CN112172435B

CN112172435B - Suspension device, steering wheel and mobile chassis

Info

Publication number: CN112172435B
Application number: CN202011003070.4A
Authority: CN
Inventors: 王鑫; 白文宝; 刘志高
Original assignee: Guangdong Bozhilin Robot Co Ltd
Current assignee: Guangdong Bozhilin Robot Co Ltd
Priority date: 2020-09-22
Filing date: 2020-09-22
Publication date: 2021-11-02
Anticipated expiration: 2040-09-22
Also published as: CN112172435A

Abstract

The invention relates to a suspension device, a rudder wheel and a mobile chassis, comprising: a bearing plate; one end of the shock absorber is connected with the bearing plate, and the other end of the shock absorber is arranged on the steering wheel body; the locking actuating mechanism can be locked or unlocked with the bearing plate; and the trigger switch mechanism is used for being installed on the steering wheel body and can control the locking execution mechanism to switch between a locking state and an unlocking state. At the moment, the degree of freedom of the shock absorber is restrained by the rigid connection between the locking execution mechanism and the bearing plate, so that even if the moving chassis bears unbalance load due to heavy load starting or sudden stop, the impact force generated by the unbalance load can be only transmitted to the bearing plate through the locking execution mechanism, the bearing plate bears and offsets the impact force by virtue of the rigidity of the bearing plate, the impact force can not act on the shock absorber, the problem that the shock absorber is crushed and damaged due to overlarge unbalance load can not occur, and the safety and the reliability of the moving chassis are ensured.

Description

Suspension device, steering wheel and mobile chassis

Technical Field

The invention relates to the technical field of shock absorption, in particular to a suspension device, a steering wheel and a movable chassis.

Background

Currently, most smart mobile devices (e.g., robots) on the market require equipping a mobile chassis for walking movement. Considering the complex conditions of the working environment and the running road surface, a group of shock absorbers are generally installed on the steering wheel on the mobile chassis to realize buffering and shock absorption, so that the passing capacity of the intelligent mobile equipment is ensured, and the intelligent mobile equipment is prevented from being damaged by shock impact.

However, the existing shock absorber has only a simple spring shock-absorbing element as a component for buffering and absorbing shock, and the buffering capacity of the existing shock absorber has certain limitations, and when a heavy-load article is loaded on the mobile chassis and suddenly starts or stops under a heavy-load condition, the mobile chassis is easily subjected to excessive front and rear unbalance loading, so that the shock absorber is finally crushed and loses efficacy, and the use performance and stability of the mobile chassis are affected.

Disclosure of Invention

Therefore, a suspension device, a steering wheel and a mobile chassis are needed to be provided, and the problem that the shock absorber is crushed and fails due to overlarge unbalance load in the prior art is solved.

In one aspect, the present application provides a suspension apparatus including:

the bearing plate is used for being rotatably arranged on the steering wheel body;

one end of the shock absorber is connected with the bearing plate, and the other end of the shock absorber is used for being installed on the steering wheel body;

the locking actuating mechanism is movably arranged on the steering wheel body and can be locked or unlocked with the bearing plate; and

the trigger switch mechanism is used for being installed on the steering wheel body and can control the locking execution mechanism to be switched between a locking state and an unlocking state.

The suspension device of the scheme is applied to a mobile chassis, and is particularly used for being assembled and matched with a steering wheel for use, so that the safety and reliability of the steering wheel during heavy-load starting or sudden stopping are improved. Specifically, when the steering wheel device is used, the bearing plate, the shock absorber, the locking execution mechanism and the trigger switch mechanism are required to be respectively installed on the steering wheel body, the movable chassis normally runs, when the steering wheel body is required to normally play a damping buffering function, the trigger switch mechanism controls the locking execution mechanism to keep an unlocking state, an unlocking relation is formed between the locking execution mechanism and the bearing plate, and the shock absorber obtains the existing degree of freedom and can play a damping function. When the movable chassis is loaded with a heavy object and is suddenly stopped or started in a heavy load state, the trigger switch mechanism can firstly control the locking execution mechanism to switch into a locking state, namely the locking execution mechanism can form a locking relation in rigid connection with the bearing plate, and at the moment, the degree of freedom of the shock absorber is restrained by the rigid connection between the locking execution mechanism and the bearing plate, so that even if the movable chassis bears the unbalance load due to the heavy load starting or sudden stopping, the impact force generated by the unbalance load can be only transmitted to the bearing plate through the locking execution mechanism, the bearing plate bears and offsets the impact force by virtue of the rigidity of the bearing plate, the impact force can not act on the shock absorber, the problem that the shock absorber is crushed and damaged due to overlarge unbalance load can not occur, and the safety and reliability of the movable chassis are ensured.

The technical solution of the present application is further described below:

in one embodiment, the bearing plate is provided with a locking matching part which can be locked or unlocked and matched with the locking actuating mechanism.

In one embodiment, the locking engagement portion includes a locking groove, and the locking actuator includes a locking body having a locking arm that can be inserted into the locking groove.

In one embodiment, the number of the locking grooves is at least two, the at least two locking grooves are arranged at the edge of the bearing plate side by side in the height direction, and the locking arm can be inserted into any one of the locking grooves.

In one embodiment, the locking body is further provided with an installation body connected with the locking arm, the installation body is provided with an assembly hole, and the installation body can be rotatably sleeved on the connecting column of the steering wheel body through the assembly hole.

In one embodiment, the locking actuator further comprises an elastic torsion piece, and the elastic torsion piece is used for being sleeved between the hole wall of the assembling hole and the connecting column.

In one embodiment, the locking body is further provided with a matching arm connected with the mounting body, and the matching arm can be abutted with the trigger switch mechanism to enable the locking arm to be separated from the locking groove.

In one embodiment, the trigger switch mechanism comprises an actuator and an actuating arm, the actuating arm being in driving connection with the actuator, the actuating arm being able to abut against the mating arm.

In one embodiment, the actuating arm is connected with a driving rotating shaft of the driver, and the driving rotating shaft is used for driving the actuating arm to rotate. The actuating arm can rotate to push the locking body to rotate integrally, so that the locking arm is driven to be separated from the locking groove.

In one embodiment, the engaging arm is provided with an avoiding inclined surface, and the avoiding inclined surface is used for enabling the actuating arm to more easily push the locking body to rotate.

In one embodiment, the trigger switch mechanism further comprises a mounting bracket by which the actuator can be mounted on the rudder wheel body.

In one embodiment, the bearing plate is provided with a sleeve hole, and the sleeve hole is used for sleeve matching with a driving motor on the steering wheel body.

In one embodiment, the number of the shock absorbers is two, and the two shock absorbers are respectively arranged on two axial sides of the steering wheel body.

In another aspect, the present application also provides a steering wheel, including:

a steering wheel body; and

in the suspension device described above, the suspension device is provided on the steering wheel body.

Furthermore, the application also provides a mobile chassis which comprises a steering wheel as described above.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the invention and, together with the description, serve to explain the invention and not to limit the invention.

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.

Fig. 1 is a schematic structural diagram of a steering wheel according to an embodiment of the present invention;

fig. 2 is a schematic structural view of another view angle of fig. 1 (the locking actuator and the bearing plate are in a locked state);

fig. 3 is a schematic view of the locking actuator and the bearing plate in an unlocked state in fig. 2;

fig. 4 is an exploded view of a steering wheel according to an embodiment of the present invention.

Description of reference numerals:

100. a steering wheel; 110. a drive wheel; 120. a wheel disc; 130. a drive motor; 140. a steering motor; 150. a support; 200. a suspension device; 210. a bearing plate; 211. a locking groove; 212. sleeving a hole; 220. a shock absorber; 230. a locking actuator; 231. a locking body; 231a, a locking arm; 231b, an installation body; 231c, engagement arms; 231d, an avoidance slope; 232. an elastic torsion member; 240. a trigger switch mechanism; 241. a driver; 242. a swing arm; 243. and (7) mounting frames.

Detailed Description

In order to make the aforementioned objects, features and advantages of the present invention 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. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein.

The embodiment of the application provides a mobile chassis, and it specifically can be remote control formula chassis, AGV dolly etc. and it can regard as an individual removal carrier, realizes bearing and transferring to article, also can be intelligent movement system's component for load the main part module and provide the required power of intelligent movement system walking. For example, the smart mobile system may be a robot, and the mobile chassis may be a wheel type chassis, a crawler type chassis, or the like, on which the robot main body is mounted and can move to the target position by itself.

Take the mobile chassis as a wheeled chassis as an example. Generally, the mobile chassis comprises a chassis body, steering wheels, batteries and steering wheels 100 and some other auxiliary devices. The chassis body is the skeleton of removal chassis, plays support and bearing effect. The battery and the steering wheel 100 are mounted on the chassis body, respectively, and the battery is connected to the steering wheel 100 so as to supply power to the steering wheel 100. The steering wheel 100 can rotate by itself to provide the power needed for walking for the moving chassis.

The steering wheel 100 includes a steering wheel body, a driving motor 130, a steering motor 140, and the like. Wherein the steering wheel body includes a driving wheel 110 and a wheel disc 120. The driving motor 130 is directly installed on the axle of the driving wheel 110, and can directly drive the steering wheel body to rotate. The steering motor 140 is installed on the wheel disc 120, so that the steering wheel body and the chassis body can integrally rotate after being connected, and the purpose of driving the mobile chassis to steer is achieved.

The steering wheel is also arranged at the bottom of the chassis body to play a role in assisting steering. Specifically, two steering wheels are provided, and two steering wheels 100 are also provided, and the two steering wheels 100 are distributed in a rectangular shape. The two steering wheels can be arranged at the front end of the movable chassis in the same row, and the two steering wheels 100 are arranged at the rear end of the movable chassis in the same row; or two steered wheels diagonally to the two steering wheels 100, or other arrangements.

As shown in fig. 1 and 2, a steering wheel 100 according to an embodiment of the present invention includes a suspension device 200 in addition to the steering wheel body, and the suspension device 200 is disposed on the steering wheel body. The suspension device 200 is used to provide a necessary shock absorbing and buffering capacity of the steering wheel 100 while improving safety reliability of the steering wheel 100 under a heavy impact.

Referring to fig. 2 to 4, in the present embodiment, the suspension apparatus 200 includes: a bearing plate 210, a shock absorber 220, a locking actuator 230 and a trigger switch mechanism 240. The lower edge of the wheel disc 120 is extended with a bracket 150 obliquely outwards, and the end of the bracket 150 is provided with a hinge shaft. The left end of the bearing plate 210 is provided with a first mounting hole, and the first mounting hole is sleeved on the hinge shaft, so that the bearing plate 210 can rotate relative to the bracket 150.

With reference to fig. 3, further, the bearing plate 210 is provided with a sleeve hole 212, and the sleeve hole 212 is used for being matched with the driving motor 130 on the steering wheel body in a sleeve manner. The installation structure can make the assembly of the bearing plate 210 and the steering wheel body more compact and firm, and is helpful for improving the integration degree of the steering wheel 100. In addition, in the embodiment, the driving motor 130 is square, and correspondingly, the socket hole 212 is also square, and the wall of the four sides of the socket hole 212 respectively cling to the wall of the four sides of the housing of the driving motor 130 to form an embedded limiting structure, so that the bearing plate 210 is stably installed. When the mobile chassis is started and stopped under heavy load, the impact force is transmitted to the bearing plate 210, the stability and the rigidity of the bearing plate 210 are high enough, and the bearing plate 210 can further transmit the impact force to the steering wheel body, so that the impact force is more effectively dissipated.

With reference to fig. 2 to fig. 4, in particular, the force bearing plate 210 is installed on the steering wheel body in a rotating manner in the present embodiment; one end of the shock absorber 220 is connected with the bearing plate 210, and the other end is used for being mounted on the steering wheel body; the locking actuator 230 is movably mounted on the steering wheel body, and the locking actuator 230 can be locked or unlocked with the bearing plate 210; the trigger switch mechanism 240 is configured to be mounted on the steering wheel body and can control the locking actuator 230 to switch between a locked state and an unlocked state.

In summary, the implementation of the technical solution of the present embodiment has the following beneficial effects: the suspension device 200 of the above scheme is applied to a mobile chassis, and is particularly used for being assembled and matched with the steering wheel 100 to improve the safety and reliability of the steering wheel 100 during heavy-load starting or sudden stopping. Specifically, when the steering wheel needs to be normally operated by mounting the force bearing plate 210, the damper 220, the lock actuator 230, and the trigger switch mechanism 240 to the steering wheel body, the movable chassis is required to normally travel, and when the steering wheel body needs to normally exert a damping and cushioning effect, the trigger switch mechanism 240 controls the lock actuator 230 to maintain the unlocked state, and at this time, the lock actuator 230 and the force bearing plate 210 are in an unlocked relationship, and the damper 220 can exert a damping effect by obtaining an existing degree of freedom. When the moving chassis is loaded with a heavy object and suddenly stops or starts under a heavy load state, the trigger switch mechanism 240 firstly controls the locking execution mechanism 230 to switch into a locking state, that is, the locking execution mechanism 230 can form a rigid connection locking relationship with the bearing plate 210, and at the moment, the degree of freedom of the shock absorber 220 is restrained by the rigid connection between the locking execution mechanism 230 and the bearing plate 210, so that even if the moving chassis bears an unbalance load due to the heavy load starting or sudden stopping, an impact force generated by the unbalance load can be only transmitted to the bearing plate 210 through the locking execution mechanism 230, the bearing plate 210 bears and offsets the impact force by virtue of the rigidity of the bearing plate 210, and the impact force can not act on the shock absorber 220, so that the problem that the shock absorber 220 is crushed and damaged due to overlarge unbalance load can not occur, and the safety and reliability of the moving chassis are ensured.

With reference to fig. 1 and fig. 4, in the present embodiment, two dampers 220 are provided, and the two dampers 220 are respectively disposed on two axial sides of the steering wheel body. This helps to improve the damping capacity of the rudder wheel 100. It will be readily appreciated that the shock absorber 220 may be a spring shock absorber 220 or other type of shock absorbing device. When the locking actuator 230 is in unlocking fit with the bearing plate 210, the spring damper 220 can generate telescopic floating when being impacted or vibrated by the outside, so that the effect of buffering and damping is achieved.

In some embodiments, the bearing plate 210 is provided with a lock engagement portion that can be locked or unlocked in engagement with the lock actuator 230. Therefore, when the locking actuator 230 is in contact fit with the locking fitting part, the impact force generated by heavy-load start and stop can be transferred to the force bearing plate 210, and the shock absorber 220 cannot be excessively compressed and damaged by crushing.

With reference to fig. 2 to fig. 4, in particular, based on the above embodiment, the locking engagement portion includes a locking groove 211, the locking actuator 230 includes a locking body 231, the locking body 231 is provided with a locking arm 231a, and the locking arm 231a can be inserted into the locking groove 211. Thus, when the locking arm 231a is inserted into the locking groove 211, the rotational degree of freedom between the force bearing plate 210 and the wheel disc 120 is restricted, the force bearing plate 210 cannot swing up and down relative to the bracket 150 during impact, and the shock absorber 220 can be prevented from being crushed by a heavy load due to the effect of the impact force. The limit matching mode of the locking arm 231a and the locking groove 211 is simple in structure and strong in practicability.

It will be readily appreciated that the amount of compression of the steering wheel 100 will be different when the weight of the items placed on the mobile chassis is different, and the overall height of the steering wheel 100 will also be different, which is directly characterized by the different spacing between the drive wheel 110 and the wheel disc 120, and the different length of intersection of the locking arm 231a and the bearing plate 210. In view of this, in still other embodiments, the locking grooves 211 are provided in at least two, and at least two locking grooves 211 are provided side by side in the height direction at the plate edge of the bearing plate 210, and the locking arm 231a can be inserted into any one of the locking grooves 211.

In this way, no matter how high the rudder wheel 100 is compressed by articles of different weights, it is always ensured that the locking groove 211 at the corresponding height can be inserted into the locking arm 231a, thereby protecting the shock absorber 220 from being crushed and damaged when the rudder wheel is heavily started or stopped.

With reference to fig. 2 to 4, further, the locking body 231 is further provided with an installation body 231b connected with the locking arm 231a, the installation body 231b is provided with an assembly hole, and the installation body 231b can be rotatably sleeved on the connection column of the steering wheel body through the assembly hole. The locking actuator 230 further includes an elastic torsion member 232, and the elastic torsion member 232 is configured to be sleeved between the hole wall of the assembling hole and the connecting column. The locking body 231 further includes an engagement arm 231c connected to the mounting body 231b, and the engagement arm 231c can come into contact with the trigger switch mechanism 240 to disengage the locking arm 231a from the locking groove 211.

With continued reference to fig. 2 and 3, the trigger switch mechanism 240 includes an actuator 241 and a actuating arm 242, the actuating arm 242 is connected to the actuator 241, and the actuating arm 242 can abut against the mating arm 231 c. The actuating arm 242 is connected to a driving shaft of the driver 241, and the driving shaft is used for driving the actuating arm 242 to rotate. The actuating arm 242 can rotate to push the locking body 231 to rotate integrally, so as to drive the locking arm 231a to separate from the locking groove 211.

When the mobile chassis normally travels, the steering wheel 100 needs to provide necessary damping and buffering, at this time, the driver 241 controls the actuating arm 242 to rotate towards the locking body 231, the actuating arm 242 contacts the engaging arm 231c and further pushes the engaging arm 231c, so that the entire locking body 231 can rotate by using the connecting column as a rotation center, in this process, the locking arm 231a can gradually disengage from the locking groove 211, the shock absorber 220 is released, and the shock absorber 220 can float through self telescopic deformation to eliminate shock or impact generated when the vehicle travels through an uneven road surface.

When the mobile chassis is started or stopped suddenly with heavy objects, the driver 241 controls the actuating arm 242 to be far away from the engaging arm 231c, and the locking body 231 is sleeved on the connecting column through the elastic torsion member 232, so that the locking body can have a tendency of rotating towards the actuating plate under the action of the elastic torsion member 232, and the locking arm 231a is pushed to be firmly inserted into the locking groove 211. On this basis, even if the heavy load is started and stopped and has produced the impact force, the impact force can not transmit bumper 220 yet, causes bumper 220 crushing damage, and the impact force only can transmit to bearing plate 210 through locking arm 231a on, generally speaking bearing plate 210's structural strength generally design has very big redundancy, so can reliably bear impact load, guarantees whole rudder wheel 100 structure safety.

Referring to fig. 2 and 3, in order to avoid interference between the actuating arm 242 and the engaging arm 231c when the actuating arm 242 is rotated, the locking body 231 cannot be pushed to rotate integrally. In some embodiments, the engaging arm 231c is provided with an avoiding inclined surface 231d, and the avoiding inclined surface 231d is used for making the actuating arm 242 more easily rotate to the lower surface of the engaging arm 231c, so as to push the locking body 231 to rotate.

With continued reference to fig. 4, further, the trigger switch mechanism 240 further includes a mounting bracket 243, and the driver 241 can be mounted on the steering wheel body through the mounting bracket 243. The mounting bracket 243 thus ensures that the actuator 241 is securely mounted on the steering wheel body. Alternatively, the driver 241 and the mounting bracket 243, and the mounting bracket 243 and the steering wheel body may be assembled and fixed by screwing, snapping, welding, and the like.

In this embodiment, the driver 241 may be a power device capable of outputting rotational power, such as a steering engine, a motor, and a rotary cylinder.

Of course, in other embodiments, the driver 241 may be a power device such as an air cylinder or an electric push rod for outputting linear power, and drives the actuating arm 242 to approach or separate from the actuating plate along a linear path to achieve the purpose of inserting or separating the locking groove 211 into or from the locking groove 211.

The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.

The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.

In the description of the present invention, it is to be understood that the terms "central," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the invention and to simplify the description, and are not intended to indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and are not to be considered limiting of the invention.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.

In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

In the present invention, unless otherwise expressly stated or limited, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through an intermediate. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.

It will be understood that when an element is referred to as being "secured to" or "disposed on" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and the like as used herein are for illustrative purposes only and do not denote a unique embodiment.

Claims

1. A suspension device characterized by comprising:

the trigger switch mechanism is arranged on the steering wheel body and can control the locking execution mechanism to switch between a locking state and an unlocking state; the bearing plate is provided with a locking matching part, the locking matching part can be locked or unlocked and matched with the locking executing mechanism, the locking matching part comprises a locking groove, the locking executing mechanism comprises a locking body, the locking body is provided with a locking arm, and the locking arm can be inserted into the locking groove.

2. The suspension device according to claim 1 wherein the number of the locking grooves is at least two, and at least two locking grooves are arranged side by side in the height direction at the edge of the bearing plate, and the locking arm can be inserted into any one of the locking grooves.

3. The suspension device according to claim 2 wherein the locking body is further provided with a mounting body connected with the locking arm, the mounting body is provided with an assembly hole, and the mounting body can be rotatably sleeved on the connecting column of the steering wheel body through the assembly hole.

4. The suspension device according to claim 3 wherein the lock actuator further comprises a torsion spring for engaging between the hole wall of the mounting hole and the attachment post.

5. The suspension device according to claim 4 wherein the lock body is further provided with an engagement arm connected to the mounting body, the engagement arm being capable of abutting against the trigger switch mechanism to disengage the lock arm from the lock groove.

6. The suspension device according to claim 5 wherein the trigger switch mechanism includes an actuator and an actuating arm, the actuating arm being in driving connection with the actuator, the actuating arm being abuttable with the engaging arm.

7. The suspension device according to claim 6 wherein the actuating arm is connected to a drive shaft of the actuator, the drive shaft being configured to drive the actuating arm to rotate.

8. The suspension device according to claim 6 wherein the engagement arm is provided with an escape ramp for making it easier for the actuating arm to urge the blocking body to rotate.

9. The suspension arrangement according to claim 6, characterized in that the trigger switch mechanism further comprises a mounting frame by means of which the driver can be mounted on the rudder wheel body.

10. The suspension device according to any one of claims 1 to 9 wherein the bearing plate is provided with a socket hole for socket fitting with a drive motor on the rudder wheel body.

11. The suspension device according to any one of claims 1 to 9 wherein the shock absorbers are provided in two for being provided on both axial sides of the rudder wheel body, respectively.

12. A steering wheel, comprising:

a steering wheel body; and

the suspension device according to any one of claims 1 to 11, which is provided on the rudder wheel body.

13. A mobile chassis comprising a steering wheel according to claim 12.