Unmanned vehicle chassis and unmanned vehicle

Abstract

The application relates to the technical field of unmanned vehicles, and discloses an unmanned vehicle chassis and an unmanned vehicle, which comprise a bottom plate, a first axle assembly and a second axle assembly; the bottom plate has a transverse center axis in the width direction thereof; the second axle assembly and the first axle assembly are respectively located at the front and rear ends of the bottom plate and are symmetrical relative to the transverse center axis; the first axle assembly and the second axle assembly both comprise a speed reducer assembly, a left half axle, a right half axle, a left steering knuckle, a right steering knuckle, a rudder assembly and a steering mechanism; the left half axle is respectively drivingly connected to the speed reducer assembly and the left steering knuckle, and the right half axle is respectively drivingly connected to the speed reducer assembly and the right steering knuckle; the rudder assembly is fixedly installed on the speed reducer assembly, and the rudder assembly is respectively ball-joint connected to the left steering knuckle and the right steering knuckle through the steering mechanism. In the above manner, the unmanned vehicle chassis related to the application can improve the working efficiency of the unmanned vehicle in a complex and narrow scene and the situation that the passing capacity is limited.

Description

Technical Field

[0001] This application relates to the field of autonomous vehicle technology, and in particular to an autonomous vehicle chassis and an autonomous vehicle. Background Technology

[0002] In the fields of modern logistics robots, special exploration platforms, unmanned vehicles, and advanced remote-controlled models, the requirements for the mobility performance of unmanned vehicles are becoming increasingly stringent. Most unmanned vehicles in related technologies adopt a traditional front-to-rear layout, which means that the vehicles can only support one-way driving mode. In complex and narrow scenarios such as warehouses, alleys, and pipelines, it is difficult to turn around efficiently or require multiple forward and backward movements and direction adjustments, which greatly limits the working efficiency and passability of unmanned vehicles. Utility Model Content

[0003] The purpose of this application is to provide an unmanned vehicle chassis and an unmanned vehicle, which aims to improve the working efficiency and passability of unmanned vehicles in complex and narrow scenarios.

[0004] According to a first aspect of this application, an unmanned vehicle chassis is provided, comprising: The base plate has a transverse central axis along its width. First axle assembly; The second axle assembly is located at the front and rear ends of the base plate and is symmetrical with respect to the transverse central axis, respectively, as the first axle assembly. Both the first axle assembly and the second axle assembly include a reducer assembly, a left half-shaft, a right half-shaft, a left steering knuckle, a right steering knuckle, a servo assembly, and a steering mechanism; The reducer assembly is mounted and fixed to the base plate; The left half-shaft is driven to the reducer assembly and the left steering knuckle, and the right half-shaft is driven to the reducer assembly and the right steering knuckle. The servo assembly is mounted and fixed to the reducer assembly, and the servo assembly is ball-jointed to the left steering knuckle and the right steering knuckle respectively through the steering mechanism.

[0005] In some embodiments, the steering mechanism includes a left steering arm, a right steering arm, a rocker arm, a main steering tie rod, a secondary steering tie rod, a left steering rocker arm, and a right steering rocker arm; The left steering arm and the right steering arm are located on the left and right sides of the reducer assembly, respectively, and are rotatably connected to the reducer assembly and the base plate around their respective axes. The axes of the left steering arm and the right steering arm are both perpendicular to the transverse center axis. The rocker arm is fixed to the output end of the servo assembly. One end of the main steering linkage is ball-jointed to the rocker arm, and the other end is ball-jointed to the left steering arm or the right steering arm. The two ends of the auxiliary steering linkage are rotatably connected to the left steering arm and the right steering arm, respectively. The two ends of the left steering stalk are respectively ball-jointed to the left steering arm and the left steering knuckle, and the two ends of the right steering stalk are respectively ball-jointed to the right steering arm and the right steering knuckle.

[0006] In some embodiments, the base plate has a longitudinal central axis along its length, the longitudinal central axis being perpendicular to the transverse central axis; The first axle assembly and the second axle assembly both include a left suspension structure and a right suspension structure; the left suspension structure is hinged to the reducer assembly and the left steering knuckle respectively, and the right suspension structure is hinged to the reducer assembly and the right steering knuckle respectively, and the left suspension structure and the right suspension structure are symmetrical with respect to the longitudinal central axis.

[0007] In some embodiments, both the left suspension structure and the right suspension structure include an upper control arm, a lower control arm, and a columnar shock absorber; The upper control arm of the left suspension structure is located above the left half-shaft, and the lower control arm of the left suspension structure is located below the left half-shaft. Both the upper and lower control arms of the left suspension structure are hinged to the reducer assembly and the left steering knuckle. The columnar shock absorber of the left suspension structure is hinged to the reducer assembly and the lower control arm of the left suspension structure, respectively. The upper control arm of the right suspension structure is located above the right half-shaft, and the lower control arm of the right suspension structure is located below the right half-shaft. Both the upper and lower control arms of the right suspension structure are hinged to the reducer assembly and the right steering knuckle. The columnar shock absorber of the right suspension structure is hinged to the reducer assembly and the lower control arm of the right suspension structure, respectively.

[0008] In some embodiments, the reducer assembly includes a reducer, a limiting bracket, a first adapter, and a second adapter; The reducer is mounted and fixed to the base plate. The upper and lower control arms of the left suspension structure are both hinged to the left side of the reducer, and the upper and lower control arms of the right suspension structure are both hinged to the right side of the reducer. The limiting bracket is fixed to the top of the reducer. The left and right ends of the limiting bracket are provided with rotating shaft mounting parts that extend beyond the reducer. The left steering arm and the right steering arm are rotatably connected to the rotating shaft mounting parts and the base plate through rotating shafts. The first adapter is located between the servo assembly and the reducer, and is connected to both the reducer and the servo assembly. The second adapter is fixed to the reducer. Ball heads are provided at both ends of the second adapter. One end of the columnar shock absorber of the left and right suspension structures is provided with a slot, and the ball head is received in the slot.

[0009] In some embodiments, the unmanned vehicle chassis includes a longitudinal beam and two transverse beams; the two transverse beams are respectively mounted and fixed to the first axle assembly and the second axle assembly, and the two ends of the longitudinal beam are respectively overlapped and fixed to the two transverse beams; The chassis structure is composed of the floor, the first axle assembly, the second axle assembly, and the longitudinal beams.

[0010] In some embodiments, the bottom of the crossbeam extends beyond the height of the servo assembly, and a mounting post is provided on one side of the bottom of the crossbeam. The second adapter has a mounting hole corresponding to the position of the mounting post, and the mounting post is inserted into the mounting hole and fastened with bolts.

[0011] In some embodiments, the unmanned vehicle chassis includes a drive shaft and a drive motor assembly; The two ends of the drive shaft are respectively connected to the reducer assembly of the first axle assembly and the reducer assembly of the second axle assembly. The drive motor assembly is located between the first axle assembly and the second axle assembly and drives the drive shaft to rotate.

[0012] In some embodiments, the drive motor assembly directly drives the drive shaft to rotate.

[0013] According to a second aspect of this application, an unmanned vehicle is provided, including an unmanned vehicle chassis as described above.

[0014] The beneficial effects of the embodiments of this application are: the unmanned vehicle chassis involved in this application has a first axle assembly and a second axle assembly each independently provided with a servo motor assembly and a steering mechanism, and the first axle assembly and the second axle assembly are symmetrical with respect to the lateral central axis of the chassis. The unmanned vehicle can effectively reduce the turning radius and turn around quickly, thereby improving the unmanned vehicle's ability to pass through complex and narrow spaces and its working efficiency. Attached Figure Description

[0015] To more clearly illustrate the technical solutions in the specific embodiments of this application or the prior art, the accompanying drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. In all the drawings, similar elements or parts are generally identified by similar reference numerals. In the drawings, the elements or parts are not necessarily drawn to scale.

[0016] Figure 1 A front view of an unmanned vehicle chassis provided in one embodiment of this application; Figure 2 for Figure 1 The diagram shown is an axonometric view of the driverless vehicle chassis. Figure 3 for Figure 1 A top view of the driverless vehicle chassis is shown. Figure 4 for Figure 1 The image shown is an isometric view of one of the first axle assemblies of the unmanned vehicle chassis. Figure 5 for Figure 1 Another isometric view of the first axle assembly of the unmanned vehicle chassis shown; Figure 6 for Figure 5 A magnified view of a section at point A in the middle; Figure 7 for Figure 4 The diagram shows an exploded view of some components of the driverless vehicle chassis. Explanation of reference numerals in the attached figures: 1. Base plate; 1a. Lateral center axis; 1b. Longitudinal center axis; 10. Reducer assembly; 100. Reducer; 1001. Upper housing; 1002. Lower housing; 101. First adapter; 102. Limiting bracket; 1021. Shaft mounting part; 103. Second adapter; 1031. Assembly hole; 11. Left half-shaft; 12. Right half-shaft; 13. Left steering knuckle; 14. Right steering knuckle; 15. Servo assembly 16. Steering mechanism; 161. Left steering arm; 162. Right steering arm; 1601. Main shaft; 1602. Secondary shaft; 1603. Connecting part; 1604. Ball joint; 163. Rocker arm; 164. Main steering tie rod; 165. Secondary steering tie rod; 166. Left steering rocker arm; 167. Right steering rocker arm; 17. Left suspension structure; 18. Right suspension structure; 181. Upper control arm; 182. Lower control arm; 183. Column shock absorber; 2. First axle assembly; 3. Second axle assembly; 4. Drive shaft; 5. Drive motor assembly; 6. Longitudinal beams; 7. Crossbeam; 70. Assembled column. Detailed Implementation

[0017] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. The following description of at least one exemplary embodiment is merely illustrative and is in no way intended to limit this application or its application or use. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the scope of protection of this application.

[0018] Techniques, methods, and equipment known to those skilled in the art may not be discussed in detail, but where appropriate, such techniques, methods, and equipment should be considered part of the specification.

[0019] In the description of this application, it should be noted that the orientation or positional relationship indicated by directional terms such as "front, back, up, down, left, right", "horizontal, vertical, horizontal" and "top, bottom" is usually based on the orientation or positional relationship shown in the accompanying drawings, and is only for the convenience of describing this application and simplifying the description. Unless otherwise stated, these directional terms 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, and therefore should not be construed as a limitation on the scope of protection of this application; the directional terms "inner" and "outer" refer to the inner and outer contours relative to the outline of each component itself.

[0020] In the description of this application, it should be noted that the use of terms such as "first" and "second" to define the components is merely for the purpose of distinguishing the corresponding components. Unless otherwise stated, the above terms have no special meaning and therefore should not be construed as limiting the scope of protection of this application.

[0021] The technical features involved in the different embodiments of this application described below can be combined with each other as long as they do not conflict with each other.

[0022] Please see also Figures 1 to 7 According to one embodiment of this application, an unmanned vehicle chassis includes a base plate 1, a first axle assembly 2, and a second axle assembly 3.

[0023] The base plate 1 serves as the load-bearing structure for the first axle assembly 2, the second axle assembly 3, and other components in the unmanned vehicle. Both the first axle assembly 2 and the second axle assembly 3 are mounted and fixed to the base plate 1. Both the left and right ends of the first axle assembly 2 and the second axle assembly 3 are suitable for mounting wheels.

[0024] Continue as Figure 2As shown, in some embodiments, the unmanned vehicle chassis includes a drive shaft 4 and a drive motor assembly 5. The drive motor assembly 5 is mounted and fixed to the base plate 1, and the drive shaft 4 is connected to the first axle assembly 2 and the second axle assembly 3 respectively. The drive motor assembly 5 drives the drive shaft 4 to rotate. Exemplarily, the drive motor assembly 5 includes components such as a servo motor, a motor controller, and an output gear, which is an existing solution and will not be described in detail here. The output shaft of the drive motor assembly 5 is fixedly equipped with an output gear, and the drive shaft 4 is fitted with a transmission gear. The transmission gear meshes with the output gear, wherein the pitch circle diameter of the transmission gear is smaller than that of the output gear.

[0025] In specific implementation, the first axle assembly 2 and the second axle assembly 3 are connected to the drive shaft 4. The drive shaft 4 directly meshes with the drive motor assembly 5 through gears, that is, the drive motor assembly 5 directly drives the drive shaft 4 to rotate. The drive motor assembly 5, as a power source, transmits torque to the first axle assembly 2 and the second axle assembly 3 through the drive shaft 4, providing driving force for the whole vehicle while outputting steering torque.

[0026] Of course, the drive motor assembly 5 is not limited to directly driving the transmission shaft 4 to achieve the rotation of the front and rear four wheels. For example, in some other embodiments, the first axle assembly 2 and / or the second axle assembly 3 are each equipped with a drive motor assembly 5 and a transmission shaft 4. The two drive motor assemblies 5 transmit torque to their respective axle assemblies through their respective transmission shafts 4, which can also realize the front and rear four-wheel drive or two-wheel drive of the unmanned vehicle chassis.

[0027] For base plate 1, as Figure 2 or Figure 3 As shown, in some embodiments, the base plate 1 has a transverse central axis 1a along its width direction and a longitudinal central axis 1b along its length direction, wherein the longitudinal central axis 1b is perpendicular to the transverse central axis 1a.

[0028] It should be noted that the width direction of the aforementioned base plate 1 refers to the relative direction between the two ends of the shorter side of the base plate 1, while the transverse central axis 1a refers to the virtual central axis parallel to the shorter side of the base plate 1 and equally dividing the longer side of the base plate 1. Similarly, the length direction of the aforementioned base plate 1 refers to the relative direction between the two ends of the longer side of the base plate 1, while the longitudinal central axis 1b refers to the virtual central axis parallel to the longer side of the base plate 1 and equally dividing the shorter side of the base plate 1.

[0029] For example, the base plate 1 has a generally symmetrical plate structure, with its two ends along its length being the front end and the rear end, and its two ends along its width being the left end and the right end. The first axle assembly 2 and the second axle assembly 3 are both fastened to the front and rear ends of the base plate 1 by, but not limited to, bolts. The drive motor assembly 5 is also fastened to the base plate 1 at the middle position along its length by, but not limited to, bolts. Any two of the drive shaft 4, the motor output shaft of the drive motor assembly 5, and the longitudinal central axis 1b are parallel to each other.

[0030] For the first axle assembly 2 and the second axle assembly 3, continue as follows Figure 3 As shown, in some embodiments, the first axle assembly 2 and the second axle assembly 3 are symmetrical with respect to the transverse central axis 1a. Exemplarily, the first axle assembly 2 and the second axle assembly 3 have identical structures and are symmetrically arranged in front of and behind the transverse central axis 1a. Therefore, most components in the first axle assembly 2 and the second axle assembly 3 in this embodiment are interchangeable, facilitating disassembly and maintenance, thus giving the unmanned vehicle chassis high versatility and flexibility, suitable for different scenarios.

[0031] Specifically, both the first axle assembly 2 and the second axle assembly 3 include a reducer assembly 10, a left half-shaft 11, a right half-shaft 12, a left steering knuckle 13, a right steering knuckle 14, a servo assembly 15, and a steering mechanism 16.

[0032] The reducer assembly 10 is mounted and fixed to the base plate 1. For example, the reducer assembly 10 includes a reducer 100, which has a reducer housing. The reducer housing is positioned on the base plate 1 by a positioning shaft, and threaded fasteners pass through the base plate 1 and are fastened to the reducer housing.

[0033] The left half-shaft 11 is connected to the reducer assembly 10 and the left steering knuckle 13, respectively, and the right half-shaft 12 is connected to the reducer assembly 10 and the right steering knuckle 14, respectively. For example, the left and right steering knuckles have identical structures and are symmetrically arranged on the left and right sides of the reducer assembly 10, and the left and right half-shafts have identical structures and are symmetrically arranged on the left and right sides of the reducer 100. Both ends of the left and right half-shafts are equipped with spherical supports of ball-cage universal joints, and the reducer 100 and the left and right steering knuckles are all connected to the universal joint shaft of the ball-cage universal joint.

[0034] The servo assembly 15 is mounted and fixed to the reducer assembly 10. The servo assembly 15 is ball-jointed to the left steering knuckle 13 and the right steering knuckle 14 via the steering mechanism 16. Exemplarily, the reducer assembly 10 includes a first adapter (not shown). The servo assembly 15 includes a servo servo and a servo mount. The servo mount is flexibly fixed to the top of the reducer housing via the first adapter. The servo servo is housed within the servo mount, and the output end of the servo servo extends out of the servo mount near the lateral central axis 1a and is connected to the steering mechanism 16.

[0035] Therefore, the chassis of this unmanned vehicle can be connected to the vehicle controller. Through traction control, torque vector control, and other methods, the torque and speed of the servo components 15 of the first axle assembly 2 and the second axle assembly 3 can be controlled in real time to achieve two-wheel steering or four-wheel steering. Four-wheel steering can be divided into two cases: the front and rear wheels mounted on the first axle assembly 2 and the second axle assembly 3 can deflect in opposite or the same direction. When the deflection directions are opposite, the turning radius can be reduced; when the deflection directions are the same, crab-like rapid lane changes can be achieved, thus flexibly coping with complex road conditions. It should be noted that the scheme for the vehicle controller to control the servo components 15 of the first axle assembly 2 and the second axle assembly 3 for steering adopts an existing control scheme, and the specific principle will not be elaborated here.

[0036] Continue as Figure 3 As shown, in some embodiments, the steering mechanism 16 in both the first axle assembly 2 and the second axle assembly 3 includes a left steering arm 161, a right steering arm 162, a rocker arm 163, a main steering tie rod 164, a secondary steering tie rod 165, a left steering rocker arm 166, and a right steering rocker arm 167.

[0037] The left steering arm 161 and the right steering arm 162 are respectively spaced apart from the left and right sides of the reducer assembly 10, and are rotatably connected to the reducer assembly 10 and the base plate 1 around their respective axes. The axes of both the left steering arm 161 and the right steering arm 162 are perpendicular to the transverse central axis 1a. For example, please refer to... Figure 6 See also Figure 5 A rotating shaft protrudes from the base plate 1, symmetrically positioned on the left and right sides of the reducer 100. The reducer assembly 10 includes a limiting bracket 102. The limiting bracket 102 is fastened to one end of the top of the reducer housing near the transverse central axis 1a by, but not limited to, bolts. The left and right ends of the limiting bracket 102 have rotating shaft mounting portions 1021 extending beyond the reducer housing. Both the left steering arm 161 and the right steering arm 162 include a main shaft portion 1601, which is approximately hollow cylindrical. The main shaft portions 1601 of the left and right steering arms 161 and 162 are respectively fitted onto the two rotating shafts of the base plate 1, with each shaft correspondingly inserted into the shaft hole of a rotating shaft mounting portion 1021, allowing the left and right steering arms 162 to rotate around the axis of the main shaft portion 1601. Furthermore, threaded fasteners sequentially pass through the first adapter seat 101 and the limiting bracket 102, and are screwed and fixed to the reducer housing.

[0038] The rocker arm 163 is fixed to the output end of the servo assembly 15; one end of the main steering linkage 164 is ball-jointed to the rocker arm 163, and the other end is ball-jointed to either the left steering arm 161 or the right steering arm 162; the two ends of the auxiliary steering linkage 165 are rotatably connected to the left steering arm 161 and the right steering arm 162, respectively. For example, please continue to refer to... Figure 6 See Figure 5 The rocker arm 163 is fixed to the output end of the servo motor extending outside the servo motor mounting base. Besides the main shaft portion 1601, the left steering arm 161 and right steering arm 162 also include a secondary shaft portion 1602 and a connecting portion 1603. The connecting portion 1603 is integrally formed on the outer peripheral surface of the main shaft portion 1601 and is perpendicular to it. The secondary shaft portion 1602 is integrally formed on the connecting portion 1603. The rotation axes of both the secondary shaft portion 1602 and the main shaft portion 1601 are perpendicular to the transverse central axis 1a. The left and right ends of the auxiliary steering linkage 165 also extend beyond the reducer 100. The secondary shaft portions 1602 of the left steering arm 161 and right steering arm 162 are rotatably fitted into the two extended portions of the auxiliary steering linkage 165. Furthermore, the left steering arm 161 also includes a steering portion compared to the right steering arm 162. The steering part is also integrally formed on the outer peripheral surface of the main shaft part 1601 and forms an obtuse angle with the connecting part 1603. The other end of the main steering tie rod 164 is ball-jointed to the steering part of the left steering arm 161.

[0039] The two ends of the left steering stalk 166 are ball-jointed to the left steering arm 161 and the left steering knuckle 13, respectively, and the two ends of the right steering stalk 167 are ball-jointed to the right steering arm 162 and the right steering knuckle 14, respectively. For example, both the left and right steering knuckles are provided with ball heads. Both the left steering arm 161 and the right steering arm 162 also include a ball head 1604. The ball head 1604 is integrally formed at the end of the connecting portion 1603 away from the main shaft portion 1601, integrally formed in the connecting portion 1603 and located between the main shaft portion 1601 and the ball head 1604. Along the extending direction of the connecting portion 1603, the main shaft portion 1601, the secondary shaft portion 1602, and the ball head 1604 are sequentially spaced apart. The ball heads 1604 of the left steering knuckle 13 and the left steering arm 161 are rotatably connected to the empty slot of the left steering sway bar 166, and the ball heads 1604 of the right steering knuckle 14 and the right steering arm 162 are rotatably connected to the empty slot of the right steering sway bar 167.

[0040] In this embodiment, the servo assembly 15 is integrated into the reducer 100, and the steering mechanism 16 is arranged between the servo assembly 15 and the left and right steering knuckles in the above manner. Because the transmission chain of the steering mechanism 16 is relatively short, the difference between the feedback angle and the actual angle is small and the steering response is rapid, which improves the steering accuracy and reliability of the unmanned vehicle.

[0041] Please combine Figure 1 See also Figure 4 In some embodiments, both the first axle assembly 2 and the second axle assembly 3 include a left suspension structure 17 and a right suspension structure 18. The left suspension structure 17 is hinged to the reducer assembly 10 and the left steering knuckle 13, respectively, and the right suspension structure 18 is hinged to the reducer assembly 10 and the right steering knuckle 14, respectively. The left suspension structure 17 and the right suspension structure 18 are symmetrical with respect to the longitudinal central axis 1b.

[0042] Both the left suspension structure 17 and the right suspension structure 18 include an upper control arm 181, a lower control arm 182, and a columnar shock absorber 183. The columnar shock absorber 183 includes a coil spring and a shock absorber. The coil spring is fitted over the shock absorber, and the upper end of the shock absorber is ball-jointed to the top of the reducer assembly 10. The lower end of the reducer 100 is hinged to the bottom of the reducer 100.

[0043] The upper control arm 181 of the left suspension structure 17 is located above the left half-shaft 11, and the lower control arm 182 of the left suspension structure 17 is located below the left half-shaft 11. Both the upper control arm 181 and the lower control arm 182 of the left suspension structure 17 are hinged to the reducer assembly 10 and the left steering knuckle 13. The column shock absorber 183 of the left suspension structure 17 is hinged to the reducer assembly 10 and the lower control arm 182 of the left suspension structure 17, respectively.

[0044] The upper control arm 181 of the right suspension structure 18 is located above the right half-shaft 12, and the lower control arm 182 of the right suspension structure 18 is located below the right half-shaft 12. Both the upper control arm 181 and the lower control arm 182 of the right suspension structure 18 are hinged to the reducer assembly 10 and the right steering knuckle 14. The column shock absorber 183 of the right suspension structure 18 is hinged to the reducer assembly 10 and the lower control arm 182 of the right suspension structure 18.

[0045] For example, please refer to Figure 7 Referring also to 5, the reducer assembly 10 also includes a second adapter 103. The reducer housing includes an upper housing 1001 and a lower housing 1002, with the upper housing 1001 covering the lower housing 1002 to house multiple sets of gears within the reducer 100. The upper control arms 181 of both the left suspension structure 17 and the right suspension structure 18 are generally rod-shaped, with pivots at both ends. The top left and right sides of the upper housing 1001, the left steering knuckle 13, and the right steering knuckle 14 are all provided with shaft grooves adapted to the pivots of the upper control arms 181. The pivots of the upper control arms 181 of the left suspension structure 17 and the right suspension structure 18 are housed in the corresponding shaft grooves and are fixed together with the shaft grooves by fixing pins. Both the lower control arms 182 of the left suspension structure 17 and the right suspension structure 18 are generally plate-shaped, with shaft grooves at both ends. The bottom left and right sides of the lower housing 1002, the left steering knuckle 13, and the right steering knuckle 14 are all equipped with pivots. The pivots of the lower housing 1002 and the left and right steering knuckles are respectively housed in the shaft grooves of the lower control arms 182 and are fixed together with the shaft grooves by fixing pins. The second adapter 103 is embedded and fixed to the top of the upper housing 1001. Both ends of the second adapter 103 are equipped with ball heads. The lower control arms 182 of both the left suspension structure 17 and the right suspension structure 18 are provided with shaft grooves. The upper ends of the shock absorbers of both the left suspension structure 17 and the right suspension structure 18 are provided with slots, and the ball heads are housed in the corresponding slots. The lower ends of the shock absorbers of both the left suspension structure 17 and the right suspension structure 18 are provided with pivots, which are housed in the corresponding shaft grooves and are fixed together with the shaft grooves by fixing pins.

[0046] In this embodiment, the equal-length multi-link suspension structure can make the front wheel alignment parameters more stable and ensure good contact between the wheels and the ground, improving grip and avoiding excessive wear. At the same time, the equal-length multi-link suspension structure occupies less space, does not encroach on the upper space of the unmanned vehicle, keeps the top of the unmanned vehicle flat and effectively reduces the height of the vehicle's center of gravity.

[0047] Of course, the structural form and connection method of the upper control arm 181, lower control arm 182, and column shock absorber 183 are not limited to the illustrated scheme. Under the premise of meeting functional requirements, the structural form of the upper control arm 181 and lower control arm 182 can be various, and the connection method can also be selected from many hinge forms, which are not limited here. In addition, in some other embodiments, the column shock absorber 183 can be replaced by a transverse leaf spring assembly. Compared with the column shock absorber 183, the transverse leaf spring assembly can meet the vehicle's load requirements and more effectively suppress the impact of the road surface on the vehicle body.

[0048] Continue to combine Figure 7 See also Figure 2 In some embodiments, the unmanned vehicle chassis includes longitudinal beams 6 and two crossbeams 7. The two crossbeams 7 are respectively mounted and fixed to the first axle assembly 2 and the second axle assembly 3, and the two ends of the longitudinal beam 6 are respectively overlapped and fixed to the two crossbeams 7. For example, the two crossbeams 7 are plate-shaped reinforced structures located between the servo assembly 15 and the second adapter 103. The top of the crossbeam 7 extends beyond the height of the servo assembly 15, and a mounting post 70 is provided on one side of the bottom of the crossbeam 7. A mounting hole 1031 is provided on the second adapter 103 corresponding to the mounting post 70. The mounting post 70 is inserted into the mounting hole 1031 and fastened with bolts, so that the base plate 1, the first axle assembly 2, the second axle assembly 3, and the longitudinal beams 6 together form the frame structure of the unmanned vehicle. This arrangement allows the unmanned vehicle chassis to distribute the load more evenly, improving the overall load-bearing capacity and structural strength. The longitudinal beam 6 is generally in the shape of a long strip plate, and the two ends of the longitudinal beam 6 are fastened to the overlap of the two crossbeams 7 by bolts, but not limited to bolts.

[0049] Of course, the structure of the base plate 1 is not limited to the illustrated scheme. For example, in other embodiments, the base plate 1 can be replaced by a fully symmetrical plate structure with an integrated basin structure. This integrated basin structure is usually made of high-strength engineering plastics or carbon fiber in a mold by injection molding or lamination in one go, so that it can serve as part of the frame and also become part of the vehicle body.

[0050] In summary, the unmanned vehicle chassis involved in this application has a first axle assembly 2 and a second axle assembly 3 each independently equipped with a servo motor assembly 15 and a steering mechanism 16. Furthermore, the first axle assembly 2 and the second axle assembly 3 are symmetrical with respect to the lateral central axis 1a of the base plate 1. The unmanned vehicle can effectively reduce the turning radius and make quick turns, thereby improving the unmanned vehicle's ability to pass through complex and narrow spaces and its working efficiency.

[0051] Based on the same technical concept, one embodiment of this application also provides an unmanned vehicle, mainly used for unmanned logistics delivery. It includes an unmanned vehicle chassis and a cargo carrier as described in any of the preceding embodiments. The cargo box is detachably connected to the unmanned vehicle chassis, facilitating the replacement of cargo boxes of different sizes and specifications as needed, thus broadening the application scenarios of the unmanned vehicle chassis.

[0052] The above description is merely an embodiment of this application and does not limit the patent scope of this application. Any equivalent structural or procedural transformations made using the content of this application's specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of this application.

Claims

1. An unmanned vehicle chassis, characterized in that, include: The base plate has a transverse central axis along its width. First axle assembly; The second axle assembly is located at the front and rear ends of the base plate and is symmetrical with respect to the transverse central axis, respectively, as the first axle assembly. Both the first axle assembly and the second axle assembly include a reducer assembly, a left half-shaft, a right half-shaft, a left steering knuckle, a right steering knuckle, a servo assembly, and a steering mechanism; The reducer assembly is mounted and fixed to the base plate; The left half-shaft is driven to the reducer assembly and the left steering knuckle, and the right half-shaft is driven to the reducer assembly and the right steering knuckle. The servo assembly is mounted and fixed to the reducer assembly, and the servo assembly is ball-jointed to the left steering knuckle and the right steering knuckle respectively through the steering mechanism.

2. The unmanned vehicle chassis according to claim 1, characterized in that, The steering mechanism includes a left steering arm, a right steering arm, a rocker arm, a main steering tie rod, a secondary steering tie rod, a left steering rocker arm, and a right steering rocker arm; The left steering arm and the right steering arm are located on the left and right sides of the reducer assembly, respectively, and are rotatably connected to the reducer assembly and the base plate around their respective axes. The axes of the left steering arm and the right steering arm are both perpendicular to the transverse center axis. The rocker arm is fixed to the output end of the servo assembly. One end of the main steering linkage is ball-jointed to the rocker arm, and the other end is ball-jointed to the left steering arm or the right steering arm. The two ends of the auxiliary steering linkage are rotatably connected to the left steering arm and the right steering arm, respectively. The two ends of the left steering stalk are respectively ball-jointed to the left steering arm and the left steering knuckle, and the two ends of the right steering stalk are respectively ball-jointed to the right steering arm and the right steering knuckle.

3. The unmanned vehicle chassis according to claim 2, characterized in that, The base plate has a longitudinal central axis along its length, and the longitudinal central axis is perpendicular to the transverse central axis; The first axle assembly and the second axle assembly both include a left suspension structure and a right suspension structure; the left suspension structure is hinged to the reducer assembly and the left steering knuckle respectively, and the right suspension structure is hinged to the reducer assembly and the right steering knuckle respectively, and the left suspension structure and the right suspension structure are symmetrical with respect to the longitudinal central axis.

4. The unmanned vehicle chassis according to claim 3, characterized in that, Both the left suspension structure and the right suspension structure include an upper control arm, a lower control arm, and a columnar shock absorber; The upper control arm of the left suspension structure is located above the left half-shaft, and the lower control arm of the left suspension structure is located below the left half-shaft. Both the upper and lower control arms of the left suspension structure are hinged to the reducer assembly and the left steering knuckle. The columnar shock absorber of the left suspension structure is hinged to the reducer assembly and the lower control arm of the left suspension structure, respectively. The upper control arm of the right suspension structure is located above the right half-shaft, and the lower control arm of the right suspension structure is located below the right half-shaft. Both the upper and lower control arms of the right suspension structure are hinged to the reducer assembly and the right steering knuckle. The columnar shock absorber of the right suspension structure is hinged to the reducer assembly and the lower control arm of the right suspension structure, respectively.

5. The unmanned vehicle chassis according to claim 4, characterized in that, The reducer assembly includes a reducer, a limiting bracket, a first adapter, and a second adapter; The reducer is mounted and fixed to the base plate. The upper and lower control arms of the left suspension structure are both hinged to the left side of the reducer, and the upper and lower control arms of the right suspension structure are both hinged to the right side of the reducer. The limiting bracket is fixed to the top of the reducer. The left and right ends of the limiting bracket are provided with rotating shaft mounting parts that extend beyond the reducer. The left steering arm and the right steering arm are rotatably connected to the rotating shaft mounting parts and the base plate through rotating shafts. The first adapter is located between the servo assembly and the reducer, and is connected to both the reducer and the servo assembly. The second adapter is fixed to the reducer. Ball heads are provided at both ends of the second adapter. One end of the column shock absorber of the left and right suspension structures is provided with a slot hole, and the ball head is received in the slot hole.

6. The unmanned vehicle chassis according to claim 5, characterized in that, The unmanned vehicle chassis includes a longitudinal beam and two transverse beams; the two transverse beams are respectively installed and fixed to the first axle assembly and the second axle assembly, and the two ends of the longitudinal beam are respectively overlapped and fixed to the two transverse beams; The chassis structure is composed of the floor, the first axle assembly, the second axle assembly, and the longitudinal beams.

7. The unmanned vehicle chassis according to claim 6, characterized in that, The bottom of the crossbeam extends beyond the height of the servo assembly. A mounting post is provided on one side of the bottom of the crossbeam. The second adapter has a mounting hole corresponding to the position of the mounting post. The mounting post is inserted into the mounting hole and fastened with bolts.

8. The unmanned vehicle chassis according to any one of claims 1-6, characterized in that, The unmanned vehicle chassis includes a drive shaft and a drive motor assembly; The two ends of the drive shaft are respectively connected to the reducer assembly of the first axle assembly and the reducer assembly of the second axle assembly. The drive motor assembly is located between the first axle assembly and the second axle assembly and drives the drive shaft to rotate.

9. The unmanned vehicle chassis according to claim 8, characterized in that, The drive motor assembly directly drives the transmission shaft to rotate.

10. An unmanned vehicle, characterized in that, Includes the unmanned vehicle chassis as described in any one of claims 1-9.

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