CN223463383U - Mobile chassis and grassland working equipment - Google Patents

Abstract

The embodiment of the application provides a mobile chassis and grassland operation equipment, wherein the mobile chassis comprises a main body, a steering motor, a connecting assembly, front wheels and rear wheels, wherein the rear wheels are used for driving the main body to advance, the front wheels and the rear wheels are arranged on the main body at intervals along the advancing direction of the main body, the number of the steering motor, the connecting assembly and the number of the front wheels are two, the steering motor is in transmission connection with the front wheels through the connecting assembly, and the rotating center of the steering motor and the wheel center of the front wheels are provided with intervals in the advancing direction. According to the application, the movable chassis with eccentric moment is arranged in the grassland operation equipment, so that the power consumption of a motor required by the steering of the grassland operation equipment is reduced, the grassland operation equipment can be steered in the running process, the working efficiency of the grassland operation equipment is improved, and the abrasion of the grassland operation equipment to the grassland is reduced.

Description

Mobile chassis and grassland working equipment

Technical Field

The application relates to the field of robots, in particular to a movable chassis and grassland operation equipment.

Background

The lawn operation equipment is mechanical equipment capable of automatically performing mowing operation, is generally used for trimming and maintaining lawns, and can save manpower and time. The motor power consumption required in the in-situ rotation process of the front wheels is high, the long steering time causes low working efficiency, and the in-situ rotation of the front wheels causes serious abrasion to the grass.

Disclosure of utility model

The embodiment of the application provides a movable chassis and grassland operation equipment, wherein a steering motor in the movable chassis is eccentrically arranged relative to a front wheel, so that the front wheel obtains additional steering driving force, the power consumption of the motor required by steering of the front wheel is reduced, the front wheel can steer in the travelling process of the grassland operation equipment, the working efficiency of the grassland operation equipment is improved, and the abrasion of the front wheel to grasslands is reduced.

In a first aspect, an embodiment of the present application provides a mobile chassis, including a main body, a steering motor, a connection assembly, a front wheel and a rear wheel, where the rear wheel is used to drive the main body to travel, the front wheel and the rear wheel are spaced apart from each other along a traveling direction of the main body, the steering motor, the connection assembly and the front wheel are two in number, the two front wheels are spaced apart from each other along a first direction, the first direction is perpendicular to the traveling direction, the steering motor is in transmission connection with the front wheel through the connection assembly, the steering motor is located above the front wheel and rotates around a second direction, the second direction is perpendicular to a projection plane of the main body, and a rotation center of the steering motor and a wheel center of the front wheel have a distance in the traveling direction.

By making the rotation center of the steering motor have a distance from the wheel center of the front wheel in the traveling direction, the driving force provided by the rear wheel can generate eccentric moment on the front wheel, so that the steering of the front wheel can be acted, and the front wheel can obtain additional steering driving force. The eccentric moment can enable the front wheels to automatically keep the advancing direction without continuously generating larger torque by the steering motor to maintain the deflection angle, so that the power consumption of the steering motor can be saved, secondly, the eccentric moment can reduce the steering force of the steering motor, so that the abrasion of the front wheels to the grasslands can be reduced while the steering and travelling are synchronously carried out to shorten the steering time, and furthermore, the steering center of the front wheels deviates from the wheel center of the front wheels, the front wheels generate rolling friction with the grasslands during steering, the grasslands are more friendly, and the abrasion of the front wheels to the grasslands is reduced.

In a possible implementation, the distance between the center of rotation of the front wheel and the center of rotation of the steering motor in the travel direction is 15-25mm. When the distance between the wheel center of the front wheel and the rotation center of the steering motor along the advancing direction is smaller than 15mm, the eccentric moment generated by the driving force provided by the rear wheel to the front wheel is too small, so that the steering motor needs to provide larger steering torque, and the output power consumption of the steering motor is increased. When the distance between the wheel center of the front wheel and the rotation center of the steering motor in the traveling direction is greater than 25mm, the size of a rotation space formed by the rotation of the front wheel around the axis of the steering motor is large, and motion interference is caused to other structures near the front wheel.

In a possible implementation manner, a distance between at least part of the connecting assembly and the axis of the steering motor along the first direction is 10-20mm, so that motion interference between the steering motor and the connecting assembly and grass winding between the steering motor and the connecting assembly can be avoided.

In a possible implementation, the distance between at least part of the connection assembly and the front wheel in the second direction is 5-15mm, so that the whole mobile chassis is compact while avoiding movement interference between the top plate and the front wheel.

In a possible implementation manner, the connecting assembly comprises a side plate and a top plate, wherein the side plate is perpendicular to the first direction, the side plate is provided with a first fixing hole, the front wheel is connected with the side plate through the first fixing hole, the top plate is perpendicular to the second direction, the top plate is provided with a second fixing hole, and the second fixing hole is sleeved with an output shaft of the steering motor. Because the top plate is connected with the output shaft, the side plate is connected with the front wheels, and the steering driving force of the steering motor can be efficiently conducted to act on the front wheels, thereby being beneficial to reducing the power consumption of the motor required by the steering of the front wheels.

In a possible implementation manner, the front wheel, the top plate and the steering motor are sequentially arranged along the second direction, and the output shaft is opposite to the outer peripheral surface of the front wheel, so that the axis of the output shaft intersects with the central line of the outer peripheral surface of the front wheel, and the component force of the driving force provided by the rear wheel in the first direction cannot generate moment on the front wheel, and further cannot act on steering of the front wheel. The front wheels can be subjected to steering driving force caused by the steering motor deviating from the wheel center along the advancing direction, the front wheels are prevented from being interfered by steering driving forces from other directions, and the steering efficiency of the front wheels is ensured.

In a possible implementation manner, the main body includes a carrier plate and a connecting frame arranged on the carrier plate, the length direction of the connecting frame is along the first direction, the connecting frame deviates from the wheel center of the front wheel along the advancing direction, and the two steering motors are respectively fixed on two opposite sides of the connecting frame along the first direction. The two steering motors are respectively fixed on the two opposite sides of the connecting frame along the first direction, and the connecting frame deviates from the wheel center of the front wheels along the advancing direction, so that eccentric moment is generated on the two front wheels, the two front wheels are subjected to additional steering driving force, and the power consumption of the motor required by steering of the front wheels is reduced.

In a possible implementation manner, the mobile chassis further includes two first hub motors and two second hub motors, the number of the rear wheels is two, the first hub motors are used for driving the front wheels, the second hub motors are used for driving the rear wheels, and the distance between the axis of the output shaft of the first hub motors and the axis of the output shaft of the steering motor is 15-25mm. Because the eccentric moment comes from the driving force born by the grassland operation equipment in the running process, the two front wheels can simultaneously receive the eccentric moment provided by the four hub motors and the steering driving force provided by the two steering motors in the steering process, so that the output torque of the steering motors can be reduced, and the output power consumption of the steering motors is reduced.

In a possible implementation manner, the two front wheels are a first front wheel and a second front wheel, and the first front wheel, at least part of the two connecting components and the second front wheel are sequentially arranged along the first direction. The straight line formed by the centers of the two wheel centers of the first front wheel and the second front wheel and the first fixing hole of the connecting assembly is along the first direction, and the distance between the wheel centers and the first fixing hole and the axis of the steering motor is reserved, so that the eccentric moment acting on the front wheel is favorably generated, the front wheel obtains additional steering driving force, and the motor power consumption required by steering of the front wheel is reduced.

In a second aspect, an embodiment of the present application provides a lawn working apparatus, including a vehicle body and the mobile chassis of the first aspect, where the vehicle body is mounted on a side of the main body facing the steering motor.

By arranging the movable chassis in the grassland operation equipment, the power consumption of a motor required by the steering of the grassland operation equipment is reduced, the grassland operation equipment can be steered in the running process, the working efficiency of the grassland operation equipment is improved, and the abrasion of the grassland operation equipment to the grassland is reduced.

Drawings

FIG. 1 is a schematic illustration of a lawn work apparatus provided by an embodiment of the present application;

FIG. 2 is a schematic view of a mobile chassis according to an embodiment of the present application;

FIG. 3 is a top view of a mobile chassis provided by an embodiment of the present application;

FIG. 4 is a schematic view of a partial enlarged structure at A in FIG. 3;

FIG. 5 is a schematic view of a mating structure of a main body, a front wheel, a connection assembly, and a steering motor provided by an embodiment of the present application;

FIG. 6 is a schematic view of a mobile chassis according to an embodiment of the present application from another perspective;

FIG. 7 is a front view of a mobile chassis provided by an embodiment of the present application;

FIG. 8 is an exploded view of the mating structure of the front wheel, the connection assembly, and the steering motor provided by an embodiment of the present application;

FIG. 9 is an exploded view of the mating structure of the front wheel, the connection assembly, and the steering motor provided by an embodiment of the present application;

FIG. 10 is a side view of a mating structure of a front wheel, a connection assembly, and a steering motor provided by an embodiment of the present application;

fig. 11 is a front view of a mating structure of a front wheel, a connection assembly, and a steering motor provided by an embodiment of the present application.

Reference numerals:

1-moving chassis, 2-main body, 21-connecting frame, 211-first supporting frame, 212-second supporting frame, 213-third supporting frame, 214-first supporting plate, 215-second supporting plate, 216-mounting part, 2161-through hole, 22-carrier plate, 221-bearing seat, 222-bearing, 223-rotating shaft, 3-steering motor, 31-output shaft, 32-stator, L1-first axis, O2-steering center, 4-connecting component, 41-side plate, 41 a-first side plate, 41 b-second side plate, 411-first fixing hole, 42-top plate, 421-fixing part, 4211-second fixing hole, 4212-protruding part, 43-connecting part, 5-front wheel, O1-wheel center, 5 a-first front wheel, 5 b-second front wheel, 51-first hub motor, L2-second axis, 511-motor fixing part, 6-rear wheel, 61-second hub motor, O3-rear wheel symmetry center, 7-10-lawn equipment and 11-working equipment.

Detailed Description

The technical scheme in the embodiment of the application will be described below with reference to the accompanying drawings. Where directional terms such as "upper", "lower", "front", "rear", "left", "right", "inner", "outer", "side", "top", "bottom", etc. are used in the embodiments of the present application, only with reference to the directions of the drawings, the directional terms are used to better and more clearly describe and understand the embodiments of the present application, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as limiting the embodiments of the present application.

The steering motor of the existing grassland operation equipment needs to control the front wheels to rotate in situ when controlling the steering of the front wheels, so that the working efficiency is low, and the front wheels are worn seriously on the grasslands due to the in-situ rotation. Secondly, in order to ensure that the front wheels are kept at a fixed angle during movement, so as to prevent the front wheels from deviating from the current direction in the movement process, the conventional grassland operation equipment generally adopts a worm and gear self-locking mechanism, the first method has the problems of higher cost and more disturbance to the front wheels in the grassland advancing process, such as heavy grass or high grassland, and can cause larger influence on the service life of a worm and gear structure for a long time, and the second method adopts a motor direct driving scheme, wherein the scheme needs a motor to continuously output larger torque to keep the angle of the front wheels, so that the front wheels are prevented from deviating due to the disturbance of the grasslands, and the power consumption of the motor is larger.

The embodiment of the application provides a movable chassis and grassland operation equipment, wherein a steering motor in the movable chassis is eccentrically arranged relative to a front wheel, so that the front wheel obtains additional steering driving force, the power consumption of the motor required by steering of the front wheel is reduced, the front wheel can steer in the travelling process of the grassland operation equipment, the working efficiency of the grassland operation equipment is improved, and the abrasion of the front wheel to grasslands is reduced.

Fig. 1 is a schematic view of a grass work device 10 provided in an embodiment of the present application, referring to fig. 1, the grass work device 10 may include a vehicle body 11 and a mobile chassis 1, the vehicle body 11 being mounted on the mobile chassis 1. The mobile chassis 1 may be used to carry other components of the lawn work apparatus 10 and to drive the entire lawn work apparatus 10. The body 11 may be used to house mowing components such as cutterhead and vision sensing assemblies as well as auxiliary mowing components.

Fig. 2 is a schematic structural view of a mobile chassis 1 according to an embodiment of the present application, referring to fig. 2, the mobile chassis 1 may include a main body 2, a steering motor 3, a connection assembly 4, front wheels 5, and rear wheels 6. The rear wheel 6 may be used to drive the main body 2 to travel, and the front wheel 5 and the rear wheel 6 are spaced apart on the main body 2 in the traveling direction of the main body 2. The number of the front wheels 5 may be two, the two front wheels 5 may be located at opposite sides of the main body 2, respectively, and a direction between two wheel centers of the two front wheels 5 may be a first direction, that is, the two front wheels 5 may be disposed at opposite sides of the main body 2 along the first direction, while the first direction is perpendicular to a traveling direction of the main body 2. The number of steering motors 3 may be two, and the two steering motors 3 may be connected to both sides of the main body 2, respectively, in the first direction. The steering motor 3 is located above the front wheels 5 and the output shaft 31 of the steering motor 3 is rotatable about a second direction perpendicular to the plane in which the main body 2 is laid, i.e. the projection plane of the main body 2. The steering motor 3 is in transmission connection with the front wheels 5 through a connecting assembly 4. The first axis L1 of the output shaft of the steering motor 3 is spaced from the center O1 of the front wheel 5 by a distance, i.e., the steering motor 3 is disposed eccentrically with respect to the front wheel 5. As shown in fig. 1 and 2, the vehicle body 11 is mounted on a surface of the main body 2 facing the steering motor 3.

Fig. 3 is a top view of the mobile chassis 1 according to the embodiment of the present application, and fig. 4 is a schematic view of a partial enlarged structure at a in fig. 3, and as shown in fig. 2, 3 and 4, the steering motor 3 has a steering center O2, and the steering center O2 is located on the first axis L1 of the output shaft. The number of rear wheels 6 is two, and the two rear wheels 6 are symmetrical about the rear wheel symmetry center O3. For convenience of description, the two front wheels 5 are respectively referred to as a first front wheel 5a and a second front wheel 5b, the first front wheel 5a is subjected to stress analysis, when the rear wheel 6 drives the main body 2 to travel, the first front wheel 5a is subjected to the action of a driving force F1, the driving force F1 is tangential to a circle with the rear wheel symmetry center O3 as a center, and the distance between the wheel center O1 and the rear wheel symmetry center O3 is a radius. The driving force F1 has a second force F3 in the third direction, and the second force F3 can drive the first front wheel 5a to travel. The third direction is perpendicular to a plane formed by the first direction and the second direction, and in some cases, the third direction may coincide with the traveling direction of the main body 2. The driving force F1 has a first component F2 along the first direction, when the steering center O2 of the steering motor 3 and the wheel center O1 of the front wheel 5 are not separated along the third direction, namely, when the wheel center O1 coincides with the steering center O2 when the chassis 1 is overlooked, the first component F2 and the steering center O2 are not separated, the moment is equal to the product of the force and the moment arm, the moment arm between the first component F2 and the steering center O2 is zero, so the first component F2 cannot generate moment on the steering center O2, the first component F2 cannot act on the steering of the first front wheel 5a, and the steering power of the front wheel 5 is all from the steering output power of the steering motor 3, so that the steering motor 3 needs to control the front wheel 5 to rotate to a preset angle, then the front wheel 5 runs along a new direction, the power consumption of the motor required by the in-situ rotation process of the front wheel 5 is high, the longer steering time leads to low working efficiency, and the in-situ rotation of the front wheel 5 has serious abrasion to the grass. When the steering center O2 of the steering motor 3 and the wheel center O1 of the front wheel 5 have a first distance D1 along the third direction as shown in fig. 4, the wheel center O1 is not overlapped with the steering center O2 in the top view of the mobile chassis 1, a first distance D1 exists between the first component force F2 and the steering center O2, at this time, the arm of force between the first component force F2 and the steering center O2 is D1, the first component force F2 can generate an eccentric moment on the wheel center O1, the magnitude of the eccentric moment is f2×d1, and the first component force F2 further acts on the steering of the first front wheel 5a, so that the first front wheel 5a can obtain an additional steering driving force. The eccentric moment can enable the front wheels 5 to automatically keep the advancing direction without continuously generating larger torque by the steering motor 3 to maintain the deflection angle, so that the power consumption of the steering motor 3 can be saved, secondly, the eccentric moment can reduce the steering force of the steering motor 3, so that the abrasion of the front wheels 5 to the grasslands can be reduced while the steering and advancing are synchronous to shorten the steering time, and furthermore, the steering center of the front wheels 5 deviates from the wheel center O1 of the front wheels 5, the front wheels 5 generate rolling friction with the grasslands during steering, are more friendly to the grasslands, and reduce the abrasion of the front wheels 5 to the grasslands.

As shown in connection with fig. 3 and 4, in one possible embodiment, the mobile chassis 1 further comprises two first in-wheel motors 51 and two second in-wheel motors 61, the first in-wheel motors 51 being used for driving the front wheels 5 and the second in-wheel motors 61 being used for driving the rear wheels 6. The stators of both the second in-wheel motors 61 are fixed to the mount 7. Because the eccentric moment is derived from the driving force F1 received by the grassland working equipment in the running process, the first front wheel 5a and the second front wheel 5b can simultaneously receive the eccentric moment provided by the four hub motors and the steering driving force provided by the two steering motors 3 in the steering process, so that the output torque of the steering motors 3 can be reduced, and the output power consumption of the steering motors 3 can be reduced.

Fig. 5 is a schematic diagram of the mating structure of the main body 2, the front wheel 5, the connection assembly 4, and the steering motor 3 provided in the embodiment of the present application, and in combination with fig. 2 and 5, in one possible implementation manner, the main body 2 may include a connection frame 21 and a carrier plate 22, where the connection frame 21 is disposed on the carrier plate 22 along the first direction, that is, a length direction of the connection frame 21 is along the first direction, and the connection frame 21 is deviated along the travelling direction of the main body 2 relative to a wheel center O1 of the front wheel 5. The connection frame 21 may include a first support frame 211, a second support frame 212, a third support frame 213, a first support plate 214, a second support plate 215, and a mounting portion 216. The number of the first support plates 214 may be two, the two first support plates 214 may be respectively disposed at opposite ends of the stator 32 of the steering motor 3 along a second direction perpendicular to the plane on which the main body 2 is laid, that is, the second direction is perpendicular to the carrier plate 22, and illustratively, the two first support plates 214 may clamp the stator 32, and the two first support plates 214 may be detachably connected to the first support frame 211. Likewise, the number of the second support plates 215 may be two, and the two second support plates 215 may be respectively disposed at opposite ends of the stator 32 of the other steering motor 3 in the second direction, and both the two second support plates 215 may be detachably connected to the second support frame 212. The first supporting frame 211 and the second supporting frame 212 are detachably connected to the third supporting frame 213, and the third supporting frame 213 is convexly provided with a mounting portion 216 along the second direction, and the mounting portion 216 has a through hole 2161. The carrier 22 may include a bearing housing 221, a bearing 222, and a rotation shaft 223, the rotation shaft 223 may be disposed through a through hole 2161 and the bearing 222, the rotation shaft 223 may be fixedly connected to the mounting portion 216 through the through hole 2161, and the rotation shaft 223 may be rotatably connected to the bearing housing 221 through the bearing 222. By fixing the two steering motors 3 to opposite sides of the connecting frame 21 along the first direction, respectively, and the connecting frame 21 deviates from the wheel center O1 of the front wheels 5 along the traveling direction, it is advantageous to generate eccentric moments on both the front wheels 5, so that both the front wheels 5 are subjected to additional steering driving force, and it is advantageous to reduce motor power consumption required for steering the front wheels 5.

As shown in fig. 2 and 5, the front wheel 5, the link assembly 4, the steering motor 3, and the link 21 are sequentially connected, and the front wheel 5 can float up and down to cross an obstacle when the front wheel 5 contacts the obstacle by allowing the link 21 to rotate relative to the carrier 22. Specifically, the first front wheel 5a is adjacent to the first support bracket 211 and the first support plate 214, and the second front wheel 5b is adjacent to the second support bracket 212 and the second support plate 215. When the first front wheel 5a contacts an obstacle, the rotating shaft 223 can drive the connecting frame 21 to rotate clockwise relative to the carrier plate 22, at the moment, the first supporting frame 211 and the first supporting plate 214 can swing upwards, the first front wheel 5a can be jacked up by the obstacle to further realize obstacle crossing, when the second front wheel 5b contacts the obstacle, the rotating shaft 223 can drive the connecting frame 21 to rotate anticlockwise relative to the carrier plate 22, at the moment, the second supporting frame 212 and the second supporting plate 215 can swing upwards, and the second front wheel 5b can be jacked up by the obstacle to further realize obstacle crossing.

Fig. 6 is another schematic structural view of the mobile chassis 1 provided by the embodiment of the present application, fig. 7 is a front view of the mobile chassis 1 provided by the embodiment of the present application, fig. 8 is an exploded view of the mating structure of the front wheel 5, the connection assembly 4 and the steering motor 3 provided by the embodiment of the present application, and fig. 6, 7 and 8 are combined to show that the output shaft 31 of the steering motor 3 can rotate around the second direction, that is, the axis of the output shaft 31 can be along the second direction. In one possible embodiment, the connection assembly 4 may include a side plate 41, a top plate 42, and a connection 43 connected between the side plate 41 and the top plate 42. The side plate 41 is perpendicular to the first direction, the side plate 41 has a first fixing hole 411, and the front wheel 5 is connected to the side plate 41 through the first fixing hole 411. Specifically, the first fixing hole 411 may be engaged with the motor fixing portion 511, and the side plate 41 may be connected with the front wheel 5 since the motor fixing portion 511 may be a fixing portion of the first in-wheel motor 51 that drives the front wheel 5 to rotate. Referring to fig. 8, the top plate 42 may be perpendicular to the second direction, the top plate 42 includes a fixing portion 421, the fixing portion 421 may be provided with a protruding member 4212 and have a second fixing hole 4211, and the second fixing hole 4211 and the protruding member 4212 may be respectively engaged with a corresponding structure of the output shaft 31 of the steering motor 3, so that the output shaft 31 and the top plate 42, that is, the connection assembly 4, form a detachable connection. Since the roof panel 42 is connected with the output shaft 31 and the side panels 41 are connected with the front wheels 5, the steering driving force provided by the steering motor 3 can be efficiently conducted to the front wheels 5, so that the front wheels 5 can obtain the required steering driving force, which is advantageous in reducing the motor power consumption required for steering the front wheels 5.

As shown in connection with fig. 2, 7 and 8, in one possible embodiment, the two side plates 41 may be a first side plate 41a and a second side plate 41b, respectively, the first side plate 41a being connected to the first front wheel 5a, and the second side plate 41b being connected to the second front wheel 5 b. At least portions of the first front wheel 5a, the two connection members 4, i.e., the first side plate 41a, the second side plate 41b, and the second front wheel 5b are sequentially arranged in the first direction in which a straight line formed by the centers of the two wheel centers O1 of the first front wheel 5a and the second front wheel 5b and the two first fixing holes 411 of the first side plate 41a and the second side plate 41b is. The wheel center O1 and the first fixing hole 411 are spaced from the first axis L1 of the output shaft 31, so that the steering motor 3 is offset relative to the centers of the front wheel 5 and the first hub motor 51, which is beneficial to the generation of eccentric moment acting on the front wheel 5, so that the front wheel 5 obtains additional steering driving force, and the motor power consumption required by steering of the front wheel 5 is reduced.

As shown in connection with fig. 2, 4 and 7, in one possible embodiment, the front wheel 5, the roof panel 42 and the steering motor 3 are arranged in this order along the second direction, the output shaft 31 of the steering motor 3 is opposite to the outer peripheral surface of the front wheel 5, and the first axis L1 of the output shaft 31 may intersect with a center line of the outer peripheral surface of the front wheel 5 along the second direction, and the center line may be along the circumferential direction of the outer peripheral surface. By intersecting the first axis L1 of the output shaft 31 with the center line of the outer peripheral surface of the front wheel 5 so that the first axis L1 is not distant from the wheel center O1 of the front wheel 5 in the first direction, the moment arm between the second component force F3 and the steering center O2 is zero, and thus the second component force F3 cannot generate moment on the steering center O2, and further the second component force F3 cannot act on the steering of the front wheel 5. This makes it possible for the front wheels 5 to receive the steering driving force by the steering motor 3 in a single direction, that is, in the third direction from the wheel center O1, avoiding the front wheels 5 from being disturbed by the steering driving force from other directions, and ensuring the steering efficiency of the front wheels 5.

As shown in connection with fig. 3 and 4, the mobile chassis 1 further comprises two first in-wheel motors 51 for driving the front wheels 5 and two second in-wheel motors 61 for driving the rear wheels 6. The stators of both the second in-wheel motors 61 are fixed to the mount 7. Because the eccentric moment is derived from the driving force F1 received by the grassland working equipment in the running process, the first front wheel 5a and the second front wheel 5b can simultaneously receive the eccentric moment provided by the four hub motors and the steering driving force provided by the two steering motors 3 in the steering process, so that the output torque of the steering motors 3 can be reduced, and the output power consumption of the steering motors 3 can be reduced.

Fig. 9 is an exploded view of the fitting structure of the front wheel 5, the connection assembly 4 and the steering motor 3 provided by the embodiment of the present application, and fig. 10 is a side view of the fitting structure of the front wheel 5, the connection assembly 4 and the steering motor 3 provided by the embodiment of the present application, and as shown in fig. 8, 9 and 10, the second axis L2 of the output shaft of the first in-wheel motor 51 and the first axis L1 of the output shaft 31 of the steering motor 3 have a first distance D1 along the third direction, and the wheel center O1 of the front wheel 5 and the first axis L1 of the output shaft 31 of the steering motor 3 also have a first distance D1 along the third direction. Illustratively, the first distance D1 may be 15-25mm. For example, the first distance D1 of the wheel center O1 of the front wheel 5 from the first axis L1 of the output shaft 31 of the steering motor 3 in the third direction may be 15mm, or 16mm, or 17mm, or 18mm, or 19mm, or 20mm, or 21mm, or 22mm, or 23mm, or 24mm, or 25mm. It is understood that the first distance D1 between the wheel center O1 of the front wheel 5 and the first axis L1 of the output shaft 31 of the steering motor 3 in the third direction may be other values than the above values, as long as the first distance D1 between the wheel center O1 of the front wheel 5 and the first axis L1 of the output shaft 31 of the steering motor 3 in the third direction is 15-25mm. Referring to fig. 4, when the first distance D1 between the wheel center O1 of the front wheel 5 and the first axis L1 of the output shaft 31 of the steering motor 3 in the third direction is smaller than 15mm, the eccentric moment generated by the first component force F2 on the wheel center O1 is f2×d1, and the eccentric moment is too small, so that the steering motor 3 needs to provide a larger steering torque, and the output power consumption of the steering motor 3 is increased. When the first distance D1 between the wheel center O1 of the front wheel 5 and the first axis L1 of the output shaft 31 of the steering motor 3 in the third direction is greater than 25mm, the size of a rotation space formed by the rotation of the front wheel 5 around the first axis L1 of the output shaft 31 of the steering motor 3 is large, and motion interference is caused to other structures near the front wheel 5.

As shown in connection with fig. 9 and 10, in a possible embodiment, a second distance D2 exists between the roof 42 and the front wheel 5 in said second direction. Illustratively, the second distance D2 may be 5-15mm. For example, the first distance D1 of the wheel center O1 of the front wheel 5 from the first axis L1 of the output shaft 31 of the steering motor 3 in the third direction may be 5mm, or 6mm, or 7mm, or 8mm, or 9mm, 10mm, or 11mm, or 12mm, or 13mm, or 14mm, or 15mm. It will be appreciated that the second distance D2 between the roof 42 and the front wheel 5 in the second direction may be other values than the above values, as long as the second distance D2 between the roof 42 and the front wheel 5 in the second direction is 5-15mm. When the second distance D2 between the roof panel 42 and the front wheel 5 in said second direction is smaller than 5mm, the roof panel 42 and the front wheel 5 are too close to each other with movement interference therebetween. When the second distance D2 between the roof panel 42 and the front wheels 5 in the second direction is greater than 10mm, the entire moving chassis 1 may be insufficiently compact.

Fig. 11 is a front view of the mating structure of the front wheel 5, the connection assembly 4 and the steering motor 3 provided in the embodiment of the present application, and in combination with fig. 7 and 11, in one possible implementation, a third distance D3 exists between the first side plate 41a and the first axis L1 of the steering motor 3 adjacent to the first front wheel 5a along the first direction, and a third distance D3 exists between the second side plate 41b and the first axis L1 of the steering motor 3 adjacent to the second front wheel 5b along the first direction. Illustratively, the third distance D3 may be 10-20mm. For example, the third distance D3 in said first direction between the first side plate 41a and the first axis L1 of the steering motor 3 adjacent to the first front wheel 5a may be 10mm, or 11mm, or 12mm, or 13mm, or 14mm, or 15mm, or 16mm, or 17mm, or 18mm, or 19mm, or 20mm. It will be appreciated that the third distance D3 in the first direction between the first side plate 41a and the first axis L1 of the steering motor 3 adjacent to the first front wheel 5a may be other values than the above values, as long as the third distance D3 in the first direction between the first side plate 41a and the first axis L1 of the steering motor 3 adjacent to the first front wheel 5a is 10-20mm. When the third distance D3 in said first direction between the first side plate 41a and the first axis L1 of the steering motor 3 adjacent to the first front wheel 5a is less than 10mm, there is a movement interference between the steering motor 3 and the connection assembly 4. When the third distance D3 between the first side plate 41a and the first axis L1 of the steering motor 3 adjacent to the first front wheel 5a in the first direction is greater than 20mm, the motor fixing portion 511 of the first in-wheel motor 51 is exposed more, and the connecting portion 43 of the connecting assembly 4 is larger in size, increasing the contact area with the grass and facilitating grass winding.

While the application has been described in detail with reference to the foregoing embodiments, it will be understood by those skilled in the art that the foregoing embodiments may be modified or equivalents may be substituted for some of the features thereof, and that the modifications or substitutions do not depart from the spirit of the embodiments.

Claims (10)

1. The utility model provides a remove chassis, its characterized in that includes main part, steering motor, coupling assembling, front wheel and rear wheel, the rear wheel is used for the drive the main part is march, follows the direction of marcing of main part, the front wheel with the rear wheel interval sets up in the main part, steering motor coupling assembling with the quantity of front wheel is two, two the front wheel is along first direction interval setting in the both sides of main part, first direction perpendicular to the direction of marcing, steering motor passes through coupling assembling with the front wheel transmission is connected, steering motor is located the top of front wheel and around the rotation of second direction, second direction perpendicular to the plane of projection of main part, steering motor's rotation center with the center of wheel of front wheel is in the direction of marcing has the interval.

2. The mobile chassis of claim 1, wherein a distance between a center of wheel of the front wheel and a center of rotation of the steering motor in the traveling direction is 15-25mm.

3. The mobile chassis of claim 1, wherein a distance between at least a portion of the connection assembly and an axis of the steer motor along the first direction is 10-20mm.

4. The mobile chassis of claim 1, wherein a distance between at least a portion of the connection assembly and the front wheel in the second direction is 5-15mm.

5. The mobile chassis of claim 1, wherein the connection assembly comprises a side plate and a top plate, the side plate is perpendicular to the first direction, the side plate has a first fixing hole, the front wheel is connected with the side plate through the first fixing hole, the top plate is perpendicular to the second direction, the top plate has a second fixing hole, and the second fixing hole is sleeved with an output shaft of the steering motor.

6. The mobile chassis of claim 5, wherein the front wheel, the roof, and the steer motor are sequentially arranged in the second direction, the output shaft being opposite an outer peripheral surface of the front wheel.

7. The mobile chassis of claim 1, wherein the main body includes a carrier plate and a connection frame disposed on the carrier plate, a length direction of the connection frame is along the first direction, the connection frame is deviated along the traveling direction relative to a center of wheel of the front wheel, and two steering motors are respectively fixed on two opposite sides of the connection frame along the first direction.

8. The mobile chassis of claim 1, comprising two first in-wheel motors for driving the front wheels and two second in-wheel motors for driving the rear wheels, the first in-wheel motors having an axis spaced from the axis of the steering motor by 15-25mm.

9. The mobile chassis of claim 1, wherein the two front wheels are a first front wheel and a second front wheel, respectively, and the first front wheel, at least a portion of the two connection assemblies, and the second front wheel are sequentially arranged along the first direction.

10. A grass work apparatus comprising a body and a mobile chassis according to any one of claims 1 to 9, the body being mounted to a face of the body facing the steering motor.