The rocker arm mechanism includes a rocker arm and a central torsion shaft located below the rocker arm. The central torsion shaft is fixed inside the chassis body, and both ends of the central torsion shaft are detachably connected to the inner sides of two central connecting parts of the rocker arm. The lugs extending upward from the two central connecting parts are rotatably connected to both ends of the rocker arm via ball joints. The center of the rocker arm is mounted on a rocker arm bearing seat via a rocker arm bearing.

[0009] Optionally, one end of the rocker arm is fixedly connected to one end of the central connecting member, and the other end is fixedly connected to the steering joint motor assembly;

[0010] The steering joint motor assembly is fixedly connected to the drive motor assembly via the steering joint motor output flange, and the steering joint motor assembly is located above the drive motor assembly. The drive motor assembly is fixedly connected to the drive wheel via the drive motor output flange.

[0011] Optionally, the steering joint motor assembly includes a steering motor and a steering motor mounting bracket;

[0012] The steering motor is installed in the steering motor mounting base, which is fixedly connected to the other end of the rocker arm. The output end of the steering motor is fixedly connected to the drive motor assembly through the steering joint motor output flange.

[0013] Optionally, the drive motor assembly includes a drive motor and a drive motor mounting base;

[0014] The drive motor is installed in the drive motor mounting base, and the output end of the drive motor is fixedly connected to the drive wheel through the drive motor output flange.

[0015] Optionally, the rocker arm further includes a connecting shaft;

[0016] The two ends of the central torsion shaft are detachably connected to the inner sides of the two central connecting parts of the rocker arm via two connecting shafts.

[0017] Optionally, the ball joint includes a tie rod, a ball joint, and a ball seat;

[0018] The ball seat is fixedly installed at one end of the swing rod. The ball seat has a spherical groove. One end of the pull rod has the ball head, which is located in the spherical groove and can rotate within the spherical groove. The other end of the pull rod is fixed to the lug.

[0019] Optionally, the swing arm is located at the center of the rear or upper part of the chassis body.

[0020] Secondly, this utility model provides a land-air integrated flying car, including a flying car fuselage, and a rocker arm type chassis as described in any of the first aspects is provided below the flying car fuselage.

[0021] Optionally, the aforementioned integrated land-air flying car may also include at least four sets of rotors mounted on the fuselage of the flying car.

[0022] Optionally, the number of rotors is eight.

[0023] As can be seen from the above, the rocker arm chassis provided in this embodiment of the present invention includes a chassis body, a rocker arm mechanism, and two sets of rocker arms disposed on both sides of the rocker arm mechanism; the rocker arm includes a central connecting member and two rocker arm rods disposed at both ends of the central connecting member, the rocker arm rods are fixedly connected to the steering joint motor assembly, the steering joint motor assembly is fixedly connected to the drive motor assembly, and the output end of the drive motor assembly is fixedly connected to the drive wheel of the land-air integrated flying car; the rocker arm mechanism includes a rocker arm and a central torsion shaft disposed below the rocker arm, the central torsion shaft is fixed inside the chassis body, and both ends of the central torsion shaft are detachably connected to the inner side of the two central connecting members of the rocker arm, the lugs extending upward from the two central connecting members are rotatably connected to the two ends of the rocker arm through ball joints, and the center of the rocker arm is mounted on the rocker arm bearing seat through a rocker arm bearing. Therefore, by fixing the rocker arm to the steering joint motor assembly, fixing the steering joint motor assembly to the drive motor assembly, and fixing the output end of the drive motor assembly to the drive wheel of the integrated land and air flying car, a wheel-side drive system is formed. When turning, the steering joint motor assembly drives the drive motor assembly to rotate, thereby turning the drive wheel. This allows for turning on the spot with a small turning radius and unrestricted driving direction. By setting two central connecting lugs extending upwards and rotatably connecting the two ends of the swing arm via ball joints, and mounting the center of the swing arm to the swing arm bearing seat via a swing arm bearing, when one drive wheel passes over an obstacle, the central connecting part of the rocker arm on that side can push the swing arm to rotate around the swing arm bearing seat via the ball joints. This pushes the central connecting part of the opposite rocker arm to drive the connected drive wheel downwards to press against the ground, thereby reducing the change in the center of gravity height of the overall chassis. This results in a smaller fuselage tilt angle when the land-air integrated flying car using this rocker arm and swing arm chassis travels on uneven ground, improving terrain adaptability and driving stability.

[0024] The innovative aspects of this utility model embodiment include:

[0025] 1. By fixing the rocker arm to the steering joint motor assembly, fixing the steering joint motor assembly to the drive motor assembly, and fixing the output end of the drive motor assembly to the drive wheel of the integrated land and air flying car, a wheel-side drive system is formed. When turning, the steering joint motor assembly drives the drive motor assembly to rotate, thereby turning the drive wheel. It can achieve turning on the spot, with a small turning radius and no restriction on the direction of travel. By setting two central connecting lugs extending upwards and rotatably connecting the two ends of the swing arm via ball joints, and mounting the center of the swing arm to the swing arm bearing seat via a swing arm bearing, when one drive wheel passes over an obstacle, the central connecting part of the rocker arm on that side can push the swing arm to rotate around the swing arm bearing seat via the ball joints. This pushes the central connecting part of the opposite rocker arm to drive the connected drive wheel downwards to press against the ground, thereby reducing the change in the center of gravity height of the overall chassis. This results in a smaller fuselage tilt angle when the land-air integrated flying car using this rocker arm and swing arm chassis travels on uneven ground, improving terrain adaptability and driving stability.

[0026] 2. The two ends of the central torsion shaft are detachably connected to the inner sides of the two central connecting parts of the rocker arm via two connecting shafts, so that when disassembling the central connecting parts, only the connecting shafts need to be removed without damaging the central connecting parts.

[0027] 3. By fixing the ball seat to one end of the swing rod, the ball seat has a spherical groove, and one end of the pull rod has a ball head. The ball head is located in the spherical groove and can rotate in the spherical groove. The other end of the pull rod is fixed to the lug. When the lug moves upward, the pull rod can rotate through the ball head, thereby driving the swing rod to rotate, thus achieving the purpose of linking the rocker arm with the swing rod mechanism.

[0028] 4. When the chassis body is large, placing the swing arm at the rear of the chassis body can reduce the overall height of the rocker arm type chassis, which is beneficial for stability; and when the chassis body is small, placing the swing arm at the top center of the chassis body can improve the overall stability of the rocker arm type chassis.

[0029] 5. By fixing one end of the rocker arm to one end of the central link and the other end to the steering joint motor assembly, the steering joint motor assembly is fixedly connected to the drive motor assembly through the steering joint motor output flange, and the drive motor assembly is fixedly connected to the drive wheel through the drive motor output flange. This allows the central link to be connected to the drive wheel through the rocker arm, the steering joint motor assembly, and the drive motor assembly. When the drive wheel encounters an obstacle, the rocker arm can be linked with the central link to further push the swing arm to rotate.

[0030] 6. The steering joint motor assembly and drive motor assembly are fixedly connected, which improves integration, reduces size and weight, makes obstacle crossing easier, and improves passability.

[0031] 7. By mounting the steering motor within a steering motor mounting bracket, the steering motor is protected from damage. Furthermore, the steering motor's output end is securely connected to the drive motor assembly via the steering joint motor output flange, ensuring a tight and reliable connection while facilitating disassembly.

[0032] 8. By mounting the drive motor inside the drive motor mounting bracket, the drive motor is protected from damage. Furthermore, the drive motor's output end is fixedly connected to the drive wheel via a drive motor output flange, ensuring a secure and reliable connection while facilitating disassembly.

[0033] 9. When a larger chassis and fuselage size is required, only a longer swing arm and central torsion shaft are needed to reduce weight. This further enables the land-air integrated flying car using this rocker arm chassis to have a larger effective payload, achieving the purpose of saving power and thus extending the flight time.

[0034] 10. The land-air integrated flying car provided in this embodiment of the utility model includes a flying car fuselage. Below the flying car fuselage is a rocker arm type chassis as provided in any of the embodiments. The rocker arm type chassis forms a wheel-side drive system by fixing the rocker arm to the steering joint motor assembly, fixing the steering joint motor assembly to the drive motor assembly, and fixing the output end of the drive motor assembly to the drive wheel of the land-air integrated flying car. When turning, the drive motor assembly is driven to rotate by the steering joint motor assembly, thereby driving the drive wheel to turn. It can achieve turning on the spot, with a small turning radius and no restriction on the driving direction. By setting two central connecting lugs extending upwards and rotatably connecting the two ends of the swing arm via ball joints, and mounting the center of the swing arm to the swing arm bearing seat via a swing arm bearing, when one drive wheel passes over an obstacle, the central connecting part of the rocker arm on that side can push the swing arm to rotate around the swing arm bearing seat via the ball joints. This pushes the central connecting part of the opposite rocker arm to drive the connected drive wheel downwards to press against the ground, thereby reducing the change in the center of gravity height of the overall chassis. This results in a smaller fuselage tilt angle when the land-air integrated flying car using this rocker arm and swing arm chassis travels on uneven ground, improving terrain adaptability and driving stability.

[0035] 11. By setting at least four sets of rotors on the fuselage of the flying car, a new type of land-air integrated flying car with a multi-rotor + rocker arm chassis configuration is formed. This configuration of land-air integrated flying car has a small turning radius and is not restricted in its driving direction. When driving on uneven ground, the fuselage tilt angle is small, which improves the terrain adaptability and driving stability.

[0036] Of course, implementing any product or method of this utility model does not necessarily require achieving all of the advantages described above at the same time. Attached Figure Description

[0037] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are merely some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without any creative effort.

[0038] Figure 1 A schematic diagram of a rocker arm chassis provided in an embodiment of this utility model;

[0039] Figure 2 A schematic diagram of the rocker arm mechanism provided in an embodiment of this utility model;

[0040] Figure 3 A schematic diagram of a ball joint tie rod provided in an embodiment of this utility model;

[0041] Figure 4 A schematic diagram of the structure of a rocker arm provided in an embodiment of this utility model;

[0042] Figure 5 A complete structural diagram showing the connection between the steering joint motor assembly and the drive motor assembly;

[0043] Figure 6 A schematic diagram of the connection between the steering joint motor assembly and the drive motor assembly;

[0044] Figure 7 This is a schematic diagram of a land-air integrated flying car provided in an embodiment of the present utility model.

[0045] Figures 1-7In the middle, 1 is the chassis fuselage, 2 is the rocker arm mechanism, 21 is the rocker arm, 22 is the central torsion shaft, 3 is the rocker arm, 31 is the central connecting part, 311 is the lug, 32 is the rocker arm rod, 33 is the connecting shaft, 4 is the steering joint motor assembly, 41 is the steering motor, 42 is the steering motor mounting base, 421 is the rocker arm rod mounting rod, 5 is the drive motor assembly, 51 is the drive motor, 52 is the drive motor mounting base, 6 is the drive wheel, 7 is the ball joint tie rod, 71 is the tie rod, 72 is the ball joint, 73 is the ball seat, 8 is the rocker arm bearing, 9 is the rocker arm bearing seat, 10 is the drive motor output flange, 20 is the flying car fuselage, 30 is the rocker arm rocker arm chassis, and 40 is the rotor. Detailed Implementation

[0046] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only a part of the embodiments of the present utility model, and not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of the present utility model without creative effort are within the scope of protection of the present utility model.

[0047] It should be noted that the terms "comprising" and "having," and any variations thereof, in the embodiments and drawings of this utility model are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or device that includes a series of steps or units is not limited to the steps or units listed, but may optionally include steps or units not listed, or may optionally include other steps or units inherent to these processes, methods, products, or devices.

[0048] This utility model discloses a rocker arm chassis and a land-air integrated flying car, which has a small turning radius and unrestricted driving direction. When driving on uneven ground, the fuselage tilt angle is small, improving terrain adaptability and driving stability. The following is a detailed description of this utility model embodiment.

[0049] Example 1

[0050] Figure 1 This is a schematic diagram of a rocker arm chassis provided in an embodiment of the present invention. Figure 2 This is a schematic diagram of a rocker arm mechanism provided in an embodiment of the present utility model.

[0051] See Figure 1The rocker arm chassis provided in this embodiment includes a chassis body 1, a rocker arm mechanism 2, and two sets of rocker arms 3 disposed on both sides of the rocker arm mechanism. Each set of rocker arms 3 can swing independently. To constrain the independent rocker arms 3 on both sides and the chassis body 1, a rocker arm mechanism 2 is arranged on the chassis body 1. The shape of the chassis body 1 can be designed according to actual needs, for example, it can be a rectangular body with a cover, or other shapes. This embodiment of the present invention does not impose any limitations on this.

[0052] See also Figure 1 The rocker arm 3 includes a central connecting member 31 and two rocker arm rods 32 located at both ends of the central connecting member 31. The central connecting member 31 and the rocker arm rods 32 can be fixedly connected, using methods such as screw connection, welding, or other existing fixed connection methods. This embodiment of the invention does not limit the specific method used. The rocker arm rods 32 are made of carbon fiber, thereby reducing the mass of the rocker arm 3.

[0053] The rocker arm 32 is fixedly connected to the steering joint motor assembly 4, the steering joint motor assembly 4 is fixedly connected to the drive motor assembly 5, and the output end of the drive motor assembly 5 is fixedly connected to the drive wheel 6 of the integrated land and air flying car. The steering joint motor assembly 4 is used to drive the drive wheel 6 to turn by driving the drive motor assembly 5 to rotate. The drive motor assembly 5 is used to drive the drive wheel 6 to turn.

[0054] See Figure 2 The rocker arm mechanism 2 includes a rocker arm 21 and a central torsion shaft 22 located below the rocker arm 21. This "below" can be directly below or diagonally below, depending on the specific requirements. Both the rocker arm 21 and the central torsion shaft 22 can be made of carbon fiber, thereby reducing the weight of the rocker arm chassis.

[0055] The central torsion shaft 22 is fixed inside the chassis body 1, and the two ends of the central torsion shaft 22 are detachably connected to the inner sides of the two central connecting parts 31 of the rocker arm 3.

[0056] Specifically, the central torsion shaft 22 can be fixed inside the chassis body 1 by fixing the two central connecting parts 31 on both sides of the chassis body 1 respectively, thereby fixing the central torsion shaft 22 inside the chassis body 1.

[0057] When a larger chassis fuselage 1 is required, only a longer swing arm 21 and central torsion shaft 22 are needed to reduce weight. This further enables the land-air integrated flying car using this rocker arm chassis to have a larger effective payload, achieving the purpose of saving power and thus extending the flight time.

[0058] See also Figure 2The rocker arm 3 also includes connecting shafts 33, and the two ends of the central torsion shaft 22 are detachably connected to the inner sides of the two central connecting parts 31 of the rocker arm 3 via the two connecting shafts 33. The detachable connection can be a screw connection or other detachable connection methods in the prior art; this embodiment of the invention does not limit this in any way.

[0059] Therefore, by means of a detachable connection between the two ends of the central torsion shaft 22 and the inner sides of the two central connecting parts 31 of the rocker arm 3 via two connecting shafts 33, it is possible to remove the connecting shafts 33 when disassembling the central connecting parts 31 without damaging the central connecting parts 31.

[0060] Specifically, the connecting shaft 33 includes a connecting disc and a hollow connecting shaft that are connected to each other. The connecting disc is detachably installed inside the central connecting member 31. One end of the central torsion shaft 22 is detachably connected to the hollow connecting shaft. For example, one end of the central torsion shaft 22 is inserted into the hollow connecting shaft and fixed with screws.

[0061] Therefore, the central torsion shaft 22 and the connecting shaft 33 are also detachably connected. This makes it easy to replace the central torsion shaft 22 if it is damaged.

[0062] See also Figure 2 The lugs 311 extending upward from the two central connecting parts 31 are rotatably connected to both ends of the rocker arm 21 via the ball joint rod 7. That is to say, the lugs 311 are fixedly connected to the ball joint rod 7, and the ball joint rod 7 is rotatably connected to one end of the rocker arm 21.

[0063] Figure 3 A schematic diagram of a ball joint tie rod provided in an embodiment of this utility model. See also... Figure 3 The ball head pull rod 7 includes a pull rod 71, a ball head 72, and a ball seat 73.

[0064] A ball seat 73 is fixedly installed at one end of the swing rod 21. The ball seat 73 has a spherical groove. One end of the pull rod 71 has a ball head 72, which is located in the spherical groove and can rotate within the groove. The other end of the pull rod 71 is fixed to a lug 311. The fixing connection can be made by screw connection, welding, or other fixing connection methods in the prior art. This embodiment of the utility model does not limit the method in any way.

[0065] Therefore, by fixing the ball seat 73 to one end of the rocker arm 21, the ball seat 73 is provided with a spherical groove, one end of the pull rod 71 is provided with a ball head 72, the ball head 72 is located in the spherical groove and can rotate in the spherical groove, and the other end of the pull rod 71 is fixed to the lug 311, so that when the lug 311 moves upward, the pull rod 71 can rotate through the ball head 72, thereby driving the rocker arm 21 to rotate, so as to achieve the purpose of linking the rocker arm mechanism 2 through the rocker arm 3.

[0066] See also Figure 3 The center of the rocker arm 21 is mounted to the rocker arm bearing seat 9 via the rocker arm bearing 8. That is to say, the rocker arm 21 can rotate around the rocker arm bearing seat 9 via the rocker arm bearing 8. The rocker arm bearing 8 can be any bearing that can realize rotation, such as a deep groove ball bearing.

[0067] The position of the swing arm 21 can be set according to actual needs. For example, the swing arm 21 can be set at the rear or the center of the top of the chassis body 1. If the chassis body 1 is large and occupies a lot of space, in order to reduce the height and maintain balance, the swing arm 21 can be set at the rear of the chassis body 1, which requires a longer ball joint rod 7. If the chassis body 1 is small, the swing arm 21 can be set at the center of the top of the chassis body 1, which is beneficial to the overall stability.

[0068] Therefore, when the chassis body 1 is large, by placing the swing arm 21 at the rear of the chassis body 1, the height of the entire rocker arm swing arm chassis can be reduced, which is beneficial to stability; and when the chassis body 1 is small, by placing the swing arm 21 at the upper center of the chassis body 1, the stability of the entire rocker arm swing arm chassis can be improved.

[0069] The working principle of the rocker arm chassis provided in this embodiment of the utility model is as follows:

[0070] When turning, the drive motor assembly 5 is driven to rotate by the steering joint motor assembly 4, thereby turning the drive wheel 6. This allows for turning on the spot with a small turning radius and no restriction on the direction of travel.

[0071] When driving over obstacles on rough roads, taking the right drive wheel 6 as an example, when the right drive wheel 6 passes over an obstacle, the rocker arm 32 connected to the drive wheel 6 causes the central link 31 on this side to tilt upwards. The central link 31 pushes the swing arm 21 through the lug 311 and the ball joint rod 7 to rotate to the right around the swing arm bearing seat 9 via the swing arm bearing 8. When viewed from above, it rotates clockwise. At the same time as the swing arm 21 rotates to the right, it pushes the left central link 31 downwards, so that the central link 31 drives the connected drive wheel 6 to press down to the ground through the connected rocker arm 32. This reduces the change in the center of gravity height of the overall chassis fuselage 1. When the land-air integrated flying car using this rocker arm and swing arm chassis drives on rough and uneven ground, the fuselage tilt angle is smaller, which improves the terrain adaptability and driving stability, reduces the risk of tipping over on rough roads, has stronger traversing ability and less dependence on road conditions, and is more flexible.

[0072] In summary, the rocker arm chassis provided in this embodiment includes a chassis body 1, a rocker arm mechanism 2, and two sets of rocker arms 3 on both sides of the rocker arm mechanism. The rocker arm 3 includes a central connecting member 31 and two rocker arm rods 32 at both ends of the central connecting member 31. The rocker arm rods 32 are fixedly connected to the steering joint motor assembly 4, the steering joint motor assembly 4 is fixedly connected to the drive motor assembly 5, and the output end of the drive motor assembly 5 is fixedly connected to the drive wheel 6 of the land-air integrated flying car. The rocker arm mechanism 2 includes a rocker arm 21 and a central torsion shaft 22 located below the rocker arm 21. The central torsion shaft 22 is fixed inside the chassis body 1, and both ends of the central torsion shaft 22 are detachably connected to the inner sides of the two central connecting members 31 of the rocker arm 3. The lugs 311 extending upward from the two central connecting members 31 are rotatably connected to both ends of the rocker arm 21 through ball joint rods 7. The center of the rocker arm 21 is mounted on the rocker arm bearing seat 9 through a rocker arm bearing 8. Therefore, by fixing the rocker arm 32 to the steering joint motor assembly 4, fixing the steering joint motor assembly 4 to the drive motor assembly 5, and fixing the output end of the drive motor assembly 5 to the drive wheel 6 of the integrated land and air flying car, a wheel-side drive system is formed. When turning, the drive motor assembly 5 is rotated by the steering joint motor assembly 4, thereby driving the drive wheel 6 to turn. This can achieve turning on the spot, with a small turning radius and no restriction on the direction of travel. By setting two central connecting parts 31 with upwardly extending lugs 311, which are rotatably connected to both ends of the swing arm 21 via ball joint rods 7, and the center of the swing arm 21 is mounted on the swing arm bearing seat 9 via the swing arm bearing 8, when the drive wheel 6 on one side passes an obstacle, the central connecting part 31 of the rocker arm 3 on that side can push the swing arm 21 to rotate around the swing arm bearing seat 9 via the ball joint rod 7, thereby pushing the central connecting part 31 of the rocker arm 3 on the opposite side to drive the connected drive wheel 6 to press down to the ground via the connected rocker arm rod 32. This reduces the change in the center of gravity height of the overall chassis fuselage 1, so that when the land-air integrated flying car using this rocker arm swing arm chassis drives on uneven ground, the fuselage tilt angle is smaller, improving terrain adaptability and driving stability.

[0073] Figure 4 This is a schematic diagram of a rocker arm 3 provided in an embodiment of the present invention. Figure 5 A complete structural diagram showing the connection between the steering joint motor assembly and the drive motor assembly.

[0074] See Figure 4 and Figure 5One end of the rocker arm 32 is fixedly connected to one end of the central connecting member 31, and the other end is fixedly connected to the steering joint motor assembly 4. The steering joint motor assembly 4 is fixedly connected to the drive motor assembly 5 through the steering joint motor output flange, and the steering joint motor assembly 4 is located above the drive motor assembly 5. The drive motor assembly 5 is fixedly connected to the drive wheel 6 through the drive motor output flange 10. The fixed connection can be achieved by screw connection, welding, or other existing fixed connection methods; this embodiment of the invention does not limit the specific method used.

[0075] Thus, by fixing one end of the rocker arm 32 to one end of the central link 31 and the other end to the steering joint motor assembly 4, the steering joint motor assembly 4 is fixedly connected to the drive motor assembly 5 through the steering joint motor output flange, and the drive motor assembly 5 is fixedly connected to the drive wheel 6 through the drive motor output flange 10, the central link 31 is connected to the drive wheel 6 through the rocker arm 32, the steering joint motor assembly 4, and the drive motor assembly 5. This allows the rocker arm 32 to link with the central link 31 when the drive wheel 6 encounters an obstacle, thereby further pushing the swing arm 21 to rotate.

[0076] Meanwhile, the steering joint motor assembly 4 and the drive motor assembly 5 are fixedly connected, which improves the integration, reduces the size and weight, and makes it easier to pass obstacles and improves the passability.

[0077] Figure 6 See the partial structural diagram showing the connection between the steering joint motor assembly and the drive motor assembly. Figure 5 and Figure 6 The steering joint motor assembly 4 includes a steering motor 41 and a steering motor mounting base 42.

[0078] The steering motor 41 is installed in the steering motor mounting base 42, and the steering motor mounting base 42 is fixedly connected to the other end of the rocker arm 32.

[0079] See also Figure 4 and Figure 6 The steering motor mounting base 42 is provided with a rocker arm mounting rod 421. The steering motor mounting base 42 is fixedly connected to the other end of the rocker arm 32 through the rocker arm mounting rod 421. Specifically, the rocker arm mounting rod 421 is inserted into the mounting hole at the other end of the rocker arm 32 and fixedly connected with screws.

[0080] Therefore, by setting the rocker arm mounting rod 421 on the steering motor mounting base 42, the steering motor mounting base 42 is fixedly connected to the other end of the rocker arm 32 through the rocker arm mounting rod 421, which facilitates connection and disassembly.

[0081] The output end of the steering motor 41 is fixedly connected to the drive motor assembly 5 via the steering joint motor output flange. The fixed connection can be achieved by screws, welding, or other existing methods; this embodiment of the invention does not impose any limitations on this method.

[0082] Therefore, by mounting the steering motor 41 inside the steering motor mounting base 42, the steering motor 41 is protected from damage. Furthermore, the way the output end of the steering motor 41 is fixedly connected to the drive motor assembly 5 via the steering joint motor output flange ensures a secure and reliable connection while facilitating disassembly.

[0083] See also Figure 5 and Figure 6 The drive motor assembly 5 includes a drive motor 51 and a drive motor mounting base 52. The drive motor 51 is installed in the drive motor mounting base 52, and the output end of the drive motor 51 is fixedly connected to the drive wheel 6 through the drive motor output flange 10.

[0084] Therefore, by mounting the drive motor 51 inside the drive motor mounting base 52, the drive motor 51 is protected from damage. Furthermore, the way the output end of the drive motor 51 is fixedly connected to the drive wheel 6 via the drive motor output flange 10 ensures a secure and reliable connection while facilitating disassembly.

[0085] Example 2

[0086] Figure 7 A schematic diagram of a land-air integrated flying car provided as an embodiment of this utility model. See also... Figure 7 The land-air integrated flying car provided in this embodiment includes a flying car fuselage 20, and a rocker arm type chassis 30 as provided in any of the embodiments is provided below the flying car fuselage 20.

[0087] Therefore, the land-air integrated flying car provided in this embodiment includes a flying car fuselage 20. Below the flying car fuselage 20 is a rocker arm type chassis 30 as provided in Embodiment 1. The rocker arm type chassis 30 forms a wheel-side drive system by fixing the rocker arm 32 to the steering joint motor assembly 4, fixing the steering joint motor assembly 4 to the drive motor assembly 5, and driving the output end of the drive motor assembly 5 to the drive wheel 6 of the land-air integrated flying car. When turning, the drive motor assembly 5 is driven to rotate by the steering joint motor assembly 4, thereby driving the drive wheel 6 to turn. It can achieve turning on the spot, with a small turning radius and no restriction on the driving direction. By setting two central connecting parts 31 with upwardly extending lugs 311, which are rotatably connected to both ends of the swing arm 21 via ball joint rods 7, and the center of the swing arm 21 is mounted on the swing arm bearing seat 9 via the swing arm bearing 8, when the drive wheel 6 on one side passes an obstacle, the central connecting part 31 of the rocker arm 3 on that side can push the swing arm 21 to rotate around the swing arm bearing seat 9 via the ball joint rod 7, thereby pushing the central connecting part 31 of the rocker arm 3 on the opposite side to drive the connected drive wheel 6 to press down to the ground via the connected rocker arm rod 32. This reduces the change in the center of gravity height of the overall chassis fuselage 1, so that when the land-air integrated flying car using this rocker arm swing arm chassis drives on uneven ground, the fuselage tilt angle is smaller, improving terrain adaptability and driving stability.

[0088] See also Figure 7 The land-air integrated flying car provided in this embodiment of the utility model also includes at least four sets of rotors 40 disposed on the fuselage 20 of the flying car. For example, the number of sets of rotors 40 is eight.

[0089] Thus, by setting at least four sets of rotors 40 on the fuselage 20 of the flying car, a new type of land-air integrated flying car with a multi-rotor + rocker arm chassis 30 configuration is formed. This configuration of land-air integrated flying car has a small turning radius and is not restricted in its driving direction. When driving on uneven ground, the fuselage tilt angle is small, which improves the terrain adaptability and driving stability.

[0090] In one implementation, the flying car fuselage 20 is also equipped with lidar, a forward-looking camera, a GPS (Global Positioning System) antenna, a switch, an IMU (Inertial Measurement Unit), and an industrial control computer, which can integrate and realize the autonomous driving and obstacle avoidance behavior of the land-air integrated flying car.

[0091] Those skilled in the art will understand that the accompanying drawings are merely schematic diagrams of one embodiment, and the modules or processes shown in the drawings are not necessarily essential for implementing this utility model.

[0092] Those skilled in the art will understand that the modules in the apparatus of the embodiments can be distributed in the apparatus of the embodiments as described in the embodiments, or they can be located in one or more devices different from this embodiment with corresponding changes. The modules of the above embodiments can be combined into one module, or they can be further divided into multiple sub-modules.

[0093] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this utility model, and not to limit it; although the utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this utility model.

Claims

1. A swing arm swing lever type chassis characterized by, Comprise: A chassis body, a swing rod mechanism and two groups of rocker arms arranged on both sides of the swing rod mechanism; The rocker arm comprises a central link and two rocker arms arranged at both ends of the central link, the rocker arm is fixedly connected with a steering joint motor assembly, the steering joint motor assembly is fixedly connected with a driving motor assembly, and an output end of the driving motor assembly is fixedly connected with a driving wheel of the land-air integrated flying car; The swing rod mechanism comprises a swing rod and a central torsion shaft arranged below the swing rod, the central torsion shaft is fixed in the chassis body, and both ends of the central torsion shaft are respectively detachably connected with the inner sides of the two central links of the rocker arm, the lugs extended upward from the two central links are respectively connected with both ends of the swing rod through ball head pull rods, and the center of the swing rod is installed on a swing rod bearing seat through a swing rod bearing.

2. The rocker arm swing rod type chassis according to claim 1, wherein One end of the rocker arm is fixedly connected with one end of the central link, and the other end is fixedly connected with the steering joint motor assembly; The steering joint motor assembly is fixedly connected with the driving motor assembly through a steering joint motor output flange, and the steering joint motor assembly is located above the driving motor assembly, and the driving motor assembly is fixedly connected with the driving wheel through a driving motor output flange.

3. The swing arm pendulum chassis of claim 2, wherein, The steering joint motor assembly comprises a steering motor and a steering motor mounting seat; The steering motor is installed in the steering motor mounting seat, the steering motor mounting seat is fixedly connected with the other end of the rocker arm, and an output end of the steering motor is fixedly connected with the driving motor assembly through the steering joint motor output flange.

4. The swing arm pendulum chassis of claim 2, wherein, The driving motor assembly comprises a driving motor and a driving motor mounting seat; The driving motor is installed in the driving motor mounting seat, and an output end of the driving motor is fixedly connected with the driving wheel through the driving motor output flange.

5. The swing arm pendulum chassis of claim 1, wherein, The rocker arm further comprises a connecting shaft; Both ends of the central torsion shaft are respectively detachably connected with the inner sides of the two central links of the rocker arm through two connecting shafts.

6. The swing arm pendulum chassis of claim 1, wherein, The ball head pull rod comprises a pull rod, a ball head and a ball seat; The ball seat is fixedly installed at one end of the swing rod, the ball seat is provided with a spherical groove, one end of the pull rod is provided with the ball head, the ball head is arranged in the spherical groove and can rotate in the spherical groove, and the other end of the pull rod is fixed to the lug.

7. The swing arm pendulum chassis of claim 1, wherein, The swing rod is arranged at a central position at the rear or upper side of the chassis body.

8. A land-air integrated flying car, characterized in that, The flying car body comprises a flying car body, and the lower side of the flying car body is provided with the rocker arm swing rod type chassis according to any one of claims 1-7.

9. The land air all-in-one flying car of claim 8, wherein, Further comprising at least four groups of rotors arranged on the flying car body.

10. The air land all terrain vehicle as claimed in claim 8, wherein, The number of groups of rotors is eight.

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