Axle construction, chassis arrangement and mower

Abstract

The application provides a vehicle axle structure, a chassis device and a mower, and belongs to the technical field of vehicle chassis devices. The vehicle axle structure comprises an axle body part and a swing arm part. The axle body part comprises an axle seat and an axle body. The axle body is supported on the axle seat and is pivotally connected to the axle seat. The swing arm part comprises two swing arms, which are arranged on opposite sides of the axle body respectively. Both of the swing arms are pivotally connected to the axle body and can swing within a set angle range relative to the axle body. When wheels connected to the two swing arms are supported on a road surface, both of the swing arms can swing to a position abutting against the axle body. The vehicle axle structure provided by the application is characterized in that both of the swing arms are pivotally connected to the axle body and the axle body is pivotally connected to the axle seat. When the vehicle runs on a road surface with pits, the vehicle axle structure can be moved to a stable state in which both of the swing arms abut against the axle body. Thus, the wheels connected to the vehicle axle structure can have sufficient grip on the road surface, and the wheels can be prevented from slipping.

Description

Technical Field

[0001] This application belongs to the field of vehicle chassis device technology, and particularly relates to an axle structure, chassis device and lawnmower. Background Technology

[0002] A lawnmower is a mechanical tool used for trimming lawns, vegetation, etc. It consists of a walking mechanism and a blade head. The lawnmower moves on the ground via the walking mechanism and trims the lawn and vegetation by rotating the blade head. However, when the wheels of existing lawnmowers get stuck in potholes, they lose traction and are prone to slipping. Utility Model Content

[0003] The purpose of this application is to provide an axle structure, chassis device, and lawnmower to solve the technical problem in the prior art where the wheels of existing lawnmowers easily slip when stuck in dents.

[0004] To achieve the above objectives, the technical solution adopted in this application is as follows: The first aspect of this application provides an axle structure, comprising:

[0005] The bridge body section includes a bridge seat and a bridge body, with the bridge body supported on the bridge seat and pivotally connected to the bridge seat.

[0006] The swing arm section includes two swing arms, which are respectively located on opposite sides of the bridge body. Both swing arms are pivotally connected to the bridge body, and both swing arms can swing relative to the bridge body within a set angle range.

[0007] When the wheels connected to the two swing arms are supported on the road surface, both swing arms can swing to a position that abuts against the bridge body, so that the vehicle-bridge structure can form a stable state.

[0008] In some implementations, an upper limit structure is formed on the bridge body, and an upper abutment part is formed on the swing arm. When the wheel connected to the two swing arms is supported on the road surface, the upper abutment parts on both swing arms can swing to the position of abutting the upper limit structure, so that the vehicle axle structure can form a stable state.

[0009] In some implementations, the upper limit structure is positioned between the two swing arms; the swing arm also includes a swing arm body, with an upper abutment portion positioned at the end of the swing arm body facing the upper limit structure and protruding upward from the swing arm body.

[0010] In some implementations, the bridge body also includes bridge body ends, with an upper limit structure disposed between the two bridge body ends and connected to the bridge body ends, and pivoting parts for pivoting with the swing arm are installed on the two bridge body ends.

[0011] In some implementations, the pivot portion includes a connecting shaft, and the swing arm includes a connecting hole pivotally connected to the connecting shaft; or, the pivot portion includes a connecting hole, and the swing arm includes a connecting shaft pivotally connected to the connecting hole.

[0012] In some implementations, the pivot part includes a connecting shaft and a first bushing. The connecting shaft is fixed to the end of the bridge body, and the first bushing is sleeved on the connecting shaft. The first bushing is rotatably connected to the swing arm.

[0013] In some implementations, the bridge body also includes a bridge bottom, which is located below the upper limit structure; a lower abutment is formed on the swing arm, which is used to contact the bridge bottom.

[0014] In some implementations, the bridge body includes a pivot shaft, and the portion of the bridge body supported by the bridge seat includes a pivot groove pivotally connected to the pivot shaft; or, the bridge body includes a pivot groove, and the portion of the bridge body supported by the bridge seat includes a pivot shaft pivotally connected to the pivot groove.

[0015] In some implementations, a second bushing is fitted onto the pivot shaft.

[0016] In some implementations, the swing arms are horizontal when both swing arms are in contact with the bridge body and the wheels mounted on the swing arms are supported on the road surface; or, the end of the swing arm away from the bridge body is tilted upward relative to the end of the swing arm that is pivotally connected to the bridge body; or, the end of the swing arm away from the bridge body is drooping downward relative to the end of the swing arm that is connected to the bridge body.

[0017] In some implementations, when both swing arms are in contact with the bridge body and the wheels mounted on the swing arms are supported on the road surface, the angle at which the end of the swing arm away from the bridge body is tilted upward relative to the end of the swing arm pivotally connected to the bridge body does not exceed 5°; and / or, when both swing arms are in contact with the bridge body and the wheels mounted on the swing arms are supported on the road surface, the angle at which the end of the swing arm away from the bridge body is tilted downward relative to the end of the swing arm pivotally connected to the bridge body does not exceed 5°.

[0018] In some implementations, a limiting structure is formed between the bridge abutment and the bridge body, which is used to limit the range of rotation of the bridge body;

[0019] Alternatively, a limiting structure can be formed between the bridge base and the swing arm, which is used to limit the swing range of the swing arm.

[0020] In some implementations, the inner side of the bridge base includes a first limiting surface and a second limiting surface, and the two swing arms are a first swing arm and a second swing arm, which respectively cooperate with the first limiting surface and the second limiting surface.

[0021] When the first swing arm rotates forward to contact the first limiting surface, the first limiting surface prevents the first swing arm from continuing to swing in the positive direction;

[0022] When the second swing arm rotates in the opposite direction until it contacts the second limiting surface, the second limiting surface prevents the second swing arm from continuing to swing in the opposite direction.

[0023] In some implementations, the inner surface of the bridge seat includes a first limiting surface and a second limiting surface, and a bridge body abutment surface is formed on the bridge body. The bridge body abutment surface contacts the first limiting surface or the second limiting surface to limit the range of rotation of the bridge body.

[0024] In some implementations, the first limiting surface and the second limiting surface are positioned above the swing arm, and the first limiting surface and the second limiting surface extend along the axis parallel to the bridge body, forming a V-shaped structure.

[0025] In some implementations, the angle between the first limiting surface and the horizontal plane is in the range of 5.4° to 13.7°; and / or, the angle between the second limiting surface and the horizontal plane is in the range of 5.4° to 13.7°.

[0026] In some implementations, when the end of the swing arm away from the bridge body swings downward to the lower critical position, the angle at which the end of the swing arm away from the bridge body hangs downward relative to the end of the swing arm that is pivotally connected to the bridge body is 6° to 15°.

[0027] In some implementations, the axle structure also includes shock absorbers, with each control arm connected to a shock absorber.

[0028] In some implementations, a connecting seat is installed at the bottom of the swing arm, and the connecting seat is fixedly connected to one end of the shock absorber. The side of the connecting seat opposite to the swing arm has comb teeth.

[0029] In some implementations, the bridge seat has slots on opposite sides along the pivot axis perpendicular to the bridge body, and the two swing arms are inserted into the bridge seat through the corresponding slots, with a gap between the circumferential side of the swing arm and the slot wall.

[0030] In some implementations, the axle structure also includes a dust cover, which is fitted onto the swing arm and connected to the axle seat, and the dust cover covers the corresponding slot.

[0031] In some implementations, one end of the dust cover that fits against the bridge seat is fixedly connected to the bridge seat via a connector; and / or, the end of the dust cover that is away from the bridge seat is fitted into an annular groove on the swing arm.

[0032] In some implementations, the bridge base includes a lower base body and an upper cover body, with the upper cover body positioned above the lower base body and the two being detachably connected. The lower base body and the upper cover body form a groove.

[0033] In some implementations, the swing arm is provided with a wiring channel and a wiring hole connected to the wiring channel; and / or, the swing arm is provided with a weight reduction hole.

[0034] In some implementations, the axle structure also includes a detection device for detecting the swing arm's swing state. The detection device includes a magnetic component and a Hall sensor. The magnetic component is mounted on the swing arm, and the Hall sensor is mounted on the chassis frame of the chassis assembly.

[0035] In some implementations, the magnetic component is disposed on the top or side surface of the swing arm; and / or, a mounting portion is formed on the chassis frame, and a Hall sensor is disposed within the mounting portion.

[0036] In some implementations, the Hall sensor is a single-stage Hall sensor.

[0037] In some implementations, the Hall sensors are positioned away from the bridge body along a distribution direction perpendicular to the two swing arms.

[0038] In some implementations, the detection device includes a magnetic component and a Hall sensor, the axle structure also includes a triangular structural component, a shock absorber is connected between the swing arm and the chassis frame of the chassis device, the three ends of the triangular structural component are respectively connected to the shock absorber, the magnetic component and the chassis frame, and the Hall sensor is mounted on the chassis frame.

[0039] In some implementations, magnetic components are provided on both swing arms, and the magnetic components on the two swing arms respectively cooperate with the corresponding Hall sensors on the chassis frame; when the Hall sensors on both swing arms identify that the corresponding swing arms are in a downward swing state, the controller connected to the Hall sensors determines that the chassis device is in a raised state.

[0040] A second aspect of this application provides a chassis assembly, including a chassis frame and an axle structure described in any of the above technical solutions, wherein the axle seat of the axle structure is fixed to the bottom of the chassis frame.

[0041] In some implementations, the chassis frame includes a rear section, the axle structure is connected to the rear section and the rear section is located between the two rear wheels of the chassis assembly; shock absorbers are installed on the swing arms of the axle structure, the shock absorbers are located on the rear side of the swing arms, and the shock absorbers on the two swing arms are located on both sides of the rear section along the distribution direction of the two rear wheels.

[0042] In some implementations, a comb-like structure is provided on the rear side of the tail, with two shock absorbers located on both sides of the comb-like structure.

[0043] A third aspect of this application provides a lawnmower that includes the chassis assembly described in any of the above technical solutions.

[0044] The beneficial effects of this application are as follows: The axle structure provided in this application embodiment, by setting both swing arms to be pivotally connected to the axle body and setting the axle body to be pivotally connected to the axle seat, enables the axle structure to move to a stable state where both swing arms can abut against the axle body when driving on a road surface with potholes, thereby ensuring that the wheels connected to the axle structure have sufficient grip and preventing slippage; in addition, since the two swing arms are pivotally connected to the axle body, they also have a certain vibration damping effect on the chassis device. Attached Figure Description

[0045] To more clearly illustrate the technical solutions in the embodiments of this application, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0046] Figure 1 Structural diagrams of axle structures provided in some embodiments of this application Figure 1 ;

[0047] Figure 2 This is a schematic diagram of the connection between the axle structure and the wheel provided in some embodiments of this application;

[0048] Figure 3 The axle structure and wheel structure provided in some embodiments of this application are in a stable state. Figure 1 ;

[0049] Figure 4 A simplified structural diagram of the axle structure and wheels in an unstable state, provided in some embodiments of this application;

[0050] Figure 5 The axle structure and wheel structure provided in some embodiments of this application are in a stable state. Figure 2 ;

[0051] Figure 6 Structural diagrams of axle structures provided in some embodiments of this application Figure 2 ;

[0052] Figure 7 Schematic diagram of the structure of the chassis device provided in some embodiments of this application Figure 1 ;

[0053] Figure 8 Simplified cross-sectional views of the axle structure and wheels provided for some embodiments of this application;

[0054] Figure 9 This is a cross-sectional schematic diagram of the axle structure provided in some embodiments of this application;

[0055] Figure 10 This is a schematic diagram of the structure of the swing arm provided in some embodiments of this application;

[0056] Figure 11 Cross-sectional schematic diagram of the axle structure provided in some embodiments of this application Figure 1 ;

[0057] Figure 12 Exploded view of the axle structure provided in some embodiments of this application Figure 1 ;

[0058] Figure 13 Exploded view of the axle structure provided in some embodiments of this application Figure 2 ;

[0059] Figure 14 This is a schematic diagram of the bridge structure provided in some embodiments of this application;

[0060] Figure 15 Structural diagrams of bridge bodies provided in some embodiments of this application Figure 2 ;

[0061] Figure 16 The axle structure and wheel structure provided in some embodiments of this application are simplified. Figure 1 ;

[0062] Figure 17 The axle structure and wheel structure provided in some embodiments of this application are simplified. Figure 2 ;

[0063] Figure 18 The axle structure and wheel structure provided in some embodiments of this application are simplified. Figure 3 ;

[0064] Figure 19 This is a schematic diagram of the bridge structure provided in some embodiments of this application;

[0065] Figure 20 Partial cross-sectional view of the axle structure provided in some embodiments of this application Figure 1 ;

[0066] Figure 21 Partial cross-sectional view of the axle structure provided in some embodiments of this application Figure 2 ;

[0067] Figure 22 Partial cross-sectional view of the axle structure provided in some embodiments of this application Figure 3 ;

[0068] Figure 23 Partial cross-sectional view of the axle structure provided in some embodiments of this application Figure 4 ;

[0069] Figure 24 Exploded view of the axle structure provided in some embodiments of this application Figure 3 ;

[0070] Figure 25 This application provides structural schematic diagrams of the swing arm and connecting seat for some embodiments;

[0071] Figure 26 Schematic diagram of the structure of the chassis device provided in some embodiments of this application Figure 2 (The comb teeth structure is not shown);

[0072] Figure 27 This application provides structural schematic diagrams of the swing arm and magnetic components for some embodiments.

[0073] Figure 28 Schematic diagram of the structure of the chassis device provided in some embodiments of this application Figure 3 ;

[0074] Figure 29 Schematic diagram of the structure of the chassis device provided in some embodiments of this application Figure 4 .

[0075] The following are the labeling elements in the figure:

[0076] 100 - Chassis assembly;

[0077] 10 - Axle structure; 20 - Wheels; 30 - Chassis frame;

[0078] 1-Bridge body; 2-Swing arm; 3-Pivot part; 4-Connector; 5-Shock absorber; 6-Connecting seat; 7-Dust cover; 8-Magnetic component; 9-Hall sensor;

[0079] 11-Bridge seat; 12-Bridge body;

[0080] 111-Lower seat body; 112-Upper cover body; 113-First limiting surface; 114-Second limiting surface; 115-Gate; 116-Pivot groove;

[0081] 121 - Upper limit structure; 122 - Bridge body end; 123 - Bridge body bottom; 124 - Pivot shaft; 125 - Second axle sleeve;

[0082] 1211 - Positioning protrusion; 1222 - Bridge body contact surface;

[0083] 1221 - Support surface;

[0084] 1231 - Bottom main body section; 1232 - Bottom protrusion; 1233 - First arc-shaped area; 1234 - Second arc-shaped area;

[0085] 21-Swing arm; 22-First swing arm; 23-Second swing arm; 24-Annular groove; 25-Cable routing channel; 26-Cable routing hole; 27-Weight reduction hole; 28-Connection hole; 29-Mounting protrusion ring;

[0086] 211-Swing arm main body; 212-Upper abutment part;

[0087] 2121 - Abutting part; 2122 - Abutting protrusion; 2123 - Positioning groove;

[0088] 31-Connecting shaft; 32-First shaft sleeve;

[0089] 51 - First shock absorber; 52 - Second shock absorber;

[0090] 61-Connector body; 62-Comb teeth;

[0091] 201 - First wheel; 202 - Second wheel; 203 - Rear wheel; 204 - Front wheel;

[0092] 301 - Mounting part; 302 - Comb structure; 303 - Tail end. Detailed Implementation

[0093] To make the objectives, technical solutions, and advantages of this application clearer, the embodiments of this application will be further described in detail below with reference to the accompanying drawings. The embodiments described with reference to the accompanying drawings are exemplary and intended to explain this application, and should not be construed as limiting this application.

[0094] In the description of this application, it should be understood that the terms "length", "width", "thickness", "top", "bottom", "inner", "outer", "upper", "lower", "left", "right", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0095] To facilitate a clear description of the technical solutions of this application, the terms "first" and "second" are used to distinguish identical or similar items with essentially the same function and effect. Those skilled in the art will understand that the terms "first" and "second" do not limit the quantity or execution order, and that the terms "first" and "second" do not necessarily imply that they are different.

[0096] In this application, unless otherwise expressly specified and limited, the terms "connected" and "linked" 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 or an electrical 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 application according to the specific circumstances.

[0097] In this application, "and / or" is merely a way of describing the relationship between related objects, indicating that three relationships can exist; for example, A and / or B can represent three cases: A existing alone, A and B existing simultaneously, and B existing alone. Additionally, the character " / " in this document generally indicates that the preceding and following related objects have an "or" relationship.

[0098] It should be noted that, in this application, the words "in one embodiment," "exemplarily," and "for example" are used to indicate examples, illustrations, or descriptions. Any embodiment or design described in this application as "in one embodiment," "exemplarily," or "for example" should not be construed as being more preferred or advantageous than other embodiments or designs. Specifically, the use of words such as "in one embodiment," "exemplarily," and "for example" is intended to present the relevant concepts in a specific manner.

[0099] Please see Figures 1-5 , Figure 1 Schematic diagram of the axle structure 10 provided in some embodiments of this application Figure 1 , Figure 2 This is a schematic diagram of the connection between the axle structure 10 and the wheel 20 provided in some embodiments of this application. Figure 3 The structural simplification of the axle structure 10 and the wheel 20 in a stable state provided in some embodiments of this application Figure 1 , Figure 4 This is a simplified structural diagram of the axle structure 10 and wheel 20 in an unstable state, provided in some embodiments of this application. Figure 5 The structural simplification of the axle structure 10 and the wheel 20 in a stable state provided in some embodiments of this application Figure 2 For ease of description, please refer to [link / reference]. Figure 1 In this embodiment of the application, the length direction of the axle structure 10 is defined as the X-axis direction, the width direction of the axle structure 10 is defined as the Y-axis direction, and the height direction of the axle structure 10 is defined as the Z-axis direction, wherein the X-axis direction, the Y-axis direction and the Z-axis direction are mutually perpendicular.

[0100] It is worth noting that the qualifying terms for parallel and / or perpendicular positional relationships mentioned in this embodiment are all relative to the current technological level, and not absolute and strict definitions in a mathematical sense. Slight deviations are allowed; approximations of parallelism and perpendicularity are acceptable. Furthermore, this embodiment uses directional terms such as "top," "bottom," "left," "right," "front," and "rear" when describing the axle structure 10. The orientation is mainly based on the axle structure 10 as shown in the attached... Figure 1 The orientation of the display is described as follows: the positive direction of the X-axis is "right", the negative direction of the X-axis is "left", the positive direction of the Y-axis is "front", the negative direction of the Y-axis is "back", the positive direction of the Z-axis is "top", and the negative direction of the Z-axis is "bottom".

[0101] Please see Figure 1 This application provides an axle structure 10, which is an important component of the chassis assembly 100 and is mainly used to connect the wheels 20 in the chassis assembly 100. Please refer to... Figure 1 The axle structure 10 includes an axle body 1 and a swing arm 2, the swing arm 2 being used to connect the axle body 1 and the wheel 20. See also... Figure 2 This illustrates the connection between the swing arm 2 and the two wheels 20.

[0102] Please see Figure 1 The swing arm 2 includes two swing arms 21, which are respectively disposed on opposite sides of the bridge body 12. For ease of description, the two swing arms 21 are referred to as the first swing arm 22 and the second swing arm 23. One end of the first swing arm 22 and the second swing arm 23 are pivotally connected to the bridge body 1, and the other end of the first swing arm 22 and the second swing arm 23 are used to connect to the wheel 20.

[0103] "Pivot connection" usually refers to a rotatable connection between two or more components via a pivot or pin, allowing the components to rotate around a specific axis at the connection point, thus transmitting a certain force and torque while retaining the freedom of rotation.

[0104] In this embodiment, both the first swing arm 22 and the second swing arm 23 are pivotally connected to the bridge body 12 of the bridge body 1, and the first swing arm 22 can swing relative to the bridge body 1 within a set angle range, and the second swing arm 23 can swing relative to the bridge body 1 within a set angle range. Please refer to... Figure 1 The first swing arm 22 can swing downward relative to the bridge body 12 in the direction indicated by arrow d in the figure, and the second swing arm 23 can swing downward relative to the bridge body 12 in the direction indicated by arrow D in the figure.

[0105] Please see Figure 3The bridge body 1 includes a bridge seat 11 and a bridge body 12, wherein the bridge body 12 is supported on the bridge seat 11 and is pivotally connected to the bridge seat 11, and the bridge seat 11 is used to connect to the chassis frame 30 of the chassis device 100.

[0106] The swing axis between the first swing arm 22 and the bridge body 12 can be called the first axis, the swing axis between the second swing arm 23 and the bridge body 12 can be called the second axis, and the rotation axis between the bridge seat 11 and the bridge body 12 can be called the third axis. In some examples, the first axis and the third axis are set parallel to each other, and the second axis and the third axis are set parallel to each other; or, in other examples, the first axis and the third axis are not parallel and the angle between the first axis and the third axis is less than a set constant value α, the second axis and the third axis are not parallel and the angle between the second axis and the third axis is less than a set constant value β. For example, the value range of α can be set to no greater than 5°, and the value range of β can be set to no greater than 5°.

[0107] Please see Figure 3 The wheel 20 connected to the first swing arm 22 becomes the first wheel 201, and the wheel 20 connected to the second swing arm 23 becomes the second wheel 202. Figure 3 The diagram illustrates that the first wheel 201, connected to the first swing arm 22, and the second wheel 202, connected to the second swing arm 23, are supported on a flat road surface. At this point, both swing arms 21 can swing to a position abutting against the bridge body 12, thus stabilizing the axle structure 10. It should be noted that a flat road surface means that the road surface supporting the first wheel 201 and the road surface supporting the second wheel 202 are essentially on the same horizontal plane.

[0108] In some examples, the first swing arm 22 and the second swing arm 23 are symmetrically arranged on both sides of the bridge body 12. For details, please refer to [link / reference needed]. Figure 3 When the wheel 20, connected to the first swing arm 22 and the second swing arm 23, is supported on a flat ground and both swing arms 21 are in contact with the bridge body 12, please refer to Figure 3 The diagram illustrates that the distance between the contact position of the first swing arm 22 and the bridge body 12 and the rotation axis of the first wheel 201 is L1, and the distance between the contact position of the second swing arm 23 and the bridge body 12 (the contact position of the second swing arm 23 and the bridge body 12 are symmetrically arranged on both sides of the bridge body 12) and the rotation axis of the second wheel 202 is L2. Here, L1 equals L2, that is, the first swing arm 22 and the second swing arm 23 are symmetrically arranged on both sides of the bridge body 12.

[0109] The following is in conjunction with the appendix Figures 3-5 This describes the movement of the first swing arm 22, the second swing arm 23, and the axle body 12 when the axle structure 10 and the wheel 20 connected to the axle structure 10 encounter a pothole.

[0110] Please see Figure 3 The diagram shows that the first swing arm 22 is connected to the first wheel 201, and the second swing arm 23 is connected to the second wheel 202. The first wheel 201 and the second wheel 202 are supported on a flat ground. At this time, the first swing arm 22 and the second swing arm 23 are both in contact with the bridge body 12. The bridge seat 11 is subjected to downward pressure (such as the weight of the main body of the vehicle on the chassis device 100 and the weight of the chassis device 100) which can be transmitted to the first wheel 201 and the second wheel 202 through the bridge body 12, the first swing arm 22 and the second swing arm 23 respectively, so that the first wheel 201 and the second wheel 202 are tightly gripped with the ground.

[0111] Please see Figure 4 This illustrates the state when the second wheel 202 falls into the ditch. Because the second swing arm 23 is pivotally connected to the axle body 12, when the second wheel 202 falls into the ditch, the second swing arm 23 rotates relative to the axle body 12. The tire surface of the second wheel 202 is supported on the bottom surface of the ditch. At this time, the second swing arm 23 is not in contact with the axle body 12, and the axle structure 10 is in an unstable state. Under the downward pressure on the axle seat 11 (such as the weight of the vehicle body on the chassis assembly 100 and the weight of the chassis assembly 100), the axle body 1 will move downwards. Because the first swing arm 22 is in contact with the axle body 12, and the second swing arm 23 moves relative to the axle body 12 as the axle body 1 moves downwards... Figure 4 The first swing arm 22 rotates in the direction indicated by the middle arrow D, thereby causing the bridge body 12 to move along... Figure 4 Rotate clockwise until the first swing arm 22 and the bridge body 12 rotate to the position shown. Figure 5 As shown in the diagram, both the first swing arm 22 and the second swing arm 23 are in contact with the bridge body 12. At this time, the axle structure 10 is in a stable state. The pressure on the axle seat 11 can be transmitted to the first wheel 201 and the second wheel 202 through the bridge body 12, the first swing arm 22 and the second swing arm 23 respectively, so that the first wheel 201 and the second wheel 202 are firmly gripped with the ground.

[0112] It is worth noting that in some exemplary scenarios, when the chassis device 100 equipped with the axle structure 10 provided in this application is traveling forward and encounters a pothole, the swing arm 21 moves first, causing the wheel 20 to fall into the pothole. Before the axle seat 11 and the chassis frame 30 supported on the axle seat 11 have a chance to descend, the wheel 20 that fell into the pothole has already driven out of the pothole, so that the chassis device 100 does not experience bumps even if there are potholes on the road. In other words, by setting both swing arms 21 to be pivotally connected to the axle body 12, the chassis device 100 also has a certain vibration reduction effect.

[0113] In this embodiment, by setting both swing arms 21 to be pivotally connected to the bridge body 12 and setting the bridge body 12 to be pivotally connected to the bridge seat 11, when driving on a road surface with potholes, the axle structure 10 can move to a stable state where both swing arms 21 can abut against the bridge body 12. This ensures that the wheels 20 connected to the axle structure 10 have sufficient grip and prevents slippage. In addition, since the two swing arms 21 are pivotally connected to the bridge body 12, they also have a certain vibration damping effect on the chassis device 100.

[0114] Please see Figures 6-7 , Figure 6 Schematic diagram of the axle structure 10 provided in some embodiments of this application Figure 2 , Figure 7 This is a schematic diagram of the structure of a chassis device 100 provided in some embodiments of this application.

[0115] In some embodiments, see Figure 6 The axle structure 10 also includes shock absorbers 5, with a shock absorber 5 connected to each control arm 21. Please refer to [link / reference]. Figure 7 The shock absorber 5 is used to connect to the chassis frame 30 of the chassis assembly 100.

[0116] In some examples, the shock absorber 5 is an air-type shock absorber, a hydraulic shock absorber, an electromagnetic shock absorber, or a spring-type shock absorber, etc.

[0117] In some examples, the shock absorbers 5 on the two swing arms 21 have the same structure; or, in other examples, the shock absorbers 5 on the two swing arms 21 have different structures.

[0118] In some examples, each swing arm 21 is connected to more than one shock absorber 5.

[0119] Please see Figure 6 Shock absorbers 5 are connected to both the first swing arm 22 and the second swing arm 23. For ease of description, the shock absorber 5 connected to the first swing arm 22 is referred to as the first shock absorber 51, and the shock absorber 5 connected to the second swing arm 23 is referred to as the second shock absorber 52. When the axle structure 10 provided in this embodiment is installed on the chassis device 100, the first shock absorber 51 and the second shock absorber 52 are in a compressed state to increase the grip of the first wheel 201 and the second wheel 202 on the ground. In some exemplary scenarios, when the first wheel 201 connected to the first swing arm 22 falls into a ditch, the first shock absorber 51 facilitates the first wheel 201 to quickly contact the bottom of the ditch. At the same time, the first shock absorber 51 and the second shock absorber 52 also slow down the descent of the vehicle body and the chassis frame 30, thereby reducing vehicle body sway.

[0120] In this embodiment, by setting a shock absorber 5 connected to each swing arm 21, it can be used to absorb the vibration energy generated by road bumps, reduce vehicle body sway, and improve driving comfort, handling stability and wheel 20 grip.

[0121] Please see Figures 8-10 , Figure 8 This is a simplified cross-sectional view of the axle structure 10 and wheel 20 provided in some embodiments of this application. Figure 9 This is a cross-sectional schematic diagram of the axle structure 10 provided in some embodiments of this application. Figure 10 This is a schematic diagram of the structure of the swing arm 21 provided in some embodiments of this application.

[0122] In some embodiments, see Figure 8 An upper limit structure 121 is formed on the bridge body 12, and an upper abutment portion 212 is formed on the swing arm 21. When the wheel 20 connected to the two swing arms 21 is supported on the flat road surface, the upper abutment portions 212 on the two swing arms 21 can swing to the position of abutting the upper limit structure 121, so that the axle structure 10 forms a stable state.

[0123] In some examples, the bridge body 12 includes a bridge body main body and an upper limit structure 121, which is integrally formed on the bridge body main body, or the upper limit structure 121 is detachably connected to the bridge body main body.

[0124] See some examples. Figure 10 The swing arm 21 includes a swing arm body 211 and an upper abutment portion 212. The upper abutment portion 212 is integrally formed on the swing arm body 211, or the upper abutment portion 212 is detachably connected to the swing arm body 211.

[0125] In this embodiment, by forming an upper limit structure 121 on the bridge body 12 and an upper abutment portion 212 on the swing arm 21, the two swing arms 21 can abut against the bridge body 12 to achieve a stable state for the vehicle axle structure 10.

[0126] In some embodiments, see Figure 9 The upper limit structure 121 is disposed between the two swing arms 21. The swing arm 21 includes a swing arm body 211 and an upper abutment part 212. The upper abutment part 212 is disposed at one end of the swing arm body 211 facing the upper limit structure 121 and the upper abutment part 212 protrudes upward from the swing arm body 211.

[0127] In some examples, the upper abutment portion 212 is integrally formed on the swing arm body 211.

[0128] In some examples, the side of the upper abutment portion 212 facing the upper limit structure 121 is a plane; or, in other examples, see [link to example]. Figure 10The upper abutment portion 212 includes an abutment body portion 2121 and an abutment protrusion portion 2122. The abutment body portion 2121 is connected to the swing arm body 211. The abutment protrusion portion 2122 is disposed on the side of the abutment body portion 2121 facing the upper limit structure 121. The abutment protrusion portion 2122 is close to the top of the abutment body portion 2121 and is used to contact the upper limit structure 121.

[0129] See some examples. Figure 9 The upper limit structure 121 is plate-shaped.

[0130] In this embodiment of the application, by setting an upper limit structure 121 between two swing arms 21 and setting an upper abutment 212 at one end of the swing arm body 211 facing the upper limit structure 121, the processing and manufacturing of the axle structure 10 can be facilitated.

[0131] Please see Figures 11-15 , Figure 11 Cross-sectional schematic diagram of the axle structure 10 provided in some embodiments of this application Figure 1 , Figure 12 Exploded view of the axle structure 10 provided in some embodiments of this application Figure 1 , Figure 13 Exploded view of the axle structure 10 provided in some embodiments of this application Figure 2 , Figure 14 This is a schematic diagram of the structure of the bridge body 12 provided in some embodiments of this application. Figure 15 Schematic diagram of the structure of the bridge body 12 provided in some embodiments of this application Figure 2 .

[0132] In some embodiments, see Figure 13 and Figure 14 The bridge body 12 also includes bridge body ends 122, an upper limit structure 121 is disposed between the two bridge body ends 122 and the upper limit structure 121 is connected to the bridge body ends 122, and a pivot part 3 for pivotally connecting with the swing arm 21 is installed on the two bridge body ends 122.

[0133] Please see Figure 13 The diagram shows two pivot parts 3 symmetrically located on both sides of the bridge body 12. The two ends of the two pivot parts 3 are respectively connected to the two ends 122 of the bridge body, and the two swing arms 21 are respectively rotatably connected to the corresponding pivot parts 3.

[0134] In some examples, the two ends of the pivot 3 are rotatably connected to the two bridge body ends 122 respectively, and the pivot 3 is fixedly connected to the swing arm 21; or, in other examples, the two ends of the pivot 3 are fixedly connected to the two bridge body ends 122 respectively, and the pivot 3 is rotatably connected to the swing arm 21.

[0135] See some examples. Figure 14 The upper limit structure 121 can be set to be plate-shaped, and the two ends of the upper limit structure 121 are connected to the end 122 of the bridge body.

[0136] In this embodiment of the application, the bridge body 12 is further provided with a bridge body end 122 so as to support the pivot portion 3 pivotally connected to the swing arm 21 on the bridge body 12.

[0137] In some embodiments, see Figure 14 The bridge body 12 also includes a bridge body bottom 123, which is located below the upper limit structure 121. In addition, a lower abutment portion is formed on the swing arm 21, which is used to contact the bridge body bottom 123.

[0138] Please see Figure 11 When the bridge body 12 is fixed so that it does not rotate relative to the bridge seat 11, if the end of the first swing arm 22 away from the bridge body 12 swings downward until it contacts the bottom 123 of the bridge body, the bottom 123 of the bridge body can restrict the bottom 123 of the bridge body from continuing to swing downward.

[0139] See some examples. Figure 14 The two ends of the bottom 123 of the bridge body are fixedly connected to the two ends 122 of the bridge body, and the two ends of the upper limit structure 121 are fixedly connected to the two ends 122 of the bridge body. There is a gap between the bottom 123 of the bridge body and the upper limit structure 121, or the bottom 123 of the bridge body is connected to the upper limit structure 121. Alternatively, in other examples, the two ends of the bottom 123 of the bridge body are fixedly connected to the two ends 122 of the bridge body, the two ends of the upper limit structure 121 are not connected to the two ends 122 of the bridge body, and the bottom 123 of the bridge body is connected to the upper limit structure 121, that is, the upper limit structure 121 is fixed to the two ends 122 of the bridge body through the bottom 123 of the bridge body. Alternatively, in other examples, the two ends of the upper limit structure 121 are fixedly connected to the two ends 122 of the bridge body, the two ends of the bottom 123 of the bridge body are not fixedly connected to the two ends 122 of the bridge body, and the bottom 123 of the bridge body is connected to the upper limit structure 121.

[0140] In some examples, the lower abutment is the outer side of the swing arm body 211; or, in other examples, the lower abutment may be a protruding structure on the swing arm body 211.

[0141] See some examples. Figure 11 and Figure 15 The bridge bottom 123 includes a bottom main body section 1231 and two bottom protrusions 1232. The two bottom protrusions 1232 are disposed on the bottom main body section 1231, facing the swing arm 21. The two bottom protrusions 1232 are distributed along the distribution direction of the two swing arms 21 (i.e.,...). Figure 15The bottom protrusion 1232 is arranged sequentially at intervals on the bottom main body section 1231 in the X-axis direction, and the bottom protrusion 1232 is close to the edge of the bottom main body section 1231. The lower abutment part on the swing arm body 211 can contact the bottom protrusion 1232.

[0142] See some examples. Figure 15 The bottom main body segment 1231 includes a first arc-shaped region 1233 and a second arc-shaped region 1234, the first arc-shaped region 1233 and the second arc-shaped region 1234 being distributed along the distribution direction of the two swing arms 21 (i.e. Figure 15 The first arc-shaped region 1233 and the second arc-shaped region 1234 are sequentially arranged in the X-axis direction. Both are connected to the upper limit structure 121. The first arc-shaped region 1233 and the second arc-shaped region 1234 are respectively used to cooperate with the arc surfaces of the first swing arm 22 and the second swing arm 23.

[0143] In this embodiment of the application, by providing the bridge body 12, a bridge body bottom 123 is also provided, which can help improve the strength of the bridge body 12.

[0144] In some embodiments, see Figure 13 The pivot part 3 includes a connecting shaft 31, and the swing arm 21 includes a connecting hole 28 that is pivotally connected to the connecting shaft 31.

[0145] See some examples. Figure 14 A support surface 1221 is formed on the end 122 of the bridge body, and one end of the connecting shaft 31 can be supported on the support surface 1221.

[0146] In some examples, the connector 4 may be configured to pass through the connecting shaft 31 and be inserted into the support surface 1221 on the bridge end 122 to achieve a detachable connection between the connecting shaft 31 and the bridge end 122 via the connector 4.

[0147] In some examples, the pivot 3 includes a connecting shaft 31, with both ends of the connecting shaft 31 fixed to the two bridge body ends 122 respectively. The connecting shaft 31 passes through the connecting hole 28 on the swing arm 21 and is rotatably connected to the swing arm 21. Alternatively, in other examples, the pivot 3 includes two connecting shafts 31, with one end of each connecting shaft 31 fixed to the corresponding bridge body end 122 and the other end of each connecting shaft 31 inserted into the connecting hole 28 on the swing arm 21 respectively. The connecting shaft 31 is rotatably connected to the swing arm 21.

[0148] In some examples, the connecting shaft 31 is fixed to the end 122 of the bridge body, and a first bushing 32 is sleeved on the connecting shaft 31. The first bushing 32 is rotatably connected to the swing arm 21 to reduce friction and facilitate the rotation of the swing arm 21 relative to the connecting shaft 31. Alternatively, in other examples, the connecting shaft 31 is fixed to the end 122 of the bridge body, and a bearing is sleeved on the connecting shaft 31. The bearing is installed in the connecting hole 28 of the swing arm 21.

[0149] See some examples. Figure 13 The pivot part 3 includes a connecting shaft 31, on which two first bushings 32 are fitted. When the swing arm 21 is pivotally connected to the bridge body 12 through the pivot part 3, the connecting shaft 31 is first passed through the connecting hole 28 on the swing arm 21, and then the two first bushings 32 are respectively inserted into the connecting shaft 31 from both ends of the connecting shaft 31. Then the two ends of the connecting shaft 31 are respectively fixed to the two bridge body ends 122.

[0150] In this embodiment, by setting the pivot part 3 to include a connecting shaft 31 and the swing arm 21 to include a connecting hole 28 that is pivotally connected to the connecting shaft 31, the structure of the swing arm 21 pivotally connected to the bridge body 12 is simple while realizing the pivot connection between the swing arm 21 and the bridge body 12.

[0151] It is worth noting that the above embodiment describes the pivot part 3 as including a connecting shaft 31 and the swing arm 21 as including a connecting hole 28 pivotally connected to the connecting shaft 31. In other embodiments, the pivot part 3 may include a connecting hole 28 and the swing arm 21 may include a connecting shaft 31 pivotally connected to the connecting hole 28.

[0152] In some examples, the connecting shaft 31 can be fixedly connected to the swing arm 21, and the two bridge body ends 122 are respectively provided with connecting holes 28. The two ends of the connecting shaft 31 are respectively inserted into the corresponding connecting holes 28 and rotatably connected to the two bridge body ends 122.

[0153] In some examples, a bushing or bearing that mates with the connecting shaft 31 is installed in the connecting hole 28.

[0154] In this embodiment, by setting the pivot part 3 to include a connecting hole 28 and the swing arm 21 to include a connecting shaft 31 pivotally connected to the connecting hole 28, the structure of the swing arm 21 pivotally connected to the bridge body 12 is simple while realizing the pivot connection between the swing arm 21 and the bridge body 12.

[0155] In some embodiments, see Figure 13 A positioning groove 2123 is formed on the upper abutment portion 212. Please refer to [link / reference]. Figure 14 Positioning protrusions 1211 are formed on opposite sides of the upper limit structure 121. When the upper abutting part 212 abuts against the upper limit structure 121, the positioning protrusions 1211 are inserted into the positioning grooves 2123 on the corresponding side. Alternatively, in other examples, positioning protrusions 1211 may be formed on the upper abutting part 212, and positioning grooves 2123 that cooperate with positioning protrusions 1211 may be provided on the upper limit structure 121.

[0156] In this embodiment of the application, a positioning protrusion 1211 and a positioning groove 2123 are provided to facilitate the positioning and installation of the bridge body 12 and the swing arm 21.

[0157] In some embodiments, see Figure 14 The bridge body 12 also includes a pivot shaft 124, see [link to relevant documentation]. Figure 13 The portion of the bridge seat 11 that supports the bridge body 12 includes a pivot groove 116 that is pivotally connected to the pivot shaft 124.

[0158] See some examples. Figure 14 A pivot shaft 124 is provided on the side of the bridge end 122 away from the upper limit structure 121, and the pivot shafts 124 on the two bridge ends 122 are respectively inserted into the corresponding pivot grooves 116 on the bridge seat 11.

[0159] See some examples. Figure 13 A second bushing 125 is fitted on the pivot shaft 124 and installed in the pivot groove 116. The pivot shaft 124 and the second bushing 125 are rotatably connected. Alternatively, a bearing is fitted on the pivot shaft 124 and installed in the pivot groove 116.

[0160] In some examples, the pivot shaft 124 is a hollow structure to reduce the weight of the axle structure 10.

[0161] In some examples, the bridge body 12 includes an upper limit structure 121, two bridge body ends 122, a bridge body bottom 123, and two pivot shafts 124. The upper limit structure 121 and the bridge body bottom 123 are disposed between the two bridge body ends 122. The upper limit structure 121 is disposed above the bridge body bottom 123. Each bridge body end 122 has a pivot shaft 124 disposed on the side opposite to the upper limit structure 121.

[0162] In some examples, the upper limit structure 121, the two bridge ends 122, the bridge bottom 123, and the two pivot shafts 124 are integrally formed.

[0163] In this embodiment, the bridge body 12 is further provided with a pivot shaft 124, and the part of the bridge seat 11 supporting the bridge body 12 includes a pivot groove 116 pivotally connected to the pivot shaft 124. While realizing the rotatable connection between the bridge body 12 and the bridge seat 11, the structure of the pivot connection between the bridge body 12 and the bridge seat 11 is simple.

[0164] It is worth noting that the above embodiments describe the bridge body 12 as including a pivot shaft 124 and the portion of the bridge seat 11 supporting the bridge body 12 as including a pivot groove 116 pivotally connected to the pivot shaft 124. In other embodiments, the bridge body 12 includes a pivot groove 116, and the portion of the bridge seat 11 supporting the bridge body 12 includes a pivot shaft 124 pivotally connected to the pivot groove 116.

[0165] In some examples, a pivot groove 116 is provided on the side of the bridge end 122 away from the upper limit structure 121, and two pivot shafts 124 are provided on the bridge seat 11, which are respectively inserted into the pivot grooves 116 on the corresponding side.

[0166] In some examples, a bushing is fitted onto the pivot shaft 124 and installed in the pivot groove 116, with the pivot shaft 124 rotatably connected to the bushing; or, a bearing is fitted onto the pivot shaft 124 and installed in the pivot groove 116.

[0167] In this embodiment of the application, by setting the bridge body 12 to include a pivot groove 116 and the bridge seat 11 to support the bridge body 12 to include a pivot shaft 124 pivotally connected to the pivot groove 116, the bridge body 12 and the bridge seat 11 are rotatably connected, while the structure of the bridge body 12 and the bridge seat 11 being pivotally connected is simple.

[0168] Please see Figures 16-18 , Figure 16 The structural details of the axle structure 10 and wheel 20 provided in some embodiments of this application are simplified below. Figure 1 , Figure 17 The structural details of the axle structure 10 and wheel 20 provided in some embodiments of this application are simplified below. Figure 2 , Figure 18 The structural details of the axle structure 10 and wheel 20 provided in some embodiments of this application are simplified below. Figure 3 .

[0169] In some embodiments, see Figure 16 When both swing arms 21 are in contact with the bridge body 12 and the wheels 20 mounted on the swing arm 2 are supported on the road surface, the swing arms 21 are in a horizontal state.

[0170] In this embodiment, the state of the swing arm 21 can be determined by the axle of the wheel 20. Please refer to [link to relevant documentation]. Figure 16 When both swing arms 21 are in contact with the bridge body 12 and the wheel 20 mounted on the swing arm 2 is supported on a flat surface, the axis L1 of the first wheel 201 connected to the first swing arm 22 is horizontal, that is, the first swing arm 22 is horizontal, and the axis L2 of the second wheel 202 connected to the second swing arm 23 is horizontal, that is, the second swing arm 23 is horizontal.

[0171] It is worth noting that the above embodiment describes that when both swing arms 21 are in contact with the bridge body 12 and the wheel 20 mounted on the swing arm 2 is supported on the road surface, the swing arms 21 are in a horizontal state. In other embodiments, when both swing arms 21 are in contact with the bridge body 12 and the wheel 20 mounted on the swing arm 2 is supported on the road surface, the end of the swing arm 21 away from the bridge body 1 can be tilted upward relative to the end of the swing arm 21 that is pivotally connected to the bridge body 1, or the end of the swing arm 21 away from the bridge body 1 can be tilted downward relative to the end of the swing arm 21 that is connected to the bridge body 1.

[0172] Please see Figure 17 When both swing arms 21 are in contact with the bridge body 12 and the wheel 20 mounted on the swing arm 2 is supported on the road surface, the axis L1 of the first wheel 201 connected to the first swing arm 22 is inclined upward in the direction from the bridge body 12 to the first wheel 201, that is, the end of the first swing arm 22 away from the bridge body 1 is tilted upward relative to the end of the swing arm 21 that is pivotally connected to the bridge body 1. The axis L2 of the second wheel 202 connected to the second swing arm 23 is inclined upward in the direction from the bridge body 12 to the second wheel 202, that is, the end of the second swing arm 23 away from the bridge body 1 is tilted upward relative to the end of the swing arm 21 that is pivotally connected to the bridge body 1.

[0173] Please see Figure 18 When both swing arms 21 are in contact with the bridge body 12 and the wheel 20 mounted on the swing arm 2 is supported on the road surface, the axis L1 of the first wheel 201 connected to the first swing arm 22 is inclined downward in the direction from the bridge body 12 to the first wheel 201, that is, the end of the first swing arm 22 away from the bridge body 1 hangs downward relative to the end of the swing arm 21 that is pivotally connected to the bridge body 1. The axis L2 of the second wheel 202 connected to the second swing arm 23 is inclined downward in the direction from the bridge body 12 to the second wheel 202, that is, the end of the second swing arm 23 away from the bridge body 1 hangs downward relative to the end of the swing arm 21 that is pivotally connected to the bridge body 1.

[0174] It should be noted that when both swing arms 21 are in contact with the bridge body 12 and the wheel 20 mounted on the swing arm 2 is supported on the road surface, the position of the swing arm 21, whether the end of the swing arm 21 pivotally connected to the bridge body 1 is tilted upward or downward, is determined by the shape of the swing arm 21 and the bridge body 12. Different states of the swing arm 21 can have different effects. Therefore, by setting the swing arm 21 to be in a horizontal state, or the end of the swing arm 21 pivotally connected to the bridge body 1 is tilted upward or downward, the axle structure 10 can be used in different scenarios to meet the needs of different customers.

[0175] In some embodiments, when both swing arms 21 are in contact with the bridge body 12 and the wheel 20 mounted on the swing arm 2 is supported on the road surface, the angle at which the end of the swing arm 21 away from the bridge body 1 is tilted upward relative to the end of the swing arm 21 that is pivotally connected to the bridge body 1 does not exceed 5°.

[0176] In this embodiment, the angle at which the end of the swing arm 21 furthest from the axle body 1 is tilted upward relative to the end of the swing arm 21 pivotally connected to the axle body 1 is the angle of inclination of the wheel 20's axle. Please refer to [link to relevant documentation]. Figure 17 The diagram shows that the angle between the axis of the wheel 20 and the horizontal plane is A. That is, when both swing arms 21 are in contact with the bridge body 12 and the wheel 20 mounted on the swing arm 2 is supported on the road surface, the angle A does not exceed 5°.

[0177] In some examples, when both swing arms 21 are in contact with the bridge body 12 and the wheels 20 mounted on the swing arm 2 are supported on the road surface, the angle at which the end of the swing arm 21 away from the bridge body 1 is tilted upward relative to the end of the swing arm 21 that is pivotally connected to the bridge body 1 is 0 to 0.5°, 0.5° to 1°, 1.5° to 2°, 1.5° to 3°, 3.5° to 4°, or 4.5° to 5°.

[0178] In this embodiment, by limiting the angle at which the end of the swing arm 21 away from the bridge body 1 tilts upward relative to the end of the swing arm 21 that is pivotally connected to the bridge body 1 to no more than 5°, the chassis device 100 is stably supported on the ground when the axle structure 10 provided in this embodiment is installed on the chassis device 100.

[0179] In some embodiments, when both swing arms 21 are in contact with the bridge body 12 and the wheel 20 mounted on the swing arm 2 is supported on the road surface, the angle at which the end of the swing arm 21 away from the bridge body 1 hangs down relative to the end of the swing arm 21 that is pivotally connected to the bridge body 1 does not exceed 5°.

[0180] In this embodiment, the downward angle at which the end of the swing arm 21 away from the bridge body 1 hangs relative to the end of the swing arm 21 pivotally connected to the bridge body 1 is the angle of inclination of the wheel 20's axle. Please refer to [link to relevant documentation]. Figure 18 The diagram shows that the angle between the axis of the wheel 20 and the horizontal plane is B. That is, when both swing arms 21 are in contact with the bridge body 12 and the wheel 20 mounted on the swing arm 2 is supported on the road surface, the angle B does not exceed 5°.

[0181] In some examples, when both swing arms 21 are in contact with the bridge body 12 and the wheels 20 mounted on the swing arm 2 are supported on the road surface, the angle at which the end of the swing arm 21 away from the bridge body 1 hangs down relative to the end of the swing arm 21 that is pivotally connected to the bridge body 1 is 0 to 0.5°, 0.5° to 1°, 1.5° to 2°, 1.5° to 3°, 3.5° to 4°, or 4.5° to 5°.

[0182] In this embodiment, by limiting the downward angle of the end of the swing arm 21 away from the bridge body 1 relative to the end of the swing arm 21 pivotally connected to the bridge body 1 to no more than 5°, the chassis device 100 is stably supported on the ground when the axle structure 10 provided in this embodiment is installed on the chassis device 100.

[0183] In some embodiments, a limiting structure is formed between the bridge base 11 and the bridge body 12, the limiting structure being used to limit the range of rotation of the bridge body 12; or, in other embodiments, a limiting structure is formed between the bridge base 11 and the swing arm 2, the limiting structure being used to limit the range of swing of the swing arm 2.

[0184] When a limiting structure is formed between the bridge seat 11 and the bridge body 12, in some examples, the limiting structure includes a first limiting part of the bridge seat, a second limiting part of the bridge seat, a first limiting part of the bridge body, and a second limiting part of the bridge body. The first limiting part of the bridge seat and the second limiting part of the bridge seat are formed on the bridge seat 11, and the first limiting part of the bridge body and the second limiting part of the bridge body are formed on the bridge body 12. When rotating in the forward direction until the first limiting part of the bridge body contacts the first limiting part of the bridge seat, the first limiting part of the bridge seat will restrict the bridge body 12 from continuing to rotate in the forward direction. When rotating in the reverse direction until the second limiting part of the bridge body contacts the second limiting part of the bridge seat, the second limiting part of the bridge seat will restrict the bridge body 12 from continuing to rotate in the reverse direction.

[0185] When a limiting structure is formed between the bridge seat 11 and the swing arm 2, in some examples, the limiting structure includes a first limiting part of the bridge seat, a second limiting part of the bridge seat, a first limiting part of the swing arm, and a second limiting part of the swing arm. The first limiting part of the bridge seat and the second limiting part of the bridge seat are formed on the bridge seat 11, the first limiting part of the swing arm is formed on the first swing arm 22, and the second limiting part of the swing arm is formed on the second swing arm 23. When the swing arm is rotated clockwise until it contacts the first limiting part of the bridge seat, the first limiting part of the bridge seat will restrict the first swing arm 22 from continuing to rotate in the positive direction. When the swing arm is rotated counterclockwise until it contacts the second limiting part of the bridge seat, the second limiting part of the bridge seat will restrict the second swing arm 23 from continuing to rotate in the opposite direction.

[0186] In this embodiment of the application, by setting a limiting structure between the bridge seat 11 and the bridge body 12, or by setting a limiting structure between the bridge seat 11 and the swing arm 21, the safety of the axle structure 10 is improved, and the collision between the wheel 20 and the vehicle body is prevented when the swing arm 21 swings too much and lifts the axle structure 10.

[0187] Please see Figures 19-23 , Figure 19 This is a schematic diagram of the structure of the bridge body 12 provided in some embodiments of this application. Figure 20 Partial cross-sectional view of the axle structure 10 provided in some embodiments of this application. Figure 1 , Figure 21 Partial cross-sectional view of the axle structure 10 provided in some embodiments of this application. Figure 2 , Figure 22 Partial cross-sectional view of the axle structure 10 provided in some embodiments of this application. Figure 3 , Figure 23 Partial cross-sectional view of the axle structure 10 provided in some embodiments of this application. Figure 4 .

[0188] In some embodiments, the inner side of the bridge seat 11 includes a first limiting surface 113 and a second limiting surface 114, and a bridge body abutment surface 1222 is formed on the bridge body 12. The bridge body abutment surface 1222 contacts the first limiting surface 113 or the second limiting surface 114 to limit the angle range of rotation of the bridge body 12.

[0189] When the bridge body 12 rotates forward until the bridge body abutment surface 1222 contacts the first limiting surface 113, the first limiting surface 113 prevents the bridge body 12 from continuing to rotate in the forward direction. Please refer to [link to relevant documentation]. Figure 21 This illustrates the contact between the first limiting surface 113 and the bridge body abutment surface 1222. When the bridge body 12 rotates in the opposite direction until the bridge body abutment surface 1222 contacts the second limiting surface 114, the second limiting surface 114 prevents the bridge body 12 from continuing to rotate in the opposite direction. Please refer to [link to relevant documentation]. Figure 22 This illustrates the contact between the second limiting surface 114 and the bridge body abutment surface 1222.

[0190] See some examples. Figure 20 The first limiting surface 113 and the second limiting surface 114 are located above the bridge body 12; or, in other examples, the first limiting surface 113 and the second limiting surface 114 may be located below the bridge body 12; or, in other examples, one of the first limiting surface 113 and the second limiting surface 114 may be located above the bridge body 12 and the other may be located below the bridge body 12.

[0191] In some examples, the upper limit structure 121 has a bridge abutment surface 1222 formed on at least one side along the axial direction of the bridge body 12, see [link to relevant documentation]. Figure 19This illustrates the direction along the bridge body 12 axis (i.e. Figure 19 The upper limit structure 121 in the Y-axis direction is provided with bridge abutment surfaces 1222 on both sides.

[0192] See some examples. Figure 19 The bridge body 12 includes an upper limit structure 121 and a bridge body end 122. The upper limit structure 121 is disposed between the two bridge body ends 122 and is connected to the bridge body ends 122. The bridge body abutment surface 1222 is formed on the bridge body end 122. Alternatively, in other examples, the bridge body abutment surface 1222 is disposed on the upper limit structure 121.

[0193] See some examples. Figure 19 The bridge body abutment surface 1222 is along the direction perpendicular to the axis of the bridge body 12 (i.e. Figure 19 The upper limit structure 121 protrudes from both ends in the X-axis direction.

[0194] See some examples. Figure 19 The bridge abutment surface 1222 and the top surface of the upper limit structure 121 are on the same horizontal plane; or, in other examples, the height of the bridge abutment surface 1222 is higher than the height of the top surface of the upper limit structure 121.

[0195] See some examples. Figure 20 The height of the bridge body abutment surface 1222 is higher than the height of the upper abutment part 212 on the swing arm 21.

[0196] When both the first swing arm 22 and the second swing arm 23 abut against the bridge body 12 (i.e., the upper limit structure 121 of the bridge body 12) and the bridge body abutment surface 1222 of the bridge body 12 is in contact with the first limiting surface 113, the angle between the swing arm portion 2 and the horizontal plane (i.e., the angle between the axis of the two wheels 20 connected to the swing arm portion 2 and the horizontal plane) is the pivot angle a of the swing arm portion 2; when both the first swing arm 22 and the second swing arm 23 abut against the bridge body 12 (the upper limit structure 121 of the bridge body 12) and the bridge body abutment surface 1222 is in contact with the second limiting surface 114, the angle between the swing arm portion 2 (i.e., the angle between the axis of the two wheels 20 connected to the swing arm portion 2 and the horizontal plane) and the horizontal plane is the pivot angle b of the swing arm portion 2. The pivot angles a and b of the swing arm 2 can be determined based on the maximum depth of the pit when the wheel 20 can cross the obstacle, the distance between the axle centers of the two wheels 20, and the diameter of the wheel 20.

[0197] In this embodiment, by setting the inner side of the bridge seat 11 to include a first limiting surface 113 and a second limiting surface 114, and simultaneously setting the bridge body abutment surface 1222 to cooperate with the first limiting surface 113 and the second limiting surface 114, not only can the range of the pivot angle of the swing arm 2 be limited, but the structure is also simple and convenient for the manufacture of the vehicle axle structure 10.

[0198] It is worth noting that the above embodiment describes the cooperation between the first limiting surface 113 and the second limiting surface 114 and the bridge body abutment surface 1222. For other embodiments, please refer to [link / reference]. Figure 23 The inner side of the bridge seat 11 includes a first limiting surface 113 and a second limiting surface 114. The two swing arms 21 are a first swing arm 22 and a second swing arm 23, which respectively cooperate with the first limiting surface 113 and the second limiting surface 114. When the first swing arm 22 rotates forward to contact the first limiting surface 113, the first limiting surface 113 prevents the first swing arm 22 from continuing to swing in the positive direction. When the second swing arm 23 rotates in the reverse direction to contact the second limiting surface 114, the second limiting surface 114 prevents the second swing arm 23 from continuing to swing in the reverse direction.

[0199] See some examples. Figure 23 The first limiting surface 113 and the second limiting surface 114 are located above the first swing arm 22 and the second swing arm 23; or, in other examples, the first limiting surface 113 and the second limiting surface 114 may be located below the first swing arm 22 and the second swing arm 23; or, in other examples, one of the first limiting surface 113 and the second limiting surface 114 may be located above the first swing arm 22 and the second swing arm 23, and the other may be located below the first swing arm 22 and the second swing arm 23.

[0200] See some examples. Figure 23 The upper abutment portion 212 on the first swing arm 22 is used to cooperate with the first limiting surface 113. That is, when the first swing arm 22 rotates forward to the point where the upper abutment portion 212 on the first swing arm 22 contacts the first limiting surface 113, the first limiting surface 113 prevents the first swing arm 22 from continuing to swing in the positive direction. The upper abutment portion 212 on the second swing arm 23 is used to cooperate with the second limiting surface 114. That is, when the second swing arm 23 rotates forward to the point where the upper abutment portion 212 on the second swing arm 23 contacts the second limiting surface 114, the second limiting surface 114 prevents the second swing arm 23 from continuing to swing in the positive direction. Alternatively, in other embodiments, other parts of the first swing arm 22, excluding the upper abutment portion 212, may cooperate with the first limiting surface 113, and other parts of the second swing arm 23, excluding the upper abutment portion 212, may cooperate with the second limiting surface 114.

[0201] When both the first swing arm 22 and the second swing arm 23 are in contact with the bridge body 12 and the first swing arm 22 is in contact with the first limiting surface 113, the angle between the swing arm portion 2 and the horizontal plane (i.e., the angle between the axis of the two wheels 20 connected to the swing arm portion 2 and the horizontal plane) is the pivot angle a of the swing arm portion 2; when both the first swing arm 22 and the second swing arm 23 are in contact with the bridge body 12 and the second swing arm 23 is in contact with the second limiting surface 114, the angle between the swing arm portion 2 (i.e., the angle between the axis of the two wheels 20 connected to the swing arm portion 2 and the horizontal plane) and the horizontal plane is the pivot angle b of the swing arm portion 2. The magnitudes of the pivot angles a and b of the swing arm portion 2 can be determined based on the maximum depth of the pit when the wheel 20 can cross the obstacle, the distance between the axle centers of the two wheels 20, the diameter of the wheel 20, etc.

[0202] In this embodiment of the application, by setting the inner side of the bridge seat 11 to include a first limiting surface 113 and a second limiting surface 114, and setting the first swing arm 22 and the second swing arm 23 to cooperate with the first limiting surface 113 and the second limiting surface 114 respectively, not only can the range of the pivot angle of the swing arm 2 be limited, but also the cooperation structure between the swing arm 21 and the bridge seat 11 can be simplified, which facilitates the manufacturing of the axle structure 10.

[0203] It is worth noting that some embodiments described above specify that the first limiting surface 113 and the second limiting surface 114 cooperate with the bridge body abutment surface 1222, while other embodiments specify that the first limiting surface 113 and the second limiting surface 114 cooperate with the first swing arm 22 and the second swing arm 23, respectively. In other embodiments, the first limiting surface 113 can be configured to cooperate with both the bridge body abutment surface 1222 and the first swing arm 22, and the second limiting surface 114 can be configured to cooperate with both the bridge body abutment surface 1222 and the second swing arm 23.

[0204] In some embodiments, see Figure 20 The first limiting surface 113 and the second limiting surface 114 are disposed above the swing arm 21. The first limiting surface 113 and the second limiting surface 114 extend along the axis parallel to the bridge body 12, and the first limiting surface 113 and the second limiting surface 114 form a V-shaped structure.

[0205] See some examples. Figure 20 The bridge base 11 includes a lower base body 111 and an upper cover body 112. The upper cover body 112 is disposed above the lower base body 111 and the two are detachably connected. A first limiting surface 113 and a second limiting surface 114 are provided on the inner side of the upper cover body 112.

[0206] In this embodiment, a V-shaped structure is formed by setting the first limiting surface 113 and the second limiting surface 114 to facilitate the processing and manufacturing of the bridge seat 11.

[0207] In some embodiments, the angle between the first limiting surface 113 and the horizontal plane ranges from 5.4° to 13.7°.

[0208] When both the first swing arm 22 and the second swing arm 23 are in contact with the bridge body 12 and the bridge body contact surface 1222 of the bridge body 12 is in contact with the first limiting surface 113, the angle between the swing arm portion 2 and the horizontal plane (i.e., the angle between the axis of the two wheels 20 connected to the swing arm portion 2 and the horizontal plane) is the pivot angle α of the swing arm portion 2, and the pivot angle α is equal to the angle α′ between the first limiting surface 113 and the horizontal plane. Please refer to [link to relevant documentation]. Figure 20 This illustrates the angle α′ between the first limiting surface 113 and the horizontal plane.

[0209] In some examples, the angle between the first limiting surface 113 and the horizontal plane ranges from 5.4° to 6°, or 6° to 7°, or 7° to 8°, or 8° to 9°, or 9° to 10°, or 11° to 12°, or 12° to 13°, or 13° to 13.7°, etc.

[0210] In this embodiment of the application, by limiting the angle between the first limiting surface 113 and the horizontal plane to a range of 5.4° to 13.7°, the axle structure 10 provided in this embodiment of the application can be installed on the lawnmower to ensure that the lawnmower has good passage ability on the lawn.

[0211] In some embodiments, the angle between the second limiting surface 114 and the horizontal plane ranges from 5.4° to 13.7°.

[0212] When both the first swing arm 22 and the second swing arm 23 are in contact with the bridge body 12 and the bridge body contact surface 1222 is in contact with the second limiting surface 114, the angle between the swing arm portion 2 (i.e., the angle between the axis of the two wheels 20 connected to the swing arm portion 2 and the horizontal plane) and the horizontal plane is the pivot angle b of the swing arm portion 2. The pivot angle b is equal to the angle b′ between the second limiting surface 114 and the horizontal plane. Please refer to [link to relevant documentation]. Figure 20 This illustrates the angle b′ between the first limiting surface 113 and the horizontal plane.

[0213] In some examples, the angle between the second limiting surface 114 and the horizontal plane ranges from 5.4° to 6°, or 6° to 7°, or 7° to 8°, or 8° to 9°, or 9° to 10°, or 11° to 12°, or 12° to 13°, or 13° to 13.7°, etc.

[0214] It is worth noting that when the angle between the second limiting surface 114 and the horizontal plane is in the range of 5.4° to 13.7°, the angle between the first limiting surface 113 and the horizontal plane can be limited to the range of 5.4° to 13.7°; or, when the angle between the second limiting surface 114 and the horizontal plane is in the range of 5.4° to 13.7°, the angle between the first limiting surface 113 and the horizontal plane is not limited to the range of 5.4° to 13.7°; or, when the angle between the first limiting surface 113 and the horizontal plane is in the range of 5.4° to 13.7°, the angle between the second limiting surface 114 and the horizontal plane is not limited to the range of 5.4° to 13.7°.

[0215] In this embodiment of the application, by limiting the angle between the first limiting surface 113 and the horizontal plane to a range of 5.4° to 13.7°, the axle structure 10 provided in this embodiment of the application can be installed on the lawnmower to ensure that the lawnmower has good passage ability on the lawn.

[0216] In some embodiments, when the end of the swing arm 21 away from the bridge body 1 swings downward to the lower critical position, the angle at which the end of the swing arm 21 away from the bridge body 1 hangs downward relative to the end of the swing arm 21 pivotally connected to the bridge body 1 is 6° to 15°.

[0217] In this embodiment of the application, the lower critical position of the swing arm 21 swinging downward away from the bridge body 1 means that when the swing arm 21 swings downward away from the bridge body 1, the swing arm 21 is in contact with the bridge seat 11 or the bridge body 12, which will limit the swing arm 21 from continuing to swing downward, thereby making the swing arm 21 swing downward at a lower critical position.

[0218] When the end of the swing arm 21 away from the bridge body 1 swings downward to the lower critical position, the downward angle of the end of the swing arm 21 away from the bridge body 1 relative to the end of the swing arm 21 pivotally connected to the bridge body 1 should not be too small. This would result in the swing arm 21 not being able to swing to a position where the wheel 20 can contact the bottom surface of the pit if the pit is relatively large, thus resulting in insufficient grip of the wheel 20. When the end of the swing arm 21 away from the bridge body 1 swings downward to the lower critical position, the downward angle of the end of the swing arm 21 away from the bridge body 1 relative to the end of the swing arm 21 pivotally connected to the bridge body 1 should not be too large. This would result in the chassis device 100 not being able to pass through the pit smoothly when the wheel 20 falls into the pit. Therefore, in this embodiment, the downward angle of the end of the swing arm 21 away from the bridge body 1 relative to the end of the swing arm 21 pivotally connected to the bridge body 1 is limited to 6° to 15°.

[0219] In some examples, when the end of the swing arm 21 away from the bridge body 1 swings downward to the lower critical position, the angle at which the end of the swing arm 21 away from the bridge body 1 hangs downward relative to the end of the swing arm 21 pivotally connected to the bridge body 1 is 6°~7° or 7°~8° or 8°~9° or 9°~10° or 10°~11° or 11°~12° or 12°~13° or 13°~14° or 14°~15°.

[0220] In this embodiment of the application, by limiting the downward angle of the end of the swing arm 21 away from the bridge body 1 relative to the end of the swing arm 21 pivotally connected to the bridge body 1 to 6° to 15°, the axle structure 10 provided in this embodiment of the application can enable the lawn mower to have good passage ability on the lawn when it is installed on the lawn mower.

[0221] Please see Figures 24-25 , Figure 24 Exploded view of the axle structure 10 provided in some embodiments of this application Figure 3 , Figure 25 This is a schematic diagram of the structure of the swing arm 21 and the connecting seat 6 provided in some embodiments of this application.

[0222] In some embodiments, see Figure 24 A connecting seat 6 is installed at the bottom of the swing arm 21. The connecting seat 6 is fixedly connected to one end of the shock absorber 5. A comb tooth 62 is formed on the side of the connecting seat 6 away from the swing arm 21.

[0223] See some examples. Figure 24 The connecting seat 6 is detachably connected to the lower part of the swing arm 21.

[0224] See some examples. Figure 24 The connecting seat 6 is located near the end of the swing arm 21 that is away from the bridge seat 11.

[0225] See some examples. Figure 24 The connecting seat 6 includes a connecting seat body 61 and comb teeth 62. The connecting seat body 61 is connected to the swing arm 21. The comb teeth 62 are located on the side of the connecting seat body 61 away from the swing arm 21. One end of the shock absorber 5 is detachably connected to the connecting seat body 61 through the connecting piece 4.

[0226] In some examples, the connector body 61 is provided with more than one comb tooth 62, that is, the connector body 61 may be provided with one, two, or three equal numbers of comb teeth 62. Please refer to [link / reference]. Figure 24 This illustrates that a comb tooth 62 is provided on the main body 61 of the connector.

[0227] In this embodiment, comb teeth 62 are formed on the side of the connecting seat 6 away from the swing arm 21, which can be used to prevent the operator's hands and feet from reaching under the chassis device 100, thereby improving safety.

[0228] In some embodiments, see Figure 24 The bridge seat 11 is along the direction of the pivot axis 124 perpendicular to the bridge body 12 (i.e. Figure 24 On the opposite sides of the X-axis, slots 115 are provided respectively. The two swing arms 21 are inserted into the bridge seat 11 through the corresponding slots 115. There is a gap between the circumferential side of the swing arm 21 and the groove wall of the slot 115 to prevent the slot 115 from affecting the swing arm 21.

[0229] In some examples, a receiving cavity is formed in the bridge seat 11, the bridge body 12 is located in the receiving cavity, and two oppositely arranged slots 115 are respectively connected to the receiving cavity.

[0230] See some examples. Figure 24 The bridge base 11 includes a lower base body 111 and an upper cover body 112. The upper cover body 112 is disposed above the lower base body 111 and the two are detachably connected. The lower base body 111 and the upper cover body 112 form a groove 115.

[0231] In this embodiment of the application, by providing a slot 115 on the bridge seat 11, the swing arm 21 can be inserted into the bridge seat 11 through the slot 115, which also facilitates the support and protection of the bridge body 12 by the bridge seat 11.

[0232] In some embodiments, see Figure 24 The axle structure 10 also includes a dust cover 7, which is fitted onto the swing arm 21 and connected to the axle seat 11. The dust cover 7 covers the corresponding slot 115.

[0233] In some examples, the dust cover 7 is made of corrugated pipe.

[0234] In some examples, one end of the dust cover 7 that fits against the bridge seat 11 is fixedly connected to the bridge seat 11 via a connector 4, so that the dust cover 7 can be stably fixed on the bridge seat 11.

[0235] See some examples. Figure 25 The swing arm 21 is provided with an annular groove 24. The end of the dust cover 7 away from the bridge seat 11 is inserted into the annular groove 24 on the swing arm 21. While connecting the protective cover to the swing arm 21, the insertion method can minimize the number of parts.

[0236] In this embodiment, a dust cover 7 is provided to prevent dust and other foreign objects from entering the bridge seat 11 and affecting the pivot connection between the swing arm 21 and the bridge body 12, as well as the pivot connection between the bridge body 12 and the bridge seat 11.

[0237] In some embodiments, see Figure 25 The swing arm 21 is provided with a wiring channel 25 and a wiring hole 26 connected to the wiring channel 25.

[0238] See some examples. Figure 25 The wiring hole 26 is provided on the top surface of the swing arm 21, and the wiring channel 25 is connected to the end of the swing arm 21 that is connected to the wheel 20. The wiring connected to the wheel 20 can be connected to the control device of the chassis device 100 through the wiring channel 25 and the wiring hole 26.

[0239] In this application, by providing a cable routing channel 25 and a cable routing hole 26 connected to the cable routing channel 25 on the swing arm 21, the axle structure 10 can have the function of cable routing; in addition, the weight of the axle structure 10 can also be reduced.

[0240] In some embodiments, see Figure 25 The swing arm 21 is provided with a weight reduction hole 27.

[0241] In some examples, the swing arm 21 is provided with one or more weight reduction holes 27.

[0242] In this embodiment of the application, by providing weight reduction holes 27 on the swing arm 21, the weight of the swing arm 21 can be reduced, which is beneficial to the lightweighting of the axle structure 10. In addition, according to the required strength and the size of the swing arm 21, a reasonable number of weight reduction holes 27 can be provided on the swing arm 21.

[0243] Please see Figures 26-27 , Figure 26 This is a schematic diagram of the structure of a chassis device 100 provided in some embodiments of this application (the comb tooth structure 302 is not shown). Figure 27 This is a schematic diagram of the structure of the swing arm 21 and the magnetic element 8 provided in some embodiments of this application.

[0244] In some embodiments, the axle structure 10 further includes a detection device for detecting the swing state of the swing arm 21.

[0245] In some examples, the detection device includes a laser rangefinder for detecting the swing state of the two swing arms 21.

[0246] In this embodiment of the application, the axle structure 10 is further provided with a detection device for detecting the swing state of the swing arm 21, so that the vehicle equipped with the axle structure 10 provided in this embodiment of the application can understand the movement of the swing arm 21.

[0247] In some embodiments, the axle structure 10 further includes a detection device for detecting the swing state of the swing arm 21. The detection device includes a magnetic element 8 and a Hall sensor 9. See [link to relevant documentation]. Figure 27 Magnetic component 8 is mounted on swing arm 21, and Hall sensor 9 is mounted on chassis frame 30 of chassis assembly 100. Please refer to [link / reference]. Figure 26 , Figure 26The Hall sensor 9, located within the chassis frame 30, is indicated by a dashed box.

[0248] In the embodiments of this application, both the first swing arm 22 and the second swing arm 23 are provided with magnetic elements 8. For ease of description, the magnetic element 8 provided on the first swing arm 22 is referred to as the first magnetic element, and the magnetic element 8 provided on the second swing arm 23 is referred to as the second magnetic element. The Hall sensor 9 that cooperates with the first magnetic element is referred to as the first Hall sensor, and the sensor that cooperates with the second magnetic element is referred to as the second Hall sensor.

[0249] The first swing arm 22 and the second swing arm 23 on the axle structure 10 can exist in the following states: the first state is that both the first swing arm 22 and the second swing arm 23 are in contact with the upper limit structure 121 on the axle body 12, that is, the axle structure 10 is in a stable state; the second state is that the first swing arm 22 swings downward and the second swing arm 23 does not swing downward; the third state is that the second swing arm 23 swings downward and the first swing arm 22 does not swing downward; the fourth state is that both the first swing arm 22 and the second swing arm 23 swing downward.

[0250] When the first swing arm 22 swings downward, the magnetic field strength detected by the first Hall sensor changes as the first magnetic component moves away from the first Hall sensor. If the first swing arm 22 swings downward to the target angle, the first Hall sensor is not triggered because it is far from the first magnetic component. At this time, it can be considered that the first Hall sensor recognizes that the first swing arm 22 is in a downward swing state. When the second swing arm 23 swings downward, the magnetic field strength detected by the second Hall sensor changes as the second magnetic component moves away from the second Hall sensor. If the second swing arm 23 swings downward to the target angle, the second Hall sensor is not triggered because it is far from the second magnetic component. At this time, it can be considered that the first Hall sensor recognizes that the second swing arm 23 is in a downward swing state. When the first Hall sensor and the second Hall sensor simultaneously recognize that the first swing arm 22 and the second swing arm 23 are in a downward swing state, the controller determines that the chassis device 100 is in a raised state.

[0251] It is worth noting that the first Hall sensor only recognizes that the first swing arm 22 is in a downward swing state after the first swing arm 22 swings downward to the target angle, and the second Hall sensor only recognizes that the first swing arm 22 is in a downward swing state after the second swing arm 23 swings downward to the target angle. This is mainly to avoid the chassis device 100 being mistakenly identified as being in a raised state when it is driving normally, that is, when the first swing arm 22 and the second swing arm 23 swing downward within a reasonable range.

[0252] It is worth noting that the target angle can be set to a range of 6° to 15°. For example, the target angle can be set to a range of 6° to 7°, 7° to 8°, 8° to 9°, 9° to 10°, 11° to 12°, 12° to 13°, 13° to 14°, or 14° to 15°, etc.

[0253] It is worth noting that if the first swing arm 22 swings downward to the target angle, it can also be set that when the first Hall sensor detects that the magnetic field strength of the first magnetic component is less than a certain value, the controller determines that the first swing arm 22 is in a downward swing state based on the signal received from the first Hall sensor; if the second swing arm 23 swings downward to the target angle, it can also be set that when the second Hall sensor detects that the magnetic field strength of the second magnetic component is less than a certain value, the controller determines that the first swing arm 22 is in a downward swing state based on the signal received from the second Hall sensor.

[0254] After receiving the signal transmitted by the first Hall sensor, the controller of the chassis device 100 can determine that the first swing arm 22 is swinging downward.

[0255] In this embodiment, the detection device includes a magnetic component 8 and a Hall sensor 9 to accurately detect the movement of the swing arm 21.

[0256] In some embodiments, the magnetic element 8 is disposed on the top or side surface of the swing arm 21. See [link to relevant documentation]. Figure 27 This illustrates that the magnetic component 8 is located on the top surface of the swing arm 21.

[0257] In some examples, the magnetic element 8 is embedded in the top or side surface of the swing arm 21.

[0258] See some examples. Figure 27 A mounting protrusion 29 is formed on the top surface of the swing arm 21, and the magnetic component 8 is embedded in the mounting protrusion 29.

[0259] In some examples, the axle structure 10 also includes a dust cover 7, which is fitted onto the swing arm 21 and connected to the axle seat 11, with a magnetic component 8 fitted inside the dust cover.

[0260] In this embodiment, the magnetic element 8 is directly mounted on the top or side surface of the swing arm 21, resulting in a simple structure. Furthermore, when the axle structure 10 provided in this embodiment is applied to a lawnmower, if a rearward direction (i.e.,...) is provided on the swing arm 21... Figure 26 A raised structure extending in the negative Y-axis direction and a magnetic component 8 on the raised structure may cause grass clippings to accumulate at the raised structure.

[0261] In some embodiments, a mounting portion 301 is formed on the chassis frame 30, and a Hall sensor 9 is disposed in the mounting portion 301.

[0262] In some examples, along the direction of travel of the chassis, i.e. Figure 26 In the direction indicated by the arrow on the Y-axis, the mounting part 301 is located on the rear side of the magnetic component 8.

[0263] In this embodiment, the Hall sensor 9 is installed inside the mounting part 301, which helps to protect the Hall sensor 9 and improve its service life.

[0264] In some embodiments, Hall sensor 9 is a single-stage Hall sensor.

[0265] A single-stage Hall sensor responds only to a single magnetic pole and remains at a high level when another magnetic pole is nearby; a bipolar Hall sensor responds to magnetic fields of both polarities and its output changes depending on the polarity of the magnetic field.

[0266] In this embodiment, since not only is the swing arm 21 pivotally connected to the bridge body 12, but the bridge body 12 is also pivotally connected to the bridge seat 11, the swing arm 21 will swing up and down when the axle structure 10 is working. By setting the Hall sensor 9 as a single-stage Hall sensor, it is relatively easier to capture the change in magnetic field strength when the swing arm 21 swings, which is beneficial to the accuracy of detection.

[0267] In some embodiments, see Figure 26 Along the distribution direction of the two swing arms 21 Figure 26 In the X-axis direction, the Hall sensor 9 is positioned away from the bridge body 1. (See also...) Figure 26 , Figure 26 The Hall sensor 9 is roughly indicated by the dashed line. The two Hall sensors 9 are set away from the bridge body 1.

[0268] The swing arm 21 is pivotally connected to the bridge body 12. The further away the swing arm 21 is from the bridge body 12, the greater the amplitude of its vertical swing. In this embodiment, the Hall sensor 9 is mounted on the chassis frame 30 of the chassis device 100 away from the bridge body 1. This allows the magnetic component 8, which cooperates with the Hall sensor 9, to be as far away from the bridge body 1 as possible. This increases the amplitude of the vertical swing of the magnetic component 8, thereby enabling the Hall sensor 9 to accurately detect changes in magnetic field strength when the magnetic component 8 swings up and down.

[0269] In this embodiment, the Hall sensor 9 is positioned away from the bridge body 1 to improve detection accuracy.

[0270] It is worth noting that, in the above embodiment, the magnetic component 8 is described as being mounted on the swing arm 21, and the Hall sensor 9 is described as being mounted on the chassis frame 30 of the chassis assembly 100. In other embodiments, the detection device includes the magnetic component 8 and the Hall sensor 9, and the axle structure 10 also includes a triangular structure. A shock absorber 5 is connected between the swing arm 21 and the chassis frame 30 of the chassis assembly 100. The three ends of the triangular structure are respectively connected to the shock absorber 5, the magnetic component 8, and the chassis frame 30. The Hall sensor 9 is mounted on the chassis frame 30. The triangular structure is hinged to the chassis frame 30. When the swing arm 21 swings, the shock absorber 5 drives the triangular structure to rotate around the hinge point between the triangular structure and the chassis frame 30, thereby changing the position of the magnetic component 8. When the magnetic component 8 moves, the Hall sensor 9 can detect the change in magnetic field strength.

[0271] Please see Figures 28-29 , Figure 28 Schematic diagram of the structure of the chassis device 100 provided in some embodiments of this application Figure 3 , Figure 29 Schematic diagram of the structure of the chassis device 100 provided in some embodiments of this application Figure 4 .

[0272] This application provides a chassis device 100, which can be applied to lawnmowers, and of course, can also be applied to other vehicles besides lawnmowers. The chassis device 100 provided in this application includes a chassis frame 30 and an axle structure 10 as described in any of the above embodiments, the axle structure 10 being mounted on the chassis frame 30.

[0273] In some examples, the axle seat 11 of the axle structure 10 is fixed to the bottom of the chassis frame 30, that is, the lower seat 111 of the axle seat 11 is located on the side of the upper cover 112 away from the bottom of the chassis frame 30.

[0274] In some embodiments, see Figure 29 The chassis assembly 100 includes two rear wheels 203, and one end of each of the two swing arms 21 is connected to the two rear wheels 203 respectively; or, in other embodiments, the chassis assembly 100 includes two front wheels 204, and one end of each of the two swing arms 21 is connected to the two front wheels 204 respectively; or, in other embodiments, the chassis frame 30 includes two axle structures 10, one axle structure 10 having two ends connected to the two rear wheels 203 respectively, and the other axle structure 10 having two ends connected to the two front wheels 204 respectively.

[0275] It is worth noting that when the chassis device 100 is applied to a lawnmower, it is preferable to set the chassis device 100 to include an axle structure 10 and the axle structure 10 to be connected to two rear wheels 203. This design ensures that the cutter head on the chassis device 100 and the front wheel 204 of the machine body are always in a relatively fixed position. That is, when the front wheel 204 lifts over an obstacle, the cutter head can be lifted accordingly, making it easier for the cutter head to overcome obstacles and preventing it from getting stuck or bumped.

[0276] In some embodiments, see Figure 29 The chassis frame 30 includes a rear section 303, and the axle structure 10 is connected to the rear section 303, with the rear section 303 located between the two rear wheels 203; please refer to Figure 29 Shock absorbers 5 are provided on the swing arm 21 of the axle structure 10. The shock absorbers 5 are located on the rear side of the swing arm 21, and the shock absorbers 5 on the two swing arms 21 are located on both sides of the tail 303 along the distribution direction of the two rear wheels 203.

[0277] In this embodiment of the application, by placing the shock absorber 5 on the rear side of the swing arm 21, it is convenient to make full use of the space on the rear side of the swing arm 21.

[0278] In some embodiments, see Figure 28 The tail section 303 is equipped with a comb-like structure 302, which can prevent the operator's hands and feet from reaching under the chassis device 100, thereby improving safety. Please refer to [link / reference needed]. Figure 28 Two shock absorbers 5 are located on both sides of the comb structure 302.

[0279] In the embodiments of this application, please refer to Figure 28 A connecting seat 6 is installed at the bottom of the swing arm 21. The connecting seat 6 is fixedly connected to one end of the shock absorber 5. A comb tooth 62 is formed on the side of the connecting seat 6 away from the swing arm 21.

[0280] In existing technologies, the comb tooth structure located at the rear of the axle is usually quite long, and the shock absorber connected to the axle structure is not located at the rear of the axle structure. The two ends of the comb tooth structure along its length are close to the rear wheel. The relatively long comb tooth structure has relatively poor rigidity, which makes it easy for the comb tooth structure to be damaged during use.

[0281] In this embodiment, a comb tooth structure 302 is provided on the rear side of the tail 303, and a comb tooth 62 is also provided on the connecting seat 6 at the bottom of the swing arm 21. This not only prevents the operator's hands and feet from reaching under the chassis device 100, but also avoids the problem of relatively poor rigidity of the relatively long comb tooth structure in the prior art.

[0282] In some embodiments, the diameter of the wheels 20 in the chassis device 100 ranges from Φ170 to Φ250 mm, the axle spacing between the two rear wheels 203 is 380 to 530 mm, and the axle spacing between the two front wheels 204 is 380 to 530 mm. When the end of the swing arm 21 away from the bridge body 1 swings downward to the lower critical position, the angle at which the end of the swing arm 21 away from the bridge body 1 hangs downward relative to the end of the swing arm 21 pivotally connected to the bridge body 1 is 6° to 15°. The angle between the first limiting surface 113 on the bridge seat 11 and the horizontal plane ranges from 5.4° to 13.7°, and the angle between the second limiting surface 114 on the bridge seat 11 and the horizontal plane ranges from 5.4° to 13.7°. This ensures that when the chassis device 100 provided in this embodiment is installed on a lawnmower, the lawnmower can have good mobility on the lawn.

[0283] This application provides a lawnmower, including the chassis device 100 described in any of the above embodiments. The specific structure of the chassis device 100 has been described above and will not be repeated here.

[0284] The above description is merely a preferred embodiment of this application and is not intended to limit this application. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A vehicle axle structure, characterized in that, For use in chassis assembly, including: The bridge body includes a bridge seat and a bridge body, the bridge body is supported on the bridge seat and the bridge body is pivotally connected to the bridge seat, and the bridge seat is fixed to the bottom of the chassis frame on the chassis device; The swing arm includes two swing arms, which are respectively disposed on opposite sides of the bridge body. Both swing arms are pivotally connected to the bridge body, and both swing arms can swing relative to the bridge body within a set angle range. When the wheels connected to the two swing arms are supported on the road surface, both swing arms can swing to a position that abuts against the bridge body, so that the vehicle axle structure can form a stable state.

2. The axle structure as described in claim 1, characterized in that, An upper limit structure is formed on the bridge body, and an upper abutment portion is formed on the swing arm. When the wheel connected to the two swing arms is supported on the road surface, the upper abutment portions on the two swing arms can swing to abut against the upper limit structure, so that the axle structure can form a stable state.

3. The axle structure as described in claim 2, characterized in that, The upper limit structure is disposed between the two swing arms; the swing arm further includes a swing arm body, and the upper abutment portion is disposed at one end of the swing arm body facing the upper limit structure and the upper abutment portion protrudes upward from the swing arm body.

4. The axle structure as described in claim 2, characterized in that, The bridge body also includes bridge body ends, the upper limit structure is disposed between the two bridge body ends and the upper limit structure is connected to the bridge body ends, and the two bridge body ends are equipped with pivoting parts for pivoting with the swing arm.

5. The axle structure as described in claim 4, characterized in that, The pivot portion includes a connecting shaft, and the swing arm includes a connecting hole pivotally connected to the connecting shaft; or, the pivot portion includes a connecting hole, and the swing arm includes a connecting shaft pivotally connected to the connecting hole.

6. The axle structure as described in claim 4, characterized in that, The pivot part includes a connecting shaft and a first bushing. The connecting shaft is fixed on the end of the bridge body, and the first bushing is sleeved on the connecting shaft. The first bushing is rotatably connected to the swing arm.

7. The axle structure according to claim 2, characterized in that, The bridge body also includes a bridge body bottom, which is located below the upper limit structure; a lower abutment portion is formed on the swing arm, which is used to contact the bridge body bottom.

8. The axle structure as described in any one of claims 1-7, characterized in that, The bridge body includes a pivot shaft, and the portion of the bridge seat supporting the bridge body includes a pivot groove pivotally connected to the pivot shaft; or... The bridge body includes a pivot groove, and the portion of the bridge seat supporting the bridge body includes a pivot shaft pivotally connected to the pivot groove.

9. The axle structure as described in claim 8, characterized in that, A second bushing is fitted onto the pivot shaft.

10. The axle structure as described in any one of claims 1-7, characterized in that, When both swing arms are in contact with the bridge body and the wheels mounted on the swing arms are supported on the road surface, the swing arms are in a horizontal state; or, the end of the swing arm away from the bridge body is tilted upward relative to the end of the swing arm that is pivotally connected to the bridge body; or, the end of the swing arm away from the bridge body is tilted downward relative to the end of the swing arm that is connected to the bridge body.

11. The axle structure as described in any one of claims 1-7, characterized in that, When both swing arms are in contact with the bridge body and the wheels mounted on the swing arms are supported on the road surface, the angle at which the end of the swing arm furthest from the bridge body is tilted upward relative to the end of the swing arm pivotally connected to the bridge body does not exceed 5°; and / or, When both swing arms are in contact with the bridge body and the wheels mounted on the swing arms are supported on the road surface, the angle at which the end of the swing arm away from the bridge body hangs down relative to the end of the swing arm that is pivotally connected to the bridge body does not exceed 5°.

12. The axle structure as described in any one of claims 1-7, characterized in that, A limiting structure is formed between the bridge base and the bridge body, and the limiting structure is used to limit the range of rotation of the bridge body.

13. The axle structure as described in any one of claims 1-7, characterized in that, A limiting structure is formed between the bridge base and the swing arm, and the limiting structure is used to limit the swing range of the swing arm.

14. The axle structure as described in any one of claims 1-7, characterized in that, The inner side of the bridge base includes a first limiting surface and a second limiting surface, and the two swing arms are a first swing arm and a second swing arm, respectively, which cooperate with the first limiting surface and the second limiting surface. When the first swing arm rotates forward to contact the first limiting surface, the first limiting surface prevents the first swing arm from continuing to swing in the positive direction; When the second swing arm rotates in the opposite direction until it contacts the second limiting surface, the second limiting surface prevents the second swing arm from continuing to swing in the opposite direction; or... The inner side of the bridge seat includes a first limiting surface and a second limiting surface. A bridge body abutment surface is formed on the bridge body. The bridge body abutment surface contacts the first limiting surface or the second limiting surface to limit the range of rotation of the bridge body.

15. The axle structure as described in claim 14, characterized in that, The first limiting surface and the second limiting surface are disposed above the swing arm. The first limiting surface and the second limiting surface extend along the axis parallel to the bridge body, and the first limiting surface and the second limiting surface form a V-shaped structure.

16. The axle structure as described in claim 14, characterized in that, The angle between the first limiting surface and the horizontal plane ranges from 5.4° to 13.7°; and / or, The angle between the second limiting surface and the horizontal plane ranges from 5.4° to 13.7°.

17. The axle structure as described in any one of claims 1-7, characterized in that, When the end of the swing arm away from the bridge body swings downward to the lower critical position, the angle at which the end of the swing arm away from the bridge body hangs downward relative to the end of the swing arm that is pivotally connected to the bridge body is 6°~15°.

18. The axle structure as described in any one of claims 1-7, characterized in that, The axle structure also includes shock absorbers, and each of the swing arms is connected to a shock absorber.

19. The axle structure as described in claim 18, characterized in that, A connecting seat is installed at the bottom of the swing arm, and the connecting seat is fixedly connected to one end of the shock absorber. The side of the connecting seat opposite to the swing arm has comb teeth.

20. The axle structure as described in any one of claims 1-7, characterized in that, The bridge seat has slots on opposite sides along the pivot axis perpendicular to the bridge body. The two swing arms are inserted into the bridge seat through the corresponding slots, and there is a gap between the circumferential side of the swing arm and the groove wall.

21. The axle structure as described in claim 20, characterized in that, The axle structure also includes a dust cover, which is fitted onto the swing arm and connected to the axle seat, and the dust cover covers the corresponding slot.

22. The axle structure as described in claim 21, characterized in that, The dust cover is fixedly connected to the bridge base at one end via a connector; and / or The end of the dust cover away from the bridge seat is fitted into the annular groove on the swing arm.

23. The axle structure as described in claim 20, characterized in that, The bridge base includes a lower base body and an upper cover body. The upper cover body is disposed above the lower base body and the two are detachably connected. The lower base body and the upper cover body form the slot.

24. The axle structure as described in any one of claims 1-7, characterized in that, The swing arm is provided with a wiring channel and wiring holes that communicate with the wiring channel.

25. The axle structure as described in any one of claims 1-7, characterized in that, The swing arm is provided with weight reduction holes.

26. The axle structure as described in any one of claims 1-7, characterized in that, The axle structure also includes a detection device for detecting the swing state of the swing arm. The detection device includes a magnetic component and a Hall sensor. The magnetic component is disposed on the swing arm, and the Hall sensor is disposed on the chassis frame of the chassis device.

27. The axle structure as described in claim 26, characterized in that, The magnetic component is disposed on the top or side surface of the swing arm; and / or, a mounting portion is formed on the chassis frame, and the Hall sensor is disposed within the mounting portion.

28. The axle structure as described in claim 26, characterized in that, The Hall sensor is a single-stage Hall sensor.

29. The axle structure as described in claim 26, characterized in that, The Hall sensor is positioned away from the bridge body along a distribution direction perpendicular to the two swing arms.

30. The axle structure as described in claim 26, characterized in that, The detection device includes a magnetic component and a Hall sensor. The axle structure also includes a triangular structural component. A shock absorber is connected between the swing arm and the chassis frame of the chassis device. The three ends of the triangular structural component are respectively connected to the shock absorber, the magnetic component, and the chassis frame. The Hall sensor is mounted on the chassis frame.

31. The axle structure as described in claim 26, characterized in that, Both of the swing arms are equipped with magnetic components, and the magnetic components on the two swing arms respectively cooperate with the corresponding Hall sensors on the chassis frame; When both Hall sensors on the two swing arms detect that the corresponding swing arm is in a downward swing state, the controller connected to the Hall sensors determines that the chassis device is in a raised state.

32. A chassis device, characterized in that, It includes a chassis frame and an axle structure as described in any one of claims 1-31, wherein the axle seat of the axle structure is fixed to the bottom of the chassis frame.

33. The chassis device as described in claim 32, characterized in that, The chassis frame includes a rear section, the axle structure is connected to the rear section, and the rear section is located between the two rear wheels of the chassis device; Shock absorbers are provided on the swing arms of the axle structure. The shock absorbers are located on the rear side of the swing arms, and the shock absorbers on the two swing arms are respectively located on both sides of the rear end along the distribution direction of the two rear wheels.

34. The chassis device as described in claim 33, characterized in that, A comb-tooth structure is provided on the rear side of the tail section, and the two shock absorbers are located on both sides of the comb-tooth structure.

35. A lawnmower, characterized in that, The chassis assembly included in any one of claims 32-34.

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