CN212373489U - Unmanned vehicle chassis and unmanned vehicle - Google Patents

Abstract

The utility model discloses an unmanned aerial vehicle chassis and unmanned car relates to the unmanned equipment field. The chassis comprises a frame, a driving mechanism and a travelling wheel. The driving mechanism is arranged on the frame, and the travelling wheels comprise wheel arms, transmission connecting shafts and wheels; the wheel arm is fixedly connected with the frame; the transmission connecting shaft is movably arranged on the wheel arm and provided with an input end and an output end, the plane where the output end is located below the plane where the input end is located along the vertical direction, the input end is in transmission connection with the driving mechanism, and the output end is in transmission connection with the wheel so as to drive the wheel to rotate under the driving of the driving mechanism. This chassis passes through the setting that the transmission connecting axle output is less than the input in vertical direction, can make frame and actuating mechanism all be located higher position, and multiplicable chassis and actuating mechanism's mounting height guarantees the normal passing through of chassis under various complicated terrains, guarantees operating efficiency and quality, guarantees chassis and actuating mechanism's security simultaneously, prolongs the life on chassis.

Description

Unmanned vehicle chassis and unmanned vehicle

Technical Field

The utility model relates to an unmanned equipment field particularly, relates to an unmanned vehicle chassis and unmanned car.

Background

The unmanned vehicle can be applied to the scenes of agriculture, industry and the like. In the field of plant protection, various operation devices can be installed on an unmanned vehicle to realize spraying of medicaments, seeds, powder and the like. Compared with the traditional manual operation, the labor intensity can be greatly reduced, and the operation efficiency is improved.

However, it has been found that the prior art unmanned vehicle has a problem of unreasonable layout, making it difficult to pass through when faced with some complex terrain, subject to limitations in horsepower and chassis height of the vehicle frame.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide an unmanned vehicle chassis, it is less than the setting of input through the transmission connecting axle output in vertical direction, can be so that the frame and the actuating mechanism of input all are located higher position to multiplicable chassis and actuating mechanism's height guarantees the normal passing through of unmanned vehicle chassis under various complicated terrains, guarantees operating efficiency and operating quality, guarantees chassis and actuating mechanism's security simultaneously, prolongs the life of unmanned vehicle chassis.

Another object of the present invention is to provide an unmanned vehicle, which includes the above unmanned vehicle chassis. Therefore, the unmanned vehicle has the advantages of high operation efficiency and operation quality, good safety performance and long service life.

The embodiment of the utility model is realized like this:

in a first aspect, the embodiment of the utility model provides an unmanned aerial vehicle chassis, include:

a frame;

the driving mechanism is arranged on the frame;

the travelling wheels comprise wheel arms, transmission connecting shafts and wheels; the wheel arm is fixedly connected with the frame; the transmission connecting shaft is movably arranged on the wheel arm and provided with an input end and an output end, the plane where the output end is located below the plane where the input end is located along the vertical direction, the input end is in transmission connection with the driving mechanism, and the output end is in transmission connection with the wheel so as to drive the wheel to rotate under the driving of the driving mechanism.

In an optional embodiment, the transmission connecting shaft includes a first transmission shaft and a second transmission shaft, the first transmission shaft is located at the input end and is inclined relative to the horizontal direction and extends downwards for being in transmission connection with the driving mechanism, the second transmission shaft is located at the output end and extends along the horizontal direction, one end of the second transmission shaft is in transmission connection with the first transmission shaft, and the other end of the second transmission shaft is in transmission connection with the wheel.

In an alternative embodiment, the first transmission shaft is a universal transmission shaft, and the second transmission shaft is a straight transmission shaft;

the universal transmission shaft comprises an intermediate transmission shaft and a first transmission joint and a second transmission joint which are respectively movably connected to the two ends of the intermediate transmission shaft through universal joints, the intermediate transmission shaft is inclined downwards relative to the horizontal direction, the first transmission joint and the second transmission joint are arranged in an extending mode along the horizontal direction, the first transmission joint is in transmission connection with the driving mechanism, and the second transmission joint is in transmission connection with the straight transmission shaft.

In an alternative embodiment, the second drive shaft includes a first shaft portion and a second shaft portion, the first shaft portion being a stepped shaft and the second shaft portion being a tapered shaft; and the stepped shaft is in transmission connection with the second transmission joint, the end part of the conical shaft is connected with the stepped shaft, and the circumferential edge of the conical surface of the conical shaft is in fit connection with the wheels.

In an alternative embodiment, the wheel arm comprises an arm body and an arm sleeve; the arm body is obliquely and extendedly arranged relative to the horizontal direction, one end of the arm body is fixedly connected with the frame, and the other end of the arm body is fixedly connected with the arm sleeve; the arm sleeve extends along the horizontal direction and is arranged on the outer side of the second transmission shaft through the bearing sleeve.

In an alternative embodiment, the inner side wall of the arm sleeve is provided with an annular concave part, the outer ring of the bearing is arranged on the annular concave part, and one side, away from the wheel, of the outer ring of the bearing is in abutting fit with the side wall of the annular concave part; the second transmission shaft is convexly provided with an annular bulge, the outer side of the second transmission shaft is sleeved with the inner ring of the bearing, and one side, close to the wheel, of the inner ring of the bearing is in butt fit with the annular bulge.

In an optional embodiment, a first limiting groove is further formed in the inner side wall of one side, close to the wheel, of the arm sleeve, a first clamp spring is arranged in the first limiting groove, extends towards the second transmission shaft, is connected with the annular bulge and is used for being abutted and matched with one side, close to the wheel, of the bearing; one side of the second transmission shaft close to the first transmission shaft is further provided with a second limiting groove, a second clamp spring is arranged in the second limiting groove, and the second clamp spring is used for being in butt joint with one side, far away from the wheel, of the bearing.

In an optional embodiment, the wheel arm comprises a plurality of arm bodies, the first ends of the arm bodies are fixedly connected with the frame, and the second ends of the arm bodies are arranged at intervals along the circumferential edge of the arm sleeve.

In an alternative embodiment, the frame has an installation space in which the drive mechanism is completely accommodated.

In an alternative embodiment, the frame comprises two main beams arranged oppositely and two cross beams arranged at two ends of the two main beams at intervals oppositely, and the two main beams and the two cross beams jointly enclose an installation space.

In an optional embodiment, the chassis of the unmanned vehicle comprises four travelling wheels, wherein the four travelling wheels are oppositely arranged on two opposite sides of the frame in pairs;

the driving mechanism comprises four driving assemblies in one-to-one transmission connection with four walking wheels, each driving assembly comprises a motor and a speed reducer, a motor output shaft of each motor is in transmission connection with the corresponding speed reducer, and a speed reduction output shaft of each speed reducer is in transmission connection with the walking wheels in corresponding positions.

In a second aspect, an embodiment of the present invention provides an unmanned vehicle, including the chassis of any one of the foregoing embodiments.

The embodiment of the utility model provides an at least possess following advantage or beneficial effect:

an embodiment of the utility model provides an unmanned aerial vehicle chassis, it includes frame, actuating mechanism and walking wheel. The driving mechanism is arranged on the frame, and the travelling wheels comprise wheel arms, transmission connecting shafts and wheels; the wheel arm is fixedly connected with the frame; the transmission connecting shaft is movably arranged on the wheel arm and provided with an input end and an output end, the plane where the output end is located below the plane where the input end is located along the vertical direction, the input end is in transmission connection with the driving mechanism, and the output end is in transmission connection with the wheel so as to drive the wheel to rotate under the driving of the driving mechanism. On one hand, the driving mechanism of the unmanned vehicle chassis is directly connected with the wheels through the transmission connecting shaft, and the power of the driving mechanism can be directly output to the wheels so as to drive the whole unmanned vehicle chassis to move, and the trafficability of the unmanned vehicle can be effectively improved. On the other hand, this unmanned vehicle chassis passes through the setting that the transmission connecting axle output is less than the input in vertical direction, can make the frame and the actuating mechanism of input all be located higher mounted position to multiplicable chassis and actuating mechanism's mounting height guarantees the normal passing through of unmanned vehicle chassis under various complicated terrains, guarantees operating efficiency and operating quality, guarantees chassis and actuating mechanism's security simultaneously, avoids receiving the collision of barrier, prolongs the life of unmanned vehicle chassis.

The embodiment of the utility model also provides an unmanned vehicle, it includes foretell unmanned vehicle chassis. Therefore, the unmanned vehicle has the advantages of high operation efficiency and operation quality, good safety performance and long service life.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention, and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.

Fig. 1 is a schematic structural view of a chassis of an unmanned vehicle provided in an embodiment of the present invention at a first viewing angle;

fig. 2 is a schematic structural view of a chassis of an unmanned vehicle provided in an embodiment of the present invention at a second viewing angle;

fig. 3 is a schematic structural view of a chassis of an unmanned vehicle provided in an embodiment of the present invention at a third viewing angle;

fig. 4 is a schematic view of a partially exploded structure of a chassis of an unmanned vehicle according to an embodiment of the present invention;

fig. 5 is a schematic partial structural view of a traveling wheel according to an embodiment of the present invention;

fig. 6 is a schematic view of a partial structure of a traveling wheel according to an embodiment of the present invention;

fig. 7 is a schematic view of a partially exploded structure of a road wheel according to an embodiment of the present invention;

fig. 8 is a schematic view of a partial cross-sectional structure of a road wheel provided by an embodiment of the present invention.

The icon is 100-unmanned vehicle chassis; 101-a frame; 103-a drive mechanism; 105-a road wheel; 107-wheel arm; 109-a transmission connecting shaft; 111-a wheel; 113-an input terminal; 115-an output terminal; 117-first transmission shaft; 119-a second drive shaft; 121-intermediate drive shaft; 123-first transmission joint; 125-a second drive joint; 127-a first shaft portion; 129-second shaft portion; 131-an arm body; 133-arm sleeve; 135-annular recess; 137-annular boss; 139-bearings; 141-inner ring; 143-outer ring; 145-a first limit groove; 147-a second limit groove; 149-a first circlip; 151-a second snap spring; 153-flange; 155-installation space; 157-main beam; 159-beam; 161-reinforcing beam; 163-mounting beams; 165-a reinforcing plate; 166-a reduction output shaft; 167-speed reducer; 169-a motor; 171-a driver; 173-a battery; 175-mounting holes; 177-universal joint.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. The components of embodiments of the present invention, as generally described and illustrated in the figures herein, may be arranged and designed in a wide variety of different configurations.

Thus, the following detailed description of the embodiments of the present invention, presented in the accompanying drawings, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative efforts belong to the protection scope of the present invention.

It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.

In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", and the like indicate the position or positional relationship based on the position or positional relationship shown in the drawings, or the position or positional relationship which is usually placed when the product of the present invention is used, and are only for convenience of description and simplification of the description, but do not indicate or imply that the device or element referred to must have a specific position, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," "third," and the like are used solely to distinguish one from another and are not to be construed as indicating or implying relative importance.

Furthermore, the terms "horizontal", "vertical" and the like do not imply that the components are required to be absolutely horizontal or pendant, but rather may be slightly inclined. For example, "horizontal" merely means that the direction is more horizontal than "vertical" and does not mean that the structure must be perfectly horizontal, but may be slightly inclined.

In the description of the present invention, it should also be noted that, unless otherwise explicitly specified or limited, the terms "disposed," "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood in specific cases to those skilled in the art.

Fig. 1 is a schematic structural diagram of an unmanned vehicle chassis 100 provided in this embodiment at a first viewing angle;

fig. 2 is a schematic structural diagram of the unmanned vehicle chassis 100 provided in this embodiment at a second viewing angle; fig. 3 is a schematic structural diagram of the unmanned vehicle chassis 100 provided in this embodiment at a third viewing angle; fig. 4 is a schematic partial exploded view of the unmanned vehicle chassis 100 according to this embodiment. Referring to fig. 1 to 4, the present embodiment provides an unmanned vehicle chassis 100, and the unmanned vehicle chassis 100 is mainly used for carrying working equipment, a controller, a power device, and other equipment to perform agricultural operation. For example, the operation of picking, fertilizing, spraying medicament, watering, sowing seeds, disinsecting or sterilizing the crops can be carried out. Additionally, in the utility model discloses an in other embodiments, this unmanned aerial vehicle chassis 100 can also be used for the express delivery trade to deliver the goods to practice thrift and send the goods cost, improve and deliver efficiency, the utility model discloses an embodiment is no longer repeated here.

Referring to fig. 1 to 4 again, in the present embodiment, the chassis 100 of the unmanned vehicle includes a frame 101, a driving mechanism 103, and a traveling wheel 105.

In detail, the frame 101 includes two main beams 157 and two cross beams 159 welded to both ends of the two main beams 157, respectively. The two cross beams 159 and the two main beams 157 enclose a rectangular parallelepiped-shaped installation space 155. The main beam 157 is a channel steel girder, and the cross beam 159 is a plate-shaped steel or channel steel girder, so that the steel-reinforced concrete beam has good bending resistance and torsion resistance. In order to ensure the stability and the overall strength of the vehicle frame 101, a reinforcing beam 161 may be further disposed between the two main beams 157, and the reinforcing beam 161 may be parallel to the cross beam 159 and located between the two cross beams 159, so as to effectively ensure the strength of the entire vehicle frame 101, and thus prolong the service life of the vehicle frame 101. Of course, in other embodiments, the number of the reinforcing beams 161 may be selected according to requirements, and the main beam 157 and the cross beam 159 may also be connected by other connection methods, for example, bolted connection, and the embodiments of the present invention are not limited.

In detail, the driving mechanism 103 is disposed on the frame 101 and completely accommodated in the installation space 155 surrounded by the two main beams 157 and the two cross beams 159, so as to ensure that the driving mechanism 103 has a larger height from the ground, thereby ensuring the safety of the driving mechanism 103 as a whole and ensuring the trafficability of the chassis 100 of the unmanned vehicle.

In detail, the walking wheels 105 are four in number, and are arranged on two opposite sides of two main beams 157 in a rectangular array, and the four walking wheels 105 are in transmission connection with the driving mechanism 103 so as to provide moving and moving power for the whole unmanned vehicle chassis 100 under the driving of the driving mechanism 103, so that agricultural operation can be performed stably. Of course, in the utility model discloses in other embodiments, can increase or reduce the quantity of walking wheel 105 according to the operation demand of unmanned car, the embodiment of the utility model does not do the restriction.

Specifically, in the present embodiment, the driving mechanism 103 includes four driving assemblies (not shown) respectively connected to the four road wheels 105 in a one-to-one transmission manner. Each driving assembly comprises a motor 169 and a speed reducer 167, a motor output shaft of the motor 169 is in transmission connection with the speed reducer 167, and a speed reduction output shaft 166 of the speed reducer 167 is in transmission connection with the travelling wheel 105 at the corresponding position. The driving mechanism 103 of the unmanned vehicle chassis 100 is directly connected with the walking wheels 105 in a transmission way, and the power of the driving mechanism 103 can be directly output to the walking wheels 105 so as to drive the whole unmanned vehicle chassis 100 to move, thereby effectively improving the trafficability of the unmanned vehicle.

It should be noted that, in this embodiment, the driving mechanism 103 further includes a driver 171 and a battery 173, wherein the driver 171 is mounted on any one of the two cross beams 159 by a bolt, and the battery 173 is mounted on the other one of the two cross beams 159 by a bolt, so as to ensure the uniformity of the stress applied to the entire unmanned vehicle chassis 100, and thus ensure the smoothness of the unmanned vehicle chassis 100. Meanwhile, the battery 173 is electrically connected with the driver 171, the motor 169 and the speed reducer 167, the driver 171 is electrically connected with the motor 169, and the driver 171 is used for driving the motor 169 to rotate forwards or backwards, so as to drive the output shaft of the motor 169 to rotate forwards or backwards, further drive the output shaft of the speed reducer 167 to rotate, and further drive the traveling wheels 105 to rotate. Of course, in other embodiments, the installation positions of the driving member and the battery 173 may be selected according to the requirement, and the embodiments of the present invention are not limited.

It should be further noted that, in this embodiment, in order to improve the trafficability of the unmanned vehicle, the motor 169 may be specifically selected as a brushless motor 169, the speed reducer 167 is specifically selected as a worm gear reduction box, the brushless motor 169 has a small volume and a large torque, and can have a torque exceeding 3 times of a load, the speed of the agricultural unmanned vehicle chassis 100 in an actual application scene is not 2m/s, the reduction box needs to be carried to reduce the speed of the motor 169 and improve the torque, the efficiency of the worm gear reduction box can reach 90%, the reduction ratio can be 1:80, the load capacity can be effectively improved, and the operation stability and efficiency can be ensured. That is, in the above process, the driver 171 drives the brushless motor 169 to rotate, the power reduces the speed and increases the torque in the worm gear reduction box and changes the transmission direction, and then the reduction box can directly transmit the power to the wheels 111 through the arrangement of the transmission connecting shaft 109, so as to enable the unmanned vehicle chassis 100 to operate.

Preferably, in order to ensure the stability of the entire frame 101 after the speed reducer 167 and the motor 169 are installed, two installation beams 163 may be further disposed between the bottoms of the two main beams 157. The two mounting beams 163 are respectively arranged on one side of the main beam 157 close to the cross beams 159 at the two sides, and extend along the same direction with the cross beams 159, and the two speed reducers 167 corresponding to the two walking wheels 105 in the same horizontal direction are mounted on the same mounting beam 163 and are fixedly connected with the mounting beam 163 through bolts. Simultaneously, because unmanned vehicles chassis 100 can be with work production vibrations and displacement at the in-process motor 169 of work and speed reducer 167, need reinforce and the reinforced structure, consequently, in this embodiment, speed reducer 167 is installed behind installation roof beam 163, can also install a reinforcing plate 165 additional on speed reducer 167 upside as required, can not only further fix speed reducer 167 like this, can also strengthen frame 101 intensity, guarantee unmanned vehicles chassis 100's stability.

Referring to fig. 1 and 4 again, in order to ensure that the driving force of the driving mechanism 103 can be directly transmitted to the traveling wheels 105, in the embodiment, the traveling wheels 105 specifically include wheel arms 107, transmission connecting shafts 109 and wheels 111, wherein one end of the transmission connecting shaft 109 is connected to the deceleration output shaft 166, and the other end is connected to the wheels 111, so as to directly transmit the driving force of the motor 169 to the wheels 111.

In detail, the wheel arm 107 is fixedly connected with the frame 101, and is used for ensuring the stability of the unmanned vehicle chassis 100 in the operation process. The transmission connecting shaft 109 is rotatably mounted on the wheel arm 107 through a bearing 139, the transmission connecting shaft 109 has an input end 113 and an output end 115, and in the vertical direction, the plane of the output end 115 is located below the plane of the input end 113, the input end 113 is in transmission connection with the driving mechanism 103, and the output end 115 is in transmission connection with the wheel 111, so as to drive the wheel 111 to rotate under the driving of the driving mechanism 103. That is, through such setting, make the ground clearance of input 113 be greater than the ground clearance of output 115 in vertical direction, thereby can guarantee that frame 101 and actuating mechanism 103 can be in on higher mounted position, thereby the mounting height of multiplicable chassis and actuating mechanism 103, guarantee that unmanned vehicles chassis 100 passes through under various complicated terrains normally, guarantee operating efficiency and operating quality, guarantee chassis and actuating mechanism 103's security simultaneously, avoid receiving the collision of barrier, the life of extension unmanned vehicles chassis 100. Meanwhile, the driving mechanism 103 of the unmanned vehicle chassis 100 is directly connected with the wheels 111 through the transmission connecting shaft 109, and the power of the driving mechanism 103 can be directly output to the wheels 111 to drive the whole unmanned vehicle chassis 100 to move, so that the trafficability of the unmanned vehicle can be effectively improved.

Fig. 5 is a schematic partial structural view of a road wheel 105 provided in this embodiment; fig. 6 is a schematic partial structure diagram of a traveling wheel 105 according to the present embodiment; fig. 7 is a schematic view of a partially exploded structure of the traveling wheel 105 according to the present embodiment; fig. 8 is a schematic partial sectional structure view of the traveling wheel 105 according to this embodiment. Referring to fig. 5 to 8, in the present embodiment, the wheel arm 107 specifically includes three arm bodies 131 and arm sleeves 133, the three arm bodies 131 are respectively disposed in an inclined manner with respect to the horizontal direction, the three arm bodies 131 are arranged in an umbrella-shaped scattering manner, one end of each arm body 131 is fixedly connected to the main beam 157 of the frame 101, and the other end of each arm body 131 is disposed at intervals along the circumferential edge of the arm sleeve 133. Arm sleeve 133 extends the setting along the horizontal direction, and locates the outside of transmission connecting axle 109 through bearing 139 cover to support the wheel 111 rotation of corresponding position, guarantee the stability of wheel 111 operation in-process, thereby guarantee the stability of whole unmanned vehicles chassis 100 operation.

Referring to fig. 5 to 8 again, in the present embodiment, the transmission connecting shaft 109 specifically includes a first transmission shaft 117 and a second transmission shaft 119. The first transmission shaft 117 is located at the input end 113, and extends obliquely downward relative to the horizontal direction, and is used for being in transmission connection with the driving mechanism 103. The arm sleeve 133 is sleeved on the outer side of the second transmission shaft 119, and the second transmission shaft 119 is located at the output end 115 and extends along the horizontal direction so as to be connected and matched with the arm sleeve 133 through a bearing 139. Meanwhile, one end of the second transmission shaft 119 is in transmission connection with the first transmission shaft 117, and the other end of the second transmission shaft is in transmission connection with the wheel 111, and is used for driving the wheel 111 to rotate under the driving of the driving mechanism 103. Through the above arrangement, on the one hand, the unmanned vehicle chassis 100 is obliquely arranged downwards through the first transmission shaft 117, so that the input end 113 and the output end 115 have a height difference, the driving mechanism 103 and the vehicle frame 101 are located at a higher installation position, the passing performance of the unmanned vehicle chassis 100 can be ensured, the vehicle frame 101 and the driving mechanism 103 can be prevented from colliding with obstacles, the safety of the vehicle frame 101 and the driving mechanism 103 is ensured, and the service life of the whole unmanned vehicle chassis 100 is prolonged. On the other hand, this unmanned vehicles chassis 100 passes through second transmission shaft 119 and extends the setting along the horizontal direction, can guarantee that the power of actuating mechanism 103 output can transmit to wheel 111 department steadily to guarantee that wheel 111 can rotate steadily, and then guarantee that whole unmanned vehicles chassis 100 carries out agricultural operation steadily.

It should be noted that, in order to further ensure that the wheels 111 can operate smoothly, in this embodiment, a mounting hole 175 is formed in a position of the main beam 157 of the frame 101 corresponding to each road wheel 105, and the mounting hole 175 is a circular through hole, and the circular through hole is configured such that an end portion of the first transmission shaft 117 near one end of the main beam 157 can be directly matched with the speed reduction output shaft 166 through a flat key and a set screw, so as to drive the wheels 111 to rotate under the driving of the motor 169 and the speed reducer 167. Meanwhile, the three arms 131 are all mounted on the circumferential edge of the mounting hole 175 through bolts, wherein the mounting position of one arm 131 is located above the mounting hole 175 in the vertical direction, and the mounting positions of the other two arms 131 are located on two sides of the mounting hole 175 in the horizontal direction, so as to effectively support the movement of the wheel 111. Of course, in other embodiments, the installation position of the arm 131 may also be adjusted according to requirements, for example, the installation position may be disposed below the installation hole 175, and the embodiment is not limited.

It should be further noted that, in this embodiment, the wheel 111 specifically includes a hub and a wheel, the wheel is sleeved outside the hub, a flange 153 is provided on the hub, and the flange 153 is used for being fixedly connected with the second transmission shaft 119 so as to move under the driving action of the motor 169 and the speed reducer 167.

Referring to fig. 5 to 8 again, in order to ensure that the motor 169 and the speed reducer 167 are mounted on the frame 101 at a higher position and can also drive the wheels 111 to rotate smoothly, in the embodiment, the first transmission shaft 117 may be specifically selected as a universal transmission shaft, the second transmission shaft 119 may be specifically selected as a straight transmission shaft, the universal transmission shaft is disposed in a curved manner, and the straight transmission shaft is disposed horizontally, so that the input end 113 and the output end 115 have a height difference in mounting, and the output end 115 can drive the wheels 111 to rotate smoothly.

In detail, in the present embodiment, the universal driving shaft includes an intermediate driving shaft 121, and a first driving joint 123 and a second driving joint 125 movably connected to both ends of the intermediate driving shaft 121 through universal joints 177, respectively. Wherein, middle transmission shaft 121 is circular columnar structure, and middle transmission shaft 121 sets up downwards in the slope of the relative horizontal direction, first transmission festival 123 and second transmission festival 125 also all are circular columnar structure, and first transmission festival 123 and second transmission festival 125 all extend the setting along the horizontal direction, first transmission festival 123 is connected with actuating mechanism 103 transmission, second transmission festival 125 is connected with straight transmission shaft transmission, thereby make input 113 and output 115 have the mounting height difference.

It should be noted that the first transmission joint 123 may be fixedly connected to the reduction output shaft 166 through a flat key and a set screw, and the second transmission joint 125 may be connected to the flat transmission shaft through a flat key and a set screw. Through the arrangement, the driver 171 drives the motor 169 to rotate, power reduces the speed and increases the torque in the worm gear reducer and changes the transmission direction, and the reducer 167 can directly transmit the power to the wheels 111 through the universal transmission shaft and the flat transmission shaft, so that the unmanned vehicle chassis 100 runs, and the trafficability of the unmanned vehicle chassis 100 is improved.

In detail, in the present embodiment, the second transmission shaft 119 includes a first shaft portion 127 and a second shaft portion 129, and the first shaft portion 127 and the second shaft portion 129 are both extended along a horizontal direction to drive the wheel 111 to run smoothly. The first shaft portion 127 is a stepped shaft and is mainly used for being movably connected with the arm sleeve 133 through a bearing 139, and the second shaft portion 129 is a tapered shaft and is mainly used for being fixedly connected with a flange 153 of a wheel hub so as to drive the wheel to rotate.

Specifically, the stepped shaft is drivingly connected to the second transmission section 125, the end of the tapered shaft is connected to the stepped shaft, and the circumferential edge of the tapered surface of the tapered shaft is connected to the flange 153 by fitting with a flat key, so that the fitting accuracy is higher and the fitting clearance is smaller. Of course, in other embodiments, the shape of the second shaft portion 129 may be selected to be a cylindrical shape, and the present embodiment is not limited thereto.

Referring to fig. 7 and 8 again, in the present embodiment, in order to further ensure that the driving mechanism 103 can drive the wheel 111 to move smoothly, it is necessary to ensure the stability of the matching relationship between the arm sleeve 133 of the wheel arm 107 and the second transmission shaft 119. That is, in this embodiment, the inside of the arm sleeve 133 of the wheel arm 107 is in a shaft-shaped step shape, the inside shoulder portion is formed with the annular recess 135, the outer ring 143 of the bearing 139 is disposed on the annular recess 135, and one side of the outer ring 143 of the bearing 139, which is away from the wheel 111, is in abutting fit with the side wall of the annular recess 135, that is, in abutting fit with the shoulder, so that it can be ensured that the bearing 139 does not move along the axial direction. Correspondingly, the second transmission shaft 119 is convexly provided with an annular protruding portion 137, that is, the shoulder position of the second transmission shaft 119, the outer side of the second transmission shaft 119 is sleeved with the inner ring 141 of the bearing 139, and one side of the inner ring 141 of the bearing 139, which is close to the wheel 111, is in butt fit with the annular protruding portion 137, that is, in butt fit with the shoulder of the second transmission shaft 119, so that the two sides of the bearing 139 in the horizontal direction are all abutted, and further, the stability of the bearing 139 can be ensured, and then, the stability of the power output of the driving mechanism 103 can be ensured, and the running stability of the chassis 100 of the unmanned vehicle is ensured.

As a preferable scheme, a first limiting groove 145 is further formed in the inner side wall of one side of the arm sleeve 133 close to the wheel 111, a first clamp spring 149 is arranged in the first limiting groove 145, the first clamp spring 149 extends towards the second transmission shaft 119, and is connected with the annular protruding portion 137 and used for being abutted and matched with one side of the bearing 139 close to the wheel 111. Similarly, one side of the second transmission shaft 119 close to the first transmission shaft 117 is further provided with a second limiting groove 147, a second snap spring 151 is arranged in the second limiting groove 147, and the second snap spring 151 is used for being abutted and matched with one side of the bearing 139 far away from the wheel 111 so as to further ensure the stability of the bearing 139 after installation, thereby ensuring the stability of the wheel arm 107 in the process of driving the second transmission shaft 119 to rotate by the driving mechanism 103 and further ensuring the stability of the whole unmanned vehicle chassis 100.

The embodiment also provides an unmanned vehicle which comprises the unmanned vehicle chassis 100, and working equipment, a power device and a control device which are arranged on the unmanned vehicle chassis 100.

In detail, the operation device is used for assisting agricultural operation so that the unmanned vehicle can complete set agricultural operation, in the embodiment, the operation device can be selected as a liquid spraying system for watering, deinsectizing, sterilizing and the like for agricultural and forestry crops, and particularly, the liquid spraying system can be used for operation activities such as pesticide spraying or water sprinkling irrigation and the like for crops in the agricultural industry. Of course, the fire extinguishing agent can also be used in other fields such as spraying of fire extinguishing liquid in forest fires, material transportation, disaster patrol and the like. The power device may provide power for the unmanned vehicle, and may be a battery 173. The control device is electrically connected with the power device and the operation equipment to control the operation equipment of the unmanned vehicle to carry out various agricultural operations.

It should be noted that the operation equipment can be selected and adjusted according to the operation type of the agricultural operation, for example, when the operation type is seeding, the operation equipment can be a seeding machine; when the operation type is picking, the operation equipment can be a picking device, and an operator can correspondingly select the required operation equipment according to different operation types, so that the operation requirements of various agricultural operations are met, and the operation effect and quality are ensured.

The following describes in detail the installation steps and the working principle of the unmanned vehicle chassis 100 and the unmanned vehicle provided by the embodiments of the present invention:

when the unmanned vehicle chassis 100 is used for mounting, firstly, two main beams 157 and two cross beams 159 are welded to form a mounting space 155 of the vehicle frame 101, a reinforcing beam 161 is welded in the mounting space 155 of the vehicle frame 101, and a mounting beam 163 is arranged at the bottom of the vehicle frame 101; then, the driving mechanism 103 is installed, the driver 171 and the battery 173 are installed in the installation space 155 and are respectively and fixedly connected with the two cross beams 159, the motors 169 and the speed reducers 167 of the four driving assemblies are completely accommodated in the installation cavity, the speed reducers 167 are fixedly connected with the installation beams 163 at corresponding positions, and the reinforcing plates 165 are installed to fix the speed reducers 167; next, the four traveling wheels 105 are sequentially installed, in the process of installing the traveling wheels 105, the first transmission shaft 117 and the second transmission shaft 119 are matched through flat keys and set screws to form the transmission connecting shaft 109, then the arm sleeve 133 of the wheel arm 107 is sleeved outside the second transmission shaft 119 through the bearing 139, the end portion of the second transmission shaft 119 is fixedly connected with the flange 153 of the wheel hub, and the end portion of the first transmission shaft 117 is fixedly connected with the speed reduction output shaft 166 through flat keys and set screws.

When the unmanned vehicle is mounted, the working equipment, the control device, and the power device may be mounted on the assembled unmanned vehicle chassis 100 in this order.

When the unmanned vehicle carries out agricultural operation, various agricultural operations can be carried out according to different operation requirements through the operation equipment of the control device control unmanned vehicle according to instructions, and meanwhile, the wheel type supporting legs can be controlled according to requirements to drive the whole vehicle body to move along various directions so as to meet various operation requirements. In the process, the driver 171 drives the brushless motor 169 to rotate, the power reduces the speed and increases the torque in the worm gear reduction box and changes the transmission direction, and then the reduction box can directly transmit the power to the wheels 111 through the arrangement of the first transmission shaft 117 and the second transmission shaft 119, so that the unmanned vehicle chassis 100 operates, and the whole unmanned vehicle is ensured to move.

In the above process, on one hand, the driving mechanism 103 of the unmanned vehicle chassis 100 is directly connected with the wheels 111 through the transmission connecting shaft 109, and the power of the driving mechanism 103 can be directly output to the wheels 111 to drive the whole unmanned vehicle chassis 100 to move, so that the trafficability of the unmanned vehicle can be effectively improved. On the other hand, this unmanned vehicles chassis 100 is less than the setting of input 113 through transmission connecting axle 109 output 115 in vertical direction, can make frame 101 and actuating mechanism 103 of input 113 all be located higher mounted position, thereby the mounting height of multiplicable chassis and actuating mechanism 103, guarantee that unmanned vehicles chassis 100 normally passes through under various complicated terrains, guarantee operating efficiency and operating mass, guarantee chassis and actuating mechanism 103's security simultaneously, avoid receiving the collision of barrier, prolong unmanned vehicles chassis 100's life.

To sum up, the embodiment of the utility model provides an unmanned vehicle chassis 100 and unmanned car have operating efficiency and operating mass high, and the security performance is good, long service life's advantage.

The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims (12)

1. An unmanned vehicle chassis, characterized by, includes:

a frame;

the driving mechanism is arranged on the frame;

the travelling wheels comprise wheel arms, transmission connecting shafts and wheels; the wheel arm is fixedly connected with the frame; the transmission connecting shaft is movably arranged on the wheel arm and provided with an input end and an output end, the plane where the output end is located below the plane where the input end is located along the vertical direction, the input end is in transmission connection with the driving mechanism, and the output end is in transmission connection with the wheel so as to drive the wheel to rotate under the driving of the driving mechanism.

2. The unmanned vehicle chassis of claim 1, wherein:

the transmission connecting shaft comprises a first transmission shaft and a second transmission shaft, the first transmission shaft is located at the input end, and the input end is inclined and extends downwards relative to the horizontal direction, so that the input end is used for being connected with the driving mechanism in a transmission mode, the second transmission shaft is located at the output end, the output end extends along the horizontal direction, one end of the second transmission shaft is connected with the first transmission shaft in a transmission mode, and the other end of the second transmission shaft is connected with the wheel in a transmission mode.

3. The unmanned vehicle chassis of claim 2, wherein:

the first transmission shaft is a universal transmission shaft, and the second transmission shaft is a straight transmission shaft;

universal drive shaft includes intermediate drive shaft and through universal joint difference swing joint in the first transmission festival and the second transmission festival at intermediate drive shaft both ends, just intermediate drive shaft is relative the horizontal direction slope sets up downwards, first transmission festival with the second transmission festival all follows the horizontal direction extends the setting, just first transmission festival with the actuating mechanism transmission is connected, the second transmission festival with straight transmission shaft transmission is connected.

4. The unmanned vehicle chassis of claim 3, wherein:

the second transmission shaft comprises a first shaft part and a second shaft part, the first shaft part is a stepped shaft, and the second shaft part is a conical shaft; and the stepped shaft is in transmission connection with the second transmission joint, the end part of the conical shaft is connected with the stepped shaft, and the circumferential edge of the conical surface of the conical shaft is in fit connection with the wheel.

5. The unmanned vehicle chassis of claim 2, wherein:

the wheel arm comprises an arm body and an arm sleeve; the arm body is obliquely and extendedly arranged relative to the horizontal direction, one end of the arm body is fixedly connected with the frame, and the other end of the arm body is fixedly connected with the arm sleeve; the arm sleeve extends along the horizontal direction and is arranged on the outer side of the second transmission shaft through a bearing sleeve.

6. The unmanned vehicle chassis of claim 5, wherein:

the inner side wall of the arm sleeve is provided with an annular concave part, the outer ring of the bearing is arranged on the annular concave part, and one side, far away from the wheel, of the outer ring of the bearing is in butt fit with the side wall of the annular concave part; the second transmission shaft is convexly provided with an annular bulge, the outer side of the second transmission shaft is sleeved with the inner ring of the bearing, and one side, close to the wheel, of the inner ring of the bearing is in butt fit with the annular bulge.

7. The unmanned vehicle chassis of claim 6, wherein:

a first limiting groove is further formed in the inner side wall of one side, close to the wheel, of the arm sleeve, a first clamp spring is arranged in the first limiting groove, extends towards the second transmission shaft and is connected with the annular bulge portion and used for being abutted and matched with one side, close to the wheel, of the bearing; one side that the second transmission shaft is close to first transmission shaft still is equipped with the second spacing groove, the second spacing inslot is equipped with the second jump ring, the second jump ring be used for with the bearing is kept away from one side butt cooperation of wheel.

8. The unmanned vehicle chassis of claim 5, wherein:

the wheel arm includes a plurality of arm bodies, the first end of a plurality of arm bodies all with frame fixed connection, it is a plurality of the second end of arm body is followed the circumference edge interval of arm cover sets up.

9. The unmanned vehicle chassis of any one of claims 1 to 8, wherein:

the frame is provided with an installation space, and the driving mechanism is completely accommodated in the installation space.

10. The unmanned vehicle chassis of claim 9, wherein:

the frame includes two girders that set up relatively to and set up in two relative interval two crossbeams at girder both ends, two girder and two the crossbeam encloses jointly into installation space.

11. The unmanned vehicle chassis of claim 9, wherein:

the chassis of the unmanned vehicle comprises four travelling wheels, and the four travelling wheels are oppositely arranged on two opposite sides of the frame in pairs;

the driving mechanism comprises four driving assemblies in one-to-one transmission connection with the walking wheels, each driving assembly comprises a motor and a speed reducer, a motor output shaft of the motor is in transmission connection with the speed reducer, and a speed reduction output shaft of the speed reducer is in transmission connection with the walking wheels corresponding to the positions.

12. An unmanned vehicle comprising the unmanned vehicle chassis of any one of claims 1 to 11.

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