CN217048139U - Intelligent chassis with variable wheel track - Google Patents

Abstract

The utility model belongs to the technical field of vehicle chassis, specifically be an intelligent chassis of variable wheel base, it includes: the chassis comprises a frame and a suspension assembly, wherein the suspension assembly is arranged around the frame and comprises a frame lug, a supporting arm, a suspension body lug, a cylinder type shock absorber, a linear motor, a spiral spring, a steering knuckle upper lug, a steering knuckle body, a power assembly, a steering knuckle arm, wheels, a steering knuckle lower lug, a connecting arm, a sliding block, a sliding way, a suspension body support, a suspension body, a steering motor, a steering rocker arm, a supporting plate, a steering drag link and a transverse swing arm.

Description

Intelligent chassis with variable wheel track

Technical Field

The utility model relates to a vehicle chassis technical field specifically is an intelligent chassis of variable wheel base.

Background

The automobile chassis consists of four parts, namely a transmission system, a running system, a steering system and a braking system. The chassis is used for supporting and mounting the automobile engine and all parts and assemblies thereof, forming the integral shape of the automobile and receiving the power of the engine to enable the automobile to move and ensure normal running.

The common vehicle chassis is a single-mode frame structure, and the switching between a large wheel track state and a small wheel track state cannot be realized.

SUMMERY OF THE UTILITY MODEL

This section is for the purpose of summarizing some aspects of embodiments of the invention and to briefly introduce some preferred embodiments. Some simplifications or omissions may be made in this section as well as in the abstract and the title of the present application to avoid obscuring the purpose of this section, the abstract and the title of the present application, and such simplifications or omissions cannot be used to limit the scope of the present invention.

The present invention has been made in view of the above and/or other problems with existing vehicle chassis.

Therefore, the utility model aims at providing a variable wheel base's intelligent chassis can realize big wheel base and little wheel base two kinds of states, and the frame adopts boundary beam formula frame, and under big wheel base state, this chassis has general chassis function, can arrange various types of carriages above the frame to repack the car of warp and develop many varieties car, realize multiple transportation function, and in addition, this chassis technique can be applied to split type hovercar, when the hovercar body (not shown in the figure) is fixed on the chassis and is in ground travel state, realizes normal ground vehicle function of traveling through big wheel base; when the flying vehicle body leaves the chassis, the flying vehicle body is switched to a small wheel track state, the maneuverability and the trafficability are improved, the chassis driving system and the braking system share one set of power assembly, the motor can be used as an execution mechanism to work under the control of a chassis CPU, the CUP can detect the vehicle operation condition through a sensor, and the chassis can be used for realizing automatic driving through the sensor and a related algorithm.

For solving the technical problem, according to the utility model discloses an aspect, the utility model provides a following technical scheme:

a variable track intelligent chassis, comprising:

a frame;

the suspension assembly is arranged around the frame and comprises a frame lug, a supporting arm, a suspension body lug, a cylinder type shock absorber, a linear motor, a spiral spring, a steering knuckle upper lug, a steering knuckle body, a power assembly, a steering knuckle arm, a wheel, a steering knuckle lower lug, a connecting arm, a sliding block, a sliding way, a suspension body support, a suspension body, a steering motor, a steering rocker arm, a supporting plate, a steering drag link and a transverse swing arm, the frame lug is arranged around the frame, the supporting arm is hinged on the frame lug, the bottom of the supporting arm is hinged with the suspension body lug, the suspension body lug is fixedly connected on a suspension body, the upper end of the cylinder type shock absorber is rotatably connected with the suspension body, the top of the suspension body is provided with an embedded sliding way, the sliding block is arranged in the sliding way, the suspension body is provided with the linear motor, and a stator of the linear motor is connected with the suspension body, the outer part of the cylinder type shock absorber is provided with a spiral spring, the upper lug of the steering knuckle, the steering knuckle body, the steering knuckle arm and the lower lug of the steering knuckle form the steering knuckle, the lower lug of the steering knuckle is positioned at the bottom of the steering knuckle, the lower end of the cylinder type shock absorber is connected with the upper lug of the steering knuckle, the upper lug of the steering knuckle is connected with the steering knuckle arm, the steering knuckle body is connected between the upper lug of the steering knuckle and the lower lug of the steering knuckle, the steering knuckle body is provided with a power assembly, the power assembly is connected with wheels, a hinged connecting arm is arranged between a sliding block and a supporting arm, one side far away from the lug of the suspension body is connected with a suspension body support, the suspension body support is connected to the inner side of the upper end of the suspension body, the inner side of the suspension body is provided with a supporting plate, the supporting plate is provided with a steering motor, the output end of the steering motor is connected with a steering rocker arm, and the steering knuckle arm are connected with two ends of the steering drag rod through a ball hinge, the suspension body bottom is hinged with one end of a transverse swing arm, and the other end of the transverse swing arm is connected with a lower lug of the steering knuckle through a ball hinge.

As a preferred scheme on the intelligent chassis of variable wheel base, wherein: the frame includes bumper, front beam, longeron, second crossbeam, third crossbeam, fourth crossbeam, angle brace crossbeam subassembly and rear beam, the longeron front end sets up bumper and front beam, the longeron rear end sets up the rear beam, be connected the angle brace crossbeam subassembly between rear beam and the longeron, the longeron inboard sets gradually second crossbeam, third crossbeam and fourth crossbeam.

As a preferred scheme on the intelligent chassis of variable wheel base, wherein: the sliding track is internally connected with a spring, a sliding block, a rotating shaft, electromagnet pins, a rotor, electromagnets, permanent magnet magnetic tracks and a stator, a through hole is formed in the sliding block, the sliding block is fixedly connected with the rotating shaft, a pair of electromagnet pins are symmetrically arranged at two ends of the through hole, the lower portion of the sliding block is fixedly connected with the rotor of the linear motor, the spring is fixedly connected in the middle of the electromagnet pins, two groups of electromagnets are fixed on the rotor, the stator of the linear motor is fixed on a suspension body, and the permanent magnet magnetic tracks for generating different magnetic fields are alternately laid on the stator.

As a preferred scheme on variable wheel base's intelligent chassis, wherein: the lower end of the suspension body is rotatably connected with the inner side of the transverse swing arm, and the outer side of the transverse swing arm is connected with the lower lug of the steering knuckle through a ball hinge.

As a preferred scheme on variable wheel base's intelligent chassis, wherein: the inner side of the upper end of the suspension body is fixedly connected with a suspension body support, and two L-shaped orthogonal plane spaces are arranged above the suspension body support.

As a preferred scheme on variable wheel base's intelligent chassis, wherein: the lower end of the supporting arm is rotationally connected with a lug of the suspension body fixedly connected with the suspension body, a special groove is formed in the middle of the inner side of the supporting arm, a rotating shaft in the groove is rotationally connected with the upper end of the connecting arm, and when the suspension assembly is in two states of large and small wheel tracks, the inclined plane of the groove is in contact fit with the connecting arm.

As a preferred scheme on variable wheel base's intelligent chassis, wherein: the suspension assembly is characterized in that a groove for providing a space for the movement of the connecting arm in the wheel track switching state is formed in the upper end face of the suspension body, two intersecting inclined planes are milled at the end part of the groove, and the inclined planes of the groove of the suspension body are in contact fit with the connecting arm when the suspension assembly is in the large wheel track state and the small wheel track state.

Compared with the prior art: the utility model discloses can realize two kinds of states of big wheel base and miniwheel base, the frame adopts boundary beam formula frame, under big wheel base state, this chassis has general chassis function, can arrange various types of carriages above the frame to repack the deformation car and develop many varieties car, realize multiple transportation function, in addition, this chassis technique can be applied to split type hovercar, when the hovercar body (not shown in the figure) is fixed on the chassis and is in ground driving state, realize normal ground vehicle function of traveling through big wheel base; when the flying vehicle body leaves the chassis, the flying vehicle body is switched to a small track state, the maneuverability and the trafficability are improved, the chassis driving system and the braking system share one set of power assembly, the motor can be used as an actuating mechanism to work under the control of a chassis CPU, the CUP can detect the running condition of the vehicle through a sensor, and the chassis can be used for realizing automatic driving through the sensor and a related algorithm.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the present invention will be described in detail with reference to the accompanying drawings and detailed embodiments, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without inventive labor. Wherein:

FIG. 1 is a schematic view of the structure of the present invention with a large track;

FIG. 2 is a schematic view of the structure of the small track of the present invention;

fig. 3 is a schematic diagram of the axle side structure of the suspension assembly of the present invention;

fig. 4 is a schematic front view of the suspension assembly of the present invention;

FIG. 5 is a schematic view of the kinematic diagram and the stress analysis structure of the present invention when the large wheel track is converted into the small wheel track

FIG. 6 is a schematic view of the structure of the slider in the release state of the present invention;

fig. 7 is a schematic view of the internal structure of the linear motor of the present invention;

FIG. 8 is a schematic structural view of the blind hole pressed by the spring when the slider of the present invention is at the two ends of the slide way;

FIG. 9 is a schematic view of the steering assembly when the large track is changed to the small track;

fig. 10 is a schematic view of the stable structure of the suspension assembly in small track state according to the present invention.

In the figure: a frame 100;

the suspension assembly 200, a frame lug 1, a support arm 2, a suspension body lug 3, a cylinder type shock absorber 4, a linear motor 5, a spiral spring 6, a knuckle upper lug 7, a knuckle body 8, a power assembly 9, a knuckle arm 10, a wheel 11, a knuckle lower lug 12, a connecting arm 13, a sliding block 14, a slideway 15, a suspension body support 16, a suspension body 17, a steering motor 18, a steering rocker arm 19, a support plate 20, a steering drag link 21 and a transverse swing arm 22.

Detailed Description

In order to make the aforementioned objects, features and advantages of the present invention more comprehensible, embodiments accompanied with figures are described in detail below.

In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, however, other embodiments may be utilized and other implementations may be devised without departing from the spirit and scope of the present invention.

Next, the present invention will be described in detail with reference to the schematic drawings, and in order to describe the embodiments of the present invention in detail, the sectional views showing the device structure will not be enlarged partially according to the general scale for convenience of description, and the schematic drawings are only examples, which should not limit the scope of the present invention. In addition, the three-dimensional dimensions of length, width and depth should be included in the actual fabrication.

In order to make the objects, technical solutions and advantages of the present invention clearer, embodiments of the present invention will be described in further detail below with reference to the accompanying drawings.

The utility model provides a variable wheel base's intelligent chassis can realize big wheel base and miniwheel base two kinds of states, and the frame adopts boundary beam formula frame, and under big wheel base state, this chassis has general chassis function, and various types of carriages can be arranged to the frame top to the repacking warp car and the many varieties car of development, realize multiple transportation function, in addition, this chassis technique can be applied to split type hovercar, improves mobility and trafficability characteristic under miniwheel base state, please refer to fig. 1-10, include: frame 100 and suspension assembly 200.

The frame 100 comprises a bumper, a front cross beam, a longitudinal beam, a second cross beam, a third cross beam, a fourth cross beam, an angle brace cross beam assembly and a rear cross beam, wherein the bumper and the front cross beam are arranged at the front end of the longitudinal beam, the rear end of the longitudinal beam is provided with the rear cross beam, the angle brace cross beam assembly is connected between the rear cross beam and the longitudinal beam, and the second cross beam, the third cross beam and the fourth cross beam are sequentially arranged on the inner side of the longitudinal beam.

The suspension assembly 200 is arranged around the vehicle frame 100, the suspension assembly 200 comprises a vehicle frame lug 1, a supporting arm 2, a suspension body lug 3, a cylinder type shock absorber 4, a linear motor 5, a spiral spring 6, a knuckle upper lug 7, a knuckle body 8, a power assembly 9, a knuckle arm 10, a wheel 11, a knuckle lower lug 12, a connecting arm 13, a sliding block 14, a slide way 15, a suspension body support 16, a suspension body 17, a steering motor 18, a steering rocker arm 19, a supporting plate 20, a steering drag link 21 and a transverse swing arm 22, the vehicle frame lug 1 is arranged around the vehicle frame 100, the supporting arm 2 is hinged on the vehicle frame lug 1, the bottom of the supporting arm 2 is hinged on the suspension body lug 3, the suspension body lug 3 is fixedly connected on the suspension body 17, the upper end of the cylinder type shock absorber 4 is rotatably connected with the suspension body 17, the slide way 15 embedded at the top of the suspension body 17 is provided with the slide way 15, the sliding block 14 is arranged in the slide way 15, the suspension body 17 is provided with the linear motor 5, the stator of the linear motor 5 is connected with a suspension frame body 17, a spiral spring 6 is arranged outside a cylinder type shock absorber 4, a knuckle upper lug 7, a knuckle body 8, a knuckle arm 10 and a knuckle lower lug 12 form a knuckle, the knuckle lower lug 12 is positioned at the bottom of the knuckle, the lower end of the cylinder type shock absorber 4 is connected with the knuckle upper lug 7, the knuckle upper lug 7 is connected with the knuckle arm 10, the knuckle body 8 is connected between the knuckle upper lug 7 and the knuckle lower lug 12, a power assembly 9 is arranged on the knuckle body 8, the power assembly 9 is connected with a wheel 11, a connecting arm 13 is hinged between a sliding block 14 and a supporting arm 2, one side far away from a lug 3 of the suspension frame body is connected with a suspension frame body support 16, the suspension frame body support 16 is connected to the inner side of the upper end of the suspension frame body 17, a supporting plate 20 is arranged on the inner side of the suspension frame body 17, a steering motor 18 is arranged on the supporting plate 20, the output end of the steering motor 18 is connected with a steering rocker arm 19, the two ends of the steering lever 21 are connected with the steering arm 19 and the knuckle arm 10 through a ball hinge, the bottom of the suspension body 17 is hinged with one end of a transverse swing arm 22, and the other end of the transverse swing arm 22 is connected with a lower knuckle lug 12 through a ball hinge.

The slide way 15 is internally connected with a spring, a slider 14, a rotating shaft a2, an electromagnet pin a4, a mover a5, an electromagnet a6, a permanent magnet magnetic track a7 and a stator a8, the slider 14 is internally provided with a through hole, the slider 14 is fixedly connected with the rotating shaft a2, a pair of electromagnet pins a4 is symmetrically arranged at two ends of the through hole, the lower part of the slider 14 is fixedly connected with a mover a5 of the linear motor 5, the spring is fixedly connected in the middle of the electromagnet pin a4, two groups of electromagnets a6 are fixed on the mover a5, the stator a8 of the linear motor 5 is fixed on the suspension body 17, and a permanent magnet magnetic track a7 generating a different magnetic field is alternately laid on the stator a 8.

The lower end of the suspension body 17 is rotatably connected with the inner side of the transverse swing arm 22, and the outer side of the transverse swing arm 22 is connected with the lower lug 12 of the steering knuckle through a ball hinge.

The inner side of the upper end of the suspension body 17 is fixedly connected with a suspension body support 16, and two L-shaped orthogonal plane spaces are arranged above the suspension body support 16.

The lower end of the supporting arm 2 is rotationally connected with a suspension body lug 3 fixedly connected with a suspension body 17, a special groove is formed in the middle of the inner side of the supporting arm 2, a rotating shaft a2 in the groove is rotationally connected with the upper end of the connecting arm 13, and when the suspension assembly 200 is in two states of large and small wheel tracks, the inclined plane of the groove is in contact fit with the connecting arm 13.

The upper end face of the suspension body 17 is provided with a groove for providing a space for the movement of the connecting arm 13 when the wheel track state is switched, the end part of the groove is milled with two intersecting inclined planes, and when the suspension assembly 200 is in a large wheel track state and a small wheel track state, the inclined planes of the groove of the suspension body 17 are in contact fit with the connecting arm 13.

The two sliding blocks 14 and the rotating shaft between them are fixed together, and can slide along the slideway 15 on both sides of the groove above the suspension frame 17 under the drive of the linear motor 5 below them, the inside of the sliding block 14 is opened with a through hole, two ends of the through hole are symmetrically arranged with a pair of electromagnet pins a4, the inner sides of the pair of electromagnet pins are all fixed with the same spring, and the part close to the fixed side is densely wound with a coil, when the coil is electrified, the fixed side of the pair of electromagnet pins generates a synonym magnetic field, the attraction between the magnetic fields can overcome the pressure of the spring to make the electromagnet pins relatively close, so that the sliding block 14 is in the release state;

the upper end face of the suspension body 17 is provided with a special groove to provide a space for the movement of the connecting arm 13 when the wheel track state is switched, two intersecting inclined surfaces are milled at the end part of the groove, when the suspension assembly 200 is in a large wheel track state and a small wheel track state, the inclined surface of the groove of the suspension body 17 is in contact fit with the connecting arm 13, two sides of the groove are provided with slide ways 15, when the suspension assembly 200 is in the large wheel track state and the small wheel track state, the slide blocks 14 are positioned at two ends of the slide ways 15, the bottoms of the slide ways at which the slide blocks 14 are positioned are provided with blind holes, the slide blocks 14 and the electromagnet pins a4 inside the rotating shaft are pressed into the holes under the action of spring elasticity to fix the slide blocks, as shown in fig. 8.

In FIG. 4, a1 is the slide 14, a 2-axis of rotation; a3 is a suspension body 17; a 4-electromagnet pin; a 5-mover; a 6-electromagnet; a 7-permanent magnet track; a 8-stator.

When the chassis is switched from a large wheel track to a small wheel track:

the steering assembly works, 4 steering motors respectively output respective moment and motion, firstly, the steering rocker arm fixedly connected with the steering motor swings, and then the steering drag link is pulled, and the steering drag link can pull the steering knuckle arm to rotate. The positions of the steering knuckle, the power assembly and the wheels are relatively determined, so that the rotation of the steering knuckle arm can realize the rotation of the wheels around a connecting line of the center of the hinge on the drum type shock absorber and the center of the spherical hinge outside the transverse swing arm, the independent steering of 4 wheels is realized, and after the steering assembly finishes working, the 4 wheels rotate towards the inner sides of the wheels by the same angle, as shown in fig. 9.

The slider releases, slider 14 is in suspension 17 top slide 15 innermost side under big wheel base state to realize fixing through the a pair of round pin that inserts the slide blind hole, and slider 14 during operation, the coil circular telegram of the fixed connection spring side of the inside electromagnetism iron round pin of slider 14 makes the round pin fixed connection spring side produce the synonym magnetic field, and the interact in two magnetic fields makes two round pins fixed connection spring one side attract each other, overcomes spring pressure and makes two round pin outsides break away from the slide blind hole, thereby makes the release of fixed slider.

The power assembly works, the power assembly is integrated with a hub motor and a planetary gear speed reducing mechanism, torque and motion output by the hub motor are transmitted to wheels through the planetary gear speed reducing mechanism, and then a tangential reaction force F1 is applied to the wheels by the ground (only a front suspension assembly and a right suspension assembly are shown in the figure, and the stress conditions of the other 3 suspension assemblies are the same) to drive the chassis to move. The force can be resolved along the vehicle coordinate system in the x, y direction. The force F11 in the x direction enables the chassis to drive towards the right front, the force F12 in the y direction of 4 wheels is symmetrical about the longitudinal center plane of the chassis, the total force of the whole chassis is 0, but a thrust F12 pointing towards the inner side is generated for the suspension assembly, the 4 suspension assemblies are enabled to move relatively towards the inner side, the wheel track is further reduced, and meanwhile, a moment M1 rotating around a frame lug s2 is generated for a supporting arm s3 on the suspension assembly through force transmission.

In FIG. 5: s 1-frame 100; s 2-frame lug 1; s3 — support arm 2; s 4-support arm groove; s 5-connecting arm 13; s 6-slide 14 and rotation axis; s 7-suspension body lug 3; s 8-suspension body 17; s 9-ground.

Taking the right suspension as an example, a part of y-direction reaction force F12 on the ground facing the wheel is transmitted to the suspension body lug s7 through the knuckle, the transverse swing arm and the suspension body, the other part is transmitted to the suspension body lug s7 through the knuckle, the tube shock absorber and the suspension body, the force transmitted to the suspension body lug s7 further applies an inward force F12' to the lower end of the supporting arm s3 through the rotating shaft of the supporting arm s3 hinged with the suspension body lug s7, the force generates moment M1 rotating around the frame lug s2, and when 4 suspension assemblies move relatively to the inner side, the frame s1 can be lifted through the transmission of the ground reaction force, the moment and the motion of the suspension assemblies.

When the linear motor works, when the wheel track is converted from a large wheel track to a small wheel track, the gravity of the vehicle frame s1 is transmitted through the suspension assembly to become resistance to the inward movement of the suspension assembly, namely, the wheel track is prevented from becoming small, in order to overcome partial gravity of the vehicle frame, the linear motor works, the linear motor outputs a force pointing to the outer side of the suspension assembly, the force is transmitted to the supporting arm s3 through the rotating shaft s6 and the connecting arm s5 between the sliders, and the force F2 transmitted to the rotating shaft on the supporting arm groove s4 can be orthogonally resolved, wherein the orthogonal component F22 can overcome partial gravity of the vehicle frame s1 to reduce the resistance to the inward movement of the suspension assembly, and can act as an assistance to the lifting of the vehicle frame s1, and simultaneously, the other orthogonal component F21 can generate a torque M2 around the suspension lug body s7, and the direction is the same as the direction of the torque M1 around the vehicle frame lug s 2.

When the slide block 14 slides from the innermost side of the slide way 15 under the large wheel track state to the outermost side of the slide way under the small wheel track state, the slide block 14 and the electromagnet a6 in the rotating shaft are powered off, the electromagnet pin a4 is pressed into the pin hole under the action of the spring force, the slide block is fixed on the suspension body, the transition from the large wheel track state to the small wheel track state is completed, when the small wheel track state is realized, the supporting arm s3 is approximately in the vertical direction, the included angle theta between the supporting arm and the plumb line is small, so that the component G0 of the gravity of the vehicle frame s8 on each suspension assembly is transmitted to the ground through the suspension assembly, the generated small horizontal component is balanced by the static friction force f0 on the ground, the wheel cannot sideslip slide, and simultaneously the suspension body s8, the supporting arm s3 and the rotating shaft s5 between the suspension body lugs s7, the supporting arm grooves s4 and the slide block form a triangular stable structure through three hinged points of the connecting arm s6 of the suspension body lugs s7, the support arm s3 is prevented from rotating, so that the frame is reliably fixed in a small track state, and the connecting arm s5 plays a role of a reinforcing rib for the support arm s3, so that the stress state of the suspension body s8 is improved, as shown in fig. 10, when the small track is converted into the large track, the operation of the steering assembly is similar to that when the large track is converted into the small track, and only the steering motor outputs torque and movement in the direction opposite to the operation.

While the invention has been described above with reference to an embodiment, various modifications may be made and equivalents may be substituted for elements thereof without departing from the scope of the invention. In particular, as long as there is no structural conflict, the various features of the disclosed embodiments of the present invention can be used in any combination with each other, and the non-exhaustive description of these combinations in this specification is merely for the sake of brevity and resource conservation. Therefore, it is intended that the invention not be limited to the particular embodiments disclosed, but that the invention will include all embodiments falling within the scope of the appended claims.

Claims (7)

1. A variable track intelligent chassis, comprising:

a vehicle frame (100);

the suspension assembly (200) is arranged around the vehicle frame (100), the suspension assembly (200) comprises a vehicle frame lug (1), a supporting arm (2), a suspension body lug (3), a cylinder type shock absorber (4), a linear motor (5), a spiral spring (6), a steering knuckle upper lug (7), a steering knuckle body (8), a power assembly (9), a steering knuckle arm (10), a wheel (11), a steering knuckle lower lug (12), a connecting arm (13), a sliding block (14), a sliding rail (15), a suspension body support (16), a suspension body (17), a steering motor (18), a steering rocker arm (19), a supporting plate (20), a steering drag link (21) and a transverse swing arm (22), the vehicle frame lug (1) is arranged around the vehicle frame (100), the supporting arm (2) is hinged to the vehicle frame lug (1), the bottom of the supporting arm (2) is hinged to the suspension body (3), the suspension body lug (3) is fixedly connected to a suspension body (17), the upper end of the cylinder type shock absorber (4) is rotatably connected with the suspension body (17), an embedded slide way (15) is arranged at the top of the suspension body (17), a slide block (14) is arranged in the slide way (15), a linear motor (5) is arranged on the suspension body (17), a stator of the linear motor (5) is connected with the suspension body (17), a spiral spring (6) is arranged outside the cylinder type shock absorber (4), a knuckle upper lug (7), a knuckle body (8), a knuckle arm (10) and a knuckle lower lug (12) form a knuckle, the knuckle lower lug (12) is positioned at the bottom of the knuckle, the lower end of the cylinder type shock absorber (4) is connected with the knuckle upper lug (7), the knuckle upper lug (7) is connected with the knuckle arm (10), and the knuckle upper lug (7) is connected with the knuckle lower lug (12) through a steering body (8), the steering knuckle body (8) is provided with a power assembly (9), the power assembly (9) is connected with wheels (11), a connecting arm (13) is hinged between the sliding block (14) and the supporting arm (2), one side far away from the lug (3) of the suspension body is connected with a suspension body support (16), the suspension body support (16) is connected to the inner side of the upper end of the suspension body (17), a support plate (20) is arranged on the inner side of the suspension body (17), a steering motor (18) is arranged on the support plate (20), the output end of the steering motor (18) is connected with a steering rocker arm (19), two ends of the steering drag link (21) are connected with a steering rocker arm (19) and a steering knuckle arm (10) through a ball hinge, the bottom of the suspension body (17) is hinged with one end of a transverse swing arm (22), and the other end of the transverse swing arm (22) is connected with a lower lug (12) of a steering knuckle through a ball hinge.

2. The intelligent chassis with the variable wheel track according to claim 1, wherein the frame (100) comprises a bumper, a front cross beam, a longitudinal beam, a second cross beam, a third cross beam, a fourth cross beam, a corner support cross beam assembly and a rear cross beam, the bumper and the front cross beam are arranged at the front end of the longitudinal beam, the rear cross beam is arranged at the rear end of the longitudinal beam, the corner support cross beam assembly is connected between the rear cross beam and the longitudinal beam, and the second cross beam, the third cross beam and the fourth cross beam are arranged on the inner side of the longitudinal beam in sequence.

3. The intelligent chassis with the variable track according to claim 1, wherein springs, sliders (14), rotating shafts (a2), electromagnet pins (a4), movers (a5), electromagnets (a6), permanent magnet tracks (a7) and stators (a8) are connected in the slide ways (15), a through hole is arranged in the sliding block (14), the sliding block (14) is fixedly connected with a rotating shaft (a2), a pair of electromagnet pins (a4) are symmetrically arranged at two ends of the through hole, the lower part of the sliding block (14) is fixedly connected with a rotor (a5) of the linear motor (5), a spring is fixedly connected in the middle of the electromagnet pin (a4), two groups of electromagnets (a6) are fixed on the mover (a5), the stator (a8) of the linear motor (5) is fixed on the suspension body (17), permanent magnet tracks (a7) for generating different magnetic fields are alternately laid on the stator (a 8).

4. The intelligent chassis with the variable track according to claim 1, wherein the lower end of the suspension body (17) is rotatably connected with the inner side of the transverse swing arm (22), and the outer side of the transverse swing arm (22) is connected with the lower knuckle lug (12) through a ball hinge.

5. The intelligent chassis with the variable track according to claim 1, wherein the suspension body support (16) is fixedly connected to the inner side of the upper end of the suspension body (17), and two orthogonal plane spaces in an L shape are formed above the suspension body support (16).

6. The intelligent chassis with the variable track according to claim 3, characterized in that the lower end of the supporting arm (2) is rotatably connected with a suspension body lug (3) fixedly connected with a suspension body (17), a special groove is formed in the middle of the inner side of the supporting arm (2), a rotating shaft (a2) in the groove is rotatably connected with the upper end of the connecting arm (13), and when the suspension assembly (200) is in two states of large and small track, the inclined surface of the groove is in contact fit with the connecting arm (13).

7. The intelligent chassis with the variable track according to claim 1, wherein a groove for providing a space for the connecting arm (13) to move when the track state is switched is formed in the upper end face of the suspension body (17), two intersecting inclined surfaces are milled at the end of the groove, and when the suspension assembly (200) is in a large track state and a small track state, the inclined surfaces of the groove of the suspension body (17) are in contact fit with the connecting arm (13).

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