CN1317418A - Tangent-type wheel suspension system - Google Patents

Abstract

A tangent-type wheel suspension system for low-speed vehicle features that an almost vertical beam is said supension system can changes the concave-convex ground surface to slope, reducing the shock without damping spring. Its advantages include lower gravitation center, high power to pass through obstacle and simple and reliable structure.

Description

Tangent-type wheel suspension system

1. background of invention

This invention preceence is by the US Patent preliminery application file state that is numbered 60/082,558.Date is on April 21st, 1998, and name is called " wheel suspension system that small wheels overcomes big obstacle ".The US Patent that this application also is based on same inventor is sealed file up for safekeeping.Document number be 1997 429340,432511,429548,429131,428843,427754,428048; And 1998 442273,438665,444981,444459,441661,437590,437273,436836,436693,436206,436035,435779,435671,430641,431767,432317,434741,429977,429722.

This invention is relevant with wheel suspension system.The enhancing that conventional wheel suspension system is very big the function of this ancient invention of wheel, for road traveling, can make the object of wheel delivery reduce vibrations, and moving of wheel center of gravity is uneven in injustice.The gap variable of wheel and its carrier, thus when wheel ran into obstacle, spacing was shunk and is made the wheel obstacle negotiation, keeps the momentum of carrier constant simultaneously, had so just raised the center of gravity of the contained object of wheel inevitably.And (for example, roller skate) in some cases has very big defective.And the contraction of wheel object distance contained with it requires wheel object contained with it to link with elastomeric material, and this has just increased its complexity and cost, and has lowered reliability and stability in some applications, even brings certain vibrations for contained object.

The present invention has introduced a kind of wheel of brand new in essence hitch, hang opposite with routine, the spacing of wheel and contained object can't be shunk under routine in the new system, and that center of gravity that means object can make object have maximum stability with the same low without suspension.And this new-type suspension can need any type of elastomeric material (for example spring), thereby new system architecture is simple, and is reliable, can not bring vibrations to object.The present invention has overcome the resilience that conventional suspension is brought, and can be applied to the low speed device of form of ownership, as bicycle, and trailer, scooter, roller skate, slide plate, roller bearing skating, wheelchair, baby's walking vehicle, carriage, toy etc., and some technical applications.

2. invention narration

Preferably use an example to illustrate basic theory of machines of the present invention.In the trifle below, we describe this novel suspension with the bicycle front-wheel as a simplified model, illustrate its physical background.

2.1 the notion of tangent-type suspension (being called for short TS)

Fig. 1-the 3rd, TS are applied to the different angles view of bicycle front-wheel.

Figure 1 shows that front wheel spindle 2 can be installed on two rocking arms 1.

Fig. 2 is the front elevation that is equipped with the bicycle front-wheel of TS.

Notice that the other end of these two rocking arms is linked to front fork and rotatable at node 3, and link 3 because framework weigh less than wheel shaft 2.Wheel 5 can be around axle 2 rotations.Fig. 3 is the lateral plan of same device.Note, rocking arm 1 vertical and ground, and the binding of wheel and rocking arm is than the binding height of front fork and rocking arm.(position of this rocking arm is called the normal position).In actual design, linking 3 should be more exquisite in to have torsional rigid.Rocking arm 1 should be able to be spent around point of contact 3 front and back at least in two-way rotation 90.(, must be limited) if more senior general is deletrious.

2.2 the physical background of TS

The bicycle front-wheel that Fig. 4-6 has shown no any suspension is clear an obstacle how.

The curve at Fig. 6 top has shown the track that framework moves in time.A turnover is arranged in the note curve, mean that momentum has a jump when wheel touches obstacle, thereby an impact effect is arranged on framework, cause that the jump of momentum changes.More accurate theory, track derivative in time is that the point of transition in the speed vector function geometric locus means that speed vector has a jump, thereby causes the point of transition place that infinitely-great vector acceleration is arranged, i.e. speed derivative in time.

Fig. 7-10 has shown how TS eliminates impact endurance test shock.

Fig. 7 has shown the bicycle front-wheel that is equipped with TS of forward projection obstacle motion.

The lines at top have shown the path of motion of framework among the figure.

Fig. 8 has shown the moment of wheel contact projection obstacle.Notice that wheel is at A point kiss the earth, at B point contact obstacle.

Fig. 9 shows that because wheel is very light for framework and cyclist, it has stopped at this moment, and framework level and smooth the moving that under the restriction of rocking arm, make progress forward.The curve at top has shown the track that framework moves in time among Fig. 9.(we cry its crucial moment when rocking arm is flapped toward B point position, and through A point and core wheel and through the straight line of B point and core wheel at angle that wheel is formed centrally angled key); rocking arm acts on the power of wheel shaft and crosses protruding obstacle with beginning that wheel is moved, as shown in figure 10.The curve at Figure 10 top has shown the track history of frame movement.Different with curve among Fig. 6 is that this curve is smooth continuously, thereby does not have impact effect on framework in whole process.Notice that Fig. 6 is the same with momentum direction shown in Fig. 9 curve crossing the obstacle front and back.So just tell us, TS can not cause " overbump " in theory.In reality, the momentum direction of Fig. 6 changes wants big, should play bigger degradation of energy because impact.That is exactly why when on the road surface of the cycling that is equipped with TS in injustice, and it is very steady that the cyclist can feel.

Figure 11-14 has shown how TS reduces vibration (it has eliminated vibration fully in this example in low-speed motion) when running into the depression obstacle.

Figure 11 has shown that the wheel of equipment TS moves to the depression obstacle.

Figure 12 has shown that its (and framework) will be rotated down around A, touch ground B until it when the limit A of wheel contact depression,

As shown in figure 13.Wheel will temporarily stop then, and framework continues to move forward around wheel shaft under the restriction of rocking arm.Figure 14 shows that wheel will begin again along with framework moves when rocking arm is shifted to the normal position.Notice that the curve at Figure 14 top has shown the path of motion of framework in overall process, it is continuous smooth variation, thereby does not impact (when low speed).

Figure 63 has described the comparison of TS system and no TS system.Have TS, people will feel that projection on the road surface or pit are as level and smooth slope.

2.3 rotational resistance compensation tangent line suspension (being called for short CTS) and rotational resistance overcompensate tangent line suspension (being called for short SCTS)

Because before the contact obstacle, need be in the normal position in order to eliminate the vibration rocking arm, sometimes preferably produce a moment loading in (for example node is between rocking arm and framework) on the rocking arm from framework around node 3, when the wheel that TS is housed when level and smooth horizontal surface moves, this resistance is enough to the moment that can balance be produced by rotational resistance, makes rocking arm be in the normal position at this moment.Have moment and just be defined as CTS with the TS that achieves the above object.

Figure 15,16 has shown the wheel that is equipped with CTS under the different conditions.

Figure 15 has shown the state of free load.In this example, moment is produced by spring 6.Notice that rocking arm turns forward because of this moment.

Figure 16 has shown principle same when being subjected to load and constant-speed operation in smooth horizontal surface.Notice that because load and rotational resistance, rocking arm is in the normal position, to prepare to cross raised or sunken obstacle.This moment should be adjusted along with acting on the load on the wheel, to form CTS, because rotational resistance is decided by load and road surface and bearing resistance coefficient.If we increase the moment on the CTS a little, we have just obtained SCTS.

Figure 15,17 has shown the wheel that SCTS is housed under the different conditions.

Figure 15 has shown free load condition.

Figure 17 has shown at bearing load and constant-speed operation in the same principle of smooth horizontal surface.Notice that because spring strong than among the CTS, even bearing load and rotational resistance, rocking arm can not be in the normal position, but turns forward a bit.The advantage of SCTS is that wheel has the degree of freedom (as shown in figure 17) that a bit makes progress, and it had the advantage of conventional suspension when small road surface rose and fell when running into.When the obstacle on the road during greater than the upwards degree of freedom of wheel, the performance of TS just begins to work.

3. be applied to independent wheel

Figure 18 is the example that a CTS is applied to the bicycle front-wheel.Notice that front fork has a snap hook 7 forward.Extension spring 6 links wheel shaft 2 and hook 7 forms the moment that constitutes CTS, and you can see that under load, when running on plane 8 with Chang Su, rocking arm is in the normal position.

Figure 19 is another example that CTS is applied to the bicycle front-wheel.Notice that rocking arm has a snap hook 7 backward.Extension spring 6 connect link up with 7 and front fork CTS is provided moment.The difference of these two examples is that when rocking arm is in the normal position rate of change of moment is different along with the rotation of rocking arm.On the other hand, this two routine road pavement susceptibility difference of jolting.

Figure 20-22 is examples that a SCTS is applied to the bicycle front-wheel.

Figure 23 is the example that a CTS is applied to the bicycle front-wheel.Notice that spring is by moment that another position produced.This position allows wheel to rock back and forth more freely.

Figure 24 is the perambulator lateral plan that is equipped with TS.

Figure 26 is the front elevation of this perambulator.

Figure 25 is the tail view of this perambulator.

Figure 27 is another different modes (lateral plan, another side is symmetrical in it) that TS is applied to the bicycle front-wheel.Notice that wheel shaft links front fork by rocking arm, in this example, rocking arm is the compressional vibration resorber, or other variable length mode, makes rocking arm can extend or shrink (rocking arm can not be crooked to guarantee the lateral rigidity of wheel certainly).

Figure 27 is the situation that wheel runs into protruding obstacle.

Figure 28 shows, when front fork shook before crucial moment, wheel stops.Notice that rocking arm draws longlyer than it when Figure 27 now, but still shorter than wheel radius.In TS, use the variable length rocking arm not only to subdue vibration, and reduced the change of momentum direction, thereby the bicyclist can feel more steady than pure TS system.

It also is a good idea that TS crosses big obstacle for the small wheels pulsation-free.Figure 29 is the view along the wheel sense of motion.Wheel is around kinematic axis 2 rotations, and this energy rotates around the point of contact 3 with framework.Note, link 3 positions and be lower than position 2.Kinematic axis by extension spring 6 framework with or be in the normal position when leaving the level land, as shown in figure 29.

Figure 30 is the lateral plan with sampling device.Ground 8 is flat, when the normal position, links 2 vertical being in and links 3 tops.

Figure 31 is the same with Figure 30 visual angle, but wheel has run into obstacle.In this example, the momentum of framework will make and link 3 around linking 2 rotations, the momentum that makes progress of framework that linked 2 level and smooth as shown in the figure changes.When rocking arm is flapped toward critical angle, it will haul wheel and turn over obstacle.

Figure 32-the 33rd, CTS are applied to the roller skates front-wheel to reduce lateral plan and the front elevation that impacts.Can improve the ability of obstacle negotiation like this, but have more economical structure.Note, can open " window " in each side of framework, make rocking arm can with the framework same level on shake.Because this consideration is loaded down with trivial details, I am not prepared as it and draw other figure again, and the CTS that it is to be noted can sacrifice original advantage and be applied.Conventional spring suspension also can be applied to the afterbody of roller skate to utilize bigger space on the wheel.

Figure 34,35 has shown that each wheel all is equipped with the different views of the roller skates of independent CTS device.Because CTS can reduce the framework center of gravity as much as possible, so be very suitable for roller skate.

Figure 35 has shown the lateral plan of roller skate.Note, suppose that here roller skate bears load, and travel at the uniform speed in the plane.Must adjust spring 6, make under above-mentioned state, rocking arm shrink in the normal position (as, perpendicular to ground), to satisfy the requirement of CTS.There are many modes to come rocking arm is applied moment, with balance rotational resistance in the plane.Spring among the figure is one of them example.Figure 34 is the tail view with sampling device.Notice that rocking arm is satisfied with (wheel can be turned about this axis) on the wheel shaft, the other end is on binding of lower position hinge and framework.

By adjusting spring length, can form SCTS independently or the independently combination of CTS and SCTS easily.

Figure 39 is the wheel section drawing with a kind of more succinct mode device TS.We are its TS wheel.Pass core wheel (and the outside of wheel can rotate around core wheel) with the difference of conventional wheel, and axle is rotatably to be linked to framework (or rotatably passing core wheel) with being its eccentric shaft.This TS wheel can apply to various running gears to reduce vibration.

Figure 40, the 41st is loaded on the different views of the same a kind of wheel that is equipped with TS on intermediary's framework.Adopt intermediary's framework can allow to select more freely point of contact position and rocking arm length.

Figure 40 is the lateral plan of this device.Notice that the point of contact of intermediary's framework and rocking arm is positioned at differing heights, and rocking arm is rotated more freely in a direction.The other end of rocking arm and framework are rotatable bindings, and this binding need be satisfied the needs of TS, the parallel motion of permission rocking arm.

Figure 41 is the tail view with sampling device.Notice that rocking arm is asymmetric at left and right side.This is the consideration for stability.Intermediary's framework has been arranged, can settle rocking arm at diverse location very freely.

Figure 37 is that the another kind of TS changes.In this device, for simple in structure, by the bearing 3 of wheel one side, the rotatable rocking arm 1 that is linked to of framework.

Figure 36 is the common form of TS.

Figure 38 is TS wheel as defined above, a kind of TS device of simplifying most.In this device, core wheel 1 is as rocking arm.Wheel shaft (being satisfied with on the framework 4) passes core wheel by rotatable bearing 3 non-centrally.

4. link the application of wheel

When TS thought was used for roller skate, we can hang the whole wheel device.Figure 42 is the lateral plan of wheel arrangement.It between wheel rotation point of contact 2.3 are linked to the main frame (not shown) by swivel joint.Figure 43 is the tail view of this device, can be clear that 3 rotations are linked to main frame.9 places and main frame 4 that spring 6 links on the wheel are so that make rocking arm recover the normal position when uneven road surface travels.

Figure 44 is the whole lateral plan that the roller skate of TS is housed.Rotation binding between wheel arrangement and the main frame is hindered by framework, shown in the figure dotted line.

When being applied to roller skate, the advantage of TS suspension has obtained giving full play to, because it makes roller skate be in a kind of extremely low position.

Figure 45 is the roller skate lateral plan that is equipped with the SCTS device.Notice that the spring that links wheel arrangement and framework draws forward to reach the needs of SCTS.

Figure 46 ~ 48th, SCTS is applied to the different angles view of the another one example of roller skate.In this example, rotation point of contact 2 positions of wheel arrangement and rocking arm are higher so that rocking arm length equals wheel radius (noticing that if rocking arm is longer than the wheel radius, so at crucial moment, the framework center of gravity has caused " overbump " to be lifted to such an extent that be higher than protruding obstacle).Extension spring 6 (metal or plastics are made) can be replaced into stronger or more weak extension spring easily, to reach the expectation of SCTS or CTS.

TS, CTS or SCTS also can be easy to be applied to the roller bearing skating of car formula, slide plate, roller skiing and other amusement or conveying arrangement.They can be used to the whole wheel system, or are applied to each wheel independently, or the subsystem of wheel system is to reach different-effect.

Figure 49～51st is equipped with the different views of the CTS roller skate that uses the rope rocking arm.

Figure 49 is the lateral plan that the front and rear part is connected with the wheel arrangement of rope rocking arm.Preferably consistent before and after the length of rocking arm.As long as their on the gos are parallel to each other, they can be symmetry or asymmetric distribution in the wheel both sides.The wheel arrangement surface needs level and smooth so that it can free motion.

Figure 51 is the lateral plan of whole roller skate device.

Figure 50 is the tail view of same device.Notice that framework is by the surface contact and shake rope support wheel arrangement.Thereby frame inner surface needs very level and smooth, and framework must guarantee the side rigidity.Noting shaking rope has certain degree of dip, helps to stablize wheel arrangement when operation, and helps framework to resist side force when large profound step slides.

Figure 52, the 53rd, TS are applied to another example of roller skate, have used fake 1 to replace tangling originally single rope rocking arm of two ends hook.It has kept all advantages of rope rocking arm, and the comparable original single rope of fake approaches half, because can easily fake be hung between the hook 2 and 3, tightens up a rope without a doubt.Notice that two hooks that link fake must wait radius keeping the distance between them constant, the friction of rope and hook when minimizing is shaken.The hook spacing preferably is not more than the wheel radius to avoid " overbump ".Notice that shoes are not drawn in the drawings.Usually they are contained in framework upper.Wheel arrangement is free to slide in framework, thereby the wheel arrangement surface must be smooth.Hook also places between framework and the wheel arrangement as steady arm.Thereby its surperficial light requirement sliding (notice that for a pair of hook, top belongs to the part of wheel arrangement, the bottom belongs to the part of framework).Figure 54 is the lateral plan of roller skate, and its equipment is called the device (being called for short MTS) that the compound type tangent line hangs again.TS is applied to preceding wheel apparatus, and the there does not have the space to allow wheel upspring, and trailing wheel has partly used conventional suspension gear, and the there has living space and allows wheel upspring.Notice that load bearing spring 10 is stage clips.The binding of afterbody is the sidesway of limiting frame (or footwear) with respect to wheel, but allows front and back free motion up and down.This only is in order to describe its degree of freedom, and its is both not exclusive also non-through optimizing.For example, can with the springs of " C " type replace 10 and afterbody link, or use the surface contact to replace 6.Load bearing spring 10 must directly act on afterbody, on the wheel shaft or near it, or after it, so that anterior TS can work normally.(otherwise overbump will appear in anterior TS).MTS superior is in and not only kept TS in it and be applied to the characteristic of all wheels in the wheel arrangement, and has the advantage that conventional suspension gear brings 3 wheels of afterbody.These advantageous combination also can be passed through without MTS, but reach with the more independently combination of TS and conventional suspension gear.For example, can use TS separately, and use conventional suspension separately, or adorn an energy disperser in the rear heel of footwear at all the other wheels in front-wheel.

5. be applied to the coaxial sub-instance of taking turns

TS (CTS or SCTS) can use on the coaxial wheel, and shown in Figure 55～58, TS uses on the hand barrow, has improved it and has overcome the ability of concavo-convex obstacle.

Figure 55 is the hand barrow lateral plan that TS is housed, and Figure 56 is its back view.Notice that rocking arm is fixedly connected with axle, and axle links with the framework rotation, the rocking arm rotation is linked on the wheel.

Figure 57 is the another one example that TS is applied to hand barrow.Figure 58 is its tail view.TS overcomes concavo-convex obstacle and reduces the ability of impacting except improving dolly, also can be more steady than the conventional suspension of subduing the framework perpendicular movement.Thereby the dolly that TS is applied to deliver weight, electronic machine, commodity etc. in this example is very good.

Figure 59 is the back view that TS is applied to the two-wheel perambulator.Notice that " V " profile shaft passes three bearings (or being reduced to the hole), two at core wheel, and one on framework.

Figure 60 is the lateral plan of Figure 59 middle frame, is applied on the steering wheel.

Figure 61 is the lateral plan of Figure 59 middle frame, is applied on the one-way wheel.

This simple TS device has been subdued the impact that two-wheel produces when running into concavo-convex obstacle.

Figure 62 is another example that TS is applied to the two-wheel perambulator.Notice that axle 12 is fixed on the two-wheel.Rocking arm 1 is linked to wheel shaft at the one end by wheel shaft 2 rotations, and links and framework 4 by bearing 3 rotations at the other end.Notice that framework is " O " type, so that the motion space of wheel shaft 12 to be provided.

Figure 64, the 65th, TS is applied to another example of roller skate wheel.Figure 64 is a lateral plan, and Figure 65 is the tail view.Wherein, the 1st, the outside that the TS wheel contacts with ground; The 2nd, TS takes turns inner; The 3rd, wheel shaft, rotatable accentric vertically passes wheel inside; The 4th, rope hook (being a hole in this example); The 5th, ball bearing of main shaft; The 6th, framework; The 7th, the shoes part: the 8th, extension spring.Partly or entirely wheel can use the TS wheel.Notice that the wheel shaft two ends are fixed on the framework, so framework should be very firm.Can pivot in the inside of TS wheel, it is inner that the vertical and accentric of axle passes wheel, and the outside of TS wheel can be around its internal freedom rotation.There is an aperture wheel inside as rope hook.This hole is passed in an extension spring, and two ends are fixed on the framework, upwards and slightly forward draws wheel, reaching the functional requirement of CTS, and can be when lifting less touch with the ground, core wheel can not drop on the below of axle.

Claims (20)

1. a wheeled suspension gear is characterized in that it includes framework and some BOGEY WHEELs and rocking arm, wherein

(1) axle of at least one above-mentioned wheel is connecting the upper end of an above-mentioned rocking arm in a side, or is connecting the upper end of a pair of isometric rocking arm in the wheel both sides,

(2) said wheel can rotate around the axle of self, or the said axle of said swing arm pivot shaft binding,

(3) the framework pivot is linking the low side of rocking arm,

(4) each said rocking arm can be around the rotation of the junction of itself and wheel, and can rotate on the plane parallel with the wheel plane of revolution around the junction of itself and framework,

(5) stop or when at the uniform velocity being displaced into smooth plane, each said rocking arm is vertical substantially with ground when device with this suspension;

2. the wheeled suspension gear of a kind of tangent line according to claim 1 is characterized in that, each said rocking arm length is less than or equal to the radius that it connects wheel;

3. the wheeled suspension gear of a kind of tangent line according to claim 1 is characterized in that said rocking arm can be flexible but not soft device for impact absorbing;

4. the wheeled suspension gear of a kind of tangent line according to claim 1 is characterized in that, said rocking arm can be that soft resilient rope, spring or other can be connected to the rocking arm upper and lower side thing of wheel shaft and framework.

5. the wheeled suspension gear of a kind of tangent line according to claim 2, it is characterized in that, round said framework and rocking arm junction, can use spring or other elastomeric material to produce a moment, act on the moment that framework rocking arm junction produces to slacken rotational resistance, the former can make said rocking arm more can keep vertical when device is displaced into the smooth ground of level or compare a little with institute bonded assembly framework and lean forward;

6. the wheeled suspension gear of a kind of tangent line according to claim 2 is characterized in that, said rocking arm can be soft but inelastic rope, and its upper and lower side is individually fixed in wheel shaft and framework;

7. the wheeled suspension gear of a kind of tangent line according to claim 6, it is characterized in that, can use spring or other elastomeric material to connect said wheel shaft and framework on said rope, point of connection around rope and framework produces moment, acts on the moment of framework and the generation of rope junction to subdue rotational resistance;

8. suspension has the rocking arm of upper and lower framework and some, wherein

(1) one or more BOGEY WHEEL is installed on the said underframe,

(2) framework connect with the parallelogram shape about said rocking arm was incited somebody to action,

(3) each said rocking arm upper end and said underframe link, and said each rocking arm lower end chains in said upper frame,

(4) each said rocking arm can rotate on the plane parallel with the wheel plane of revolution with the chain node of framework up and down around it,

(5) static or when moving with constant speed on level and smooth horizontal surface, said rocking arm is perpendicular to the ground substantially when said device;

9. the wheeled suspension gear of a kind of tangent line according to claim 8 is characterized in that each said rocking arm can be less than or equal to the radius that is positioned on the minimum wheel in the said underframe wheel;

10. institute's described a kind of tangent line wheeled suspension gear according to Claim 8, it is characterized in that, can use spring or other elastomeric material to act on said framework up and down, weaken the moment that rotational resistance is produced on said rocking arm, to produce a moment, make said rocking arm when the device that is equipped with said suspension on level and smooth horizontal surface during with constant motion, more accurate comparing perpendicular to ground or with the upper frame that they are chained leaned forward a little;

11. the wheeled suspension gear of a kind of tangent line according to claim 8 is characterized in that, said rocking arm can be flexible but not soft impact absorption thing;

12. the wheeled suspension gear of a kind of tangent line according to claim 9, it is characterized in that, part or all of described rocking arm can be soft but inelastic rope, the upper end of each said rope can be chained in said underframe, and the lower end of each said rope chains in said upper frame, and can locate underframe and make its side steady;

13. the wheeled suspension gear of a kind of tangent line according to claim 9, it is characterized in that, each said rocking arm can be a fake, be connected on the hook of said framework up and down, and two said hooks that are connected in same rocking arm fake such as must be at the cylinders of radius, and said fake can be shaken by frictionless link hook;

14. the wheeled suspension gear of a kind of tangent line according to claim 9, it is characterized in that, all said rocking arms can be placed a plane, this plane is perpendicular to the wheel plane of revolution, and connects said framework up and down in another position of leaving said rocking arm with usual pressure spring or shock absorber;

15. the wheeled suspension gear of a kind of tangent line according to claim 12, it is characterized in that, rope is around them and being connected of upper frame, can use spring or other elastomeric material to act on said framework up and down, weaken the moment that rotational resistance is produced on said rope, to produce a moment, make said rope when the device that is equipped with said suspension on level and smooth horizontal surface during with constant motion, more accurate comparing perpendicular to ground or with the upper frame that they are chained leaned forward a little;

16. the wheeled suspension gear of a kind of tangent line according to claim 13, it is characterized in that, fake is around them and being connected of upper frame, can use spring or other elastomeric material to act on said framework up and down, weaken the moment that rotational resistance is produced on said fake, to produce a moment, make said fake when the device that is equipped with said suspension on level and smooth horizontal surface during with constant motion, more accurate comparing perpendicular to ground or with the upper frame that they are chained leaned forward a little;

17. the wheeled suspension gear of a kind of tangent line according to claim 14, it is characterized in that; rocking arm is around them and being connected of upper frame; can select for use spring or other elastomeric material to act on said framework up and down; to weaken the moment that rotational resistance is produced with moment of generation on said rocking arm; make said rocking arm when the device that is equipped with said suspension on level and smooth horizontal surface during with constant motion, more accurate comparing perpendicular to ground or with the upper frame that they are chained leaned forward a little;

18. a wheel has the outside to contact with ground, its inside is:

(1) said external energy rotates around inside,

Article (2) one, axle is perpendicular to said wheel and non-central pass said inside;

19. the wheeled suspension gear of a kind of tangent line according to claim 18 is characterized in that, said inside can rotate around said axle, and the one or both ends of said axle can be positioned on the framework;

20. the wheeled suspension gear of a kind of tangent line according to claim 18 is characterized in that, said axle is fixed on the said internal part, and the one or both ends of said axle are connected on the framework with pivot.

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