CN211567581U - Suspension structure - Google Patents

Abstract

The application discloses suspended structure relates to the technical field of robots. The suspension structure comprises a base, a swing arm, a hub motor, an elastic piece and a pre-tightening piece; the base is provided with a rotating shaft, the swing arm is rotatably arranged on the rotating shaft through a sleeve, and the pre-tightening piece is used for pre-tightening the sleeve on the base along the axial direction; the motor shaft of in-wheel motor installs in the swing arm, and the motor shaft is parallel arrangement with the pivot, and the one end of elastic component is connected in the base, and the other end of elastic component is connected in the swing arm. The suspension structure is applied to the wheeled robot, the overall moving stability of the suspension system can be improved, and wheel spacing errors are reduced, so that the driving control of the chassis of the wheeled robot is more accurate.

Description

Suspension structure

Technical Field

The application relates to the technical field of robots, in particular to a suspension structure.

Background

Wheeled mobile robots typically employ a combination of hub motors and a drive chassis. The driving chassis is provided with corresponding power supply components and sensor components as the driving basis of the driving chassis, and the robot driving system controls the driving chassis through speed control and position feedback so as to realize the movement of the wheeled mobile robot.

When the wheeled mobile robot moves, the suspension system greatly shakes due to the change of the terrain, and the driving control of the chassis is not facilitated.

SUMMERY OF THE UTILITY MODEL

The application provides a suspension structure is applied to wheeled robot, can improve the holistic stability of removing of suspension, reduces wheel interval error for the drive control on wheeled robot chassis is more accurate.

The application provides a suspension structure which comprises a base, a swing arm, a hub motor, an elastic piece and a pre-tightening piece; the base is provided with a rotating shaft, the swing arm is rotatably arranged on the rotating shaft through a sleeve, and the pre-tightening piece is used for pre-tightening the sleeve on the base along the axial direction; the motor shaft of in-wheel motor installs in the swing arm, and the motor shaft is parallel arrangement with the pivot, and the one end of elastic component is connected in the base, and the other end of elastic component is connected in the swing arm.

Above-mentioned technical scheme, swing arm and elastic component cooperate jointly, can make the swing arm drive wheel hub motor under the effect of elastic force and cushion the swing from top to bottom based on the base to let wheeled robot be at the adaptable uneven ground of height of removal in-process, guarantee wheeled robot at the ascending mobility stationarity of vertical side. The sleeve is pre-tightened on the base along the axial direction by the pre-tightening piece, so that no axial movement gap exists between the sleeve (together with the swing arm) and the base, and the wheel spacing error of the two hub motors arranged on the chassis of the wheeled robot is further reduced in the up-and-down swinging process, so that the driving control of the chassis of the wheeled robot is more accurate, and the movement stability of the wheeled robot in the horizontal direction is ensured.

In a first possible implementation manner of the present application, the base includes a base body, the base body is in an L shape with a rotation groove formed at one end, and the rotation shaft abuts against the rotation groove; the sleeve is rotatably sleeved on the rotating shaft and is positioned between the rotating shaft and the groove wall of the rotating groove along the axial direction; the pre-tightening piece is arranged between the rotating shaft and the sleeve along the axial direction, so that the sleeve is abutted against the groove wall of the rotating groove through the pre-tightening force.

According to the technical scheme, the base body of the base forms a rotating groove, and the sleeve is sleeved on the rotating shaft and then positioned between the rotating shaft and the groove wall of the rotating groove, so that the sleeve and the rotating shaft can be conveniently disassembled and positioned; the pre-tightening piece is arranged between the rotating shaft and the sleeve, and the sleeve abuts against the groove wall of the rotating groove through the pre-tightening force, so that no axial movement gap exists between the sleeve (together with the swing arm) and the base.

In combination with the first possible implementation manner of the present application, in a second possible implementation manner of the present application, the swing arm includes a first swing link and a second swing link; one end of the first swing rod is used for mounting a motor shaft of the hub motor, and the other end of the first swing rod is rotatably sleeved on the rotating shaft through a sleeve; the second swing rod is connected to the first swing rod, and the second swing rod is connected to the elastic piece.

Above-mentioned technical scheme, the swing arm includes first pendulum rod and second pendulum rod, is convenient for carry out the installation of motor shaft, sleeve pipe and elastic component respectively.

In combination with the second possible implementation manner of the present application, in a third possible implementation manner of the present application, a shaft end, a shaft shoulder and a shaft body are formed on the rotating shaft, and the diameters of the shaft end, the shaft shoulder and the shaft body are sequentially reduced; the shaft end is abutted against the outer side surface of the rotating groove; the shaft body penetrates through the wall of the rotating groove, so that the shaft shoulder is abutted against the wall of the rotating groove, and the shaft shoulder, the shaft body and the rotating groove jointly enclose a space for mounting the sleeve and the pre-tightening piece; the shaft body is sleeved with the pre-tightening piece, and the pre-tightening piece is respectively abutted against the shaft shoulder and the sleeve.

Above-mentioned technical scheme, the shape of pivot can be convenient for it form the space that is used for installing sleeve pipe and pretension piece after being connected with the rotation groove for pretension piece installation back is inseparabler with pivot and the cooperation of rotation groove on the axial direction, has played the effect of spacing pretension piece.

With reference to the third possible implementation manner of the present application, in a fourth possible implementation manner of the present application, the sleeve includes a first sleeve and a second sleeve; the first sleeve and the second sleeve are arranged in a mirror image mode along the axial direction to form a mounting surface for mounting the first swing rod; the first sleeve and the second sleeve are respectively abutted to two sides of the first swing rod, the second sleeve is abutted to the groove wall of the rotating groove, and the pre-tightening piece is arranged between the shaft shoulder and the first sleeve along the axial direction.

According to the technical scheme, the first swing rod is installed between the first sleeve and the second sleeve, the first sleeve and the second sleeve are respectively and independently abutted to two sides of the first swing rod along the axial direction, and the first swing rod can be adaptive to installation of the first swing rods with different thicknesses. When the thickness of the first swing rod is larger than the sum of the heights (namely the length dimension along the axial direction) of the first sleeve and the second sleeve, a gap is reserved between the first sleeve and the second sleeve on the axial direction contact surface of the first swing rod, the first sleeve and the second sleeve are respectively abutted to two ends of the first swing rod along the axial direction, and the pre-tightening piece is arranged between the shaft shoulder and the first sleeve along the axial direction, so that the large-size first swing rod is pre-tightened and installed on the rotating shaft without replacing sleeves with other sizes.

In combination with the second possible implementation manner of the present application, in a fifth possible implementation manner of the present application, the base further includes a limiting plate; a space for the first swing rod to swing is reserved between the first swing rod and the base body; the limiting plate is connected to the bottom end of the rotating groove to limit the swinging stroke of the first swinging rod.

According to the technical scheme, a space for the first swing rod to swing is reserved between the first swing rod and the base body, so that the first swing rod can swing upwards and is close to the base body, the base body can limit the maximum upward swinging stroke of the first swing rod, and the safety protection effect is achieved. When the first swing rod swings downwards, the limiting plate is used for limiting the maximum stroke of the downward swinging of the first swing rod, and the safety protection effect is achieved.

With reference to the second possible implementation manner of the present application, in a sixth possible implementation manner of the present application, the base further includes an adjusting bolt and a slider; the top end of the base body is provided with a swing hole for the second swing rod to penetrate out, the adjusting bolt is connected to the top end of the base body through the bolt seat and is far away from the swing hole, the sliding block is connected to the adjusting bolt and is connected to the base body in a sliding mode, one end of the elastic piece is connected to the sliding block, and the other end of the elastic piece is connected to the second swing rod.

According to the technical scheme, the second swing rod penetrates out of the top end of the base body, so that the second swing rod is conveniently connected with the elastic piece positioned at the top end of the base body; meanwhile, the second swing rod is approximately embedded in the base body, the overall size of the suspension structure is further reduced, and the overall integration level is higher. The adjusting bolt is matched with the sliding block, so that the pretensioning force of the elastic piece can be adjusted conveniently, and the debugging is facilitated.

In combination with the sixth possible implementation manner of the present application, in a seventh possible implementation manner of the present application, the elastic member is a tension spring; the top end of the second swing rod is provided with a first hook groove, the top end of the sliding block is provided with a second hook groove, the first hook groove and the second hook groove are arranged in a back-to-back mode, and two ends of the tension spring are connected to the first hook groove and the second hook groove respectively.

According to the technical scheme, the first hook groove in the second swing rod and the second hook groove in the sliding block are arranged, so that the tension spring can be conveniently and rapidly connected to the second swing rod and the sliding block respectively, and the suspension structure is easy to assemble and disassemble.

With reference to the second possible implementation manner of the present application, in an eighth possible implementation manner of the present application, the suspension structure further includes a fixing seat; the first swing rod is provided with a connecting hole for the motor shaft of the hub motor to penetrate; the fixing seat is connected to the bottom end of the second swing rod so as to abut against a motor shaft of the hub motor.

According to the technical scheme, the motor shaft penetrates out of the connecting hole in the first swing rod, so that the motor shaft can rotate and can swing up and down under the driving of the first swing rod. The fixing seat is used for supporting the motor shaft along the axial direction, and plays a role in installation protection.

In combination with the first possible implementation manner of the present application, in a ninth possible implementation manner of the present application, the two ends of the base body are respectively formed with a mounting seat, and the mounting seat is provided with a threaded hole.

Above-mentioned technical scheme, the mount pad is used for installing suspended structure on wheeled robot's chassis.

Drawings

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

FIG. 1 is a schematic view of a suspension structure in an alternative embodiment of the present application from a first perspective;

FIG. 2 is a schematic view of a suspension structure in an alternative embodiment of the present application from a second perspective;

3 FIG. 3 3 3 is 3 a 3 sectional 3 view 3 taken 3 along 3 line 3 A 3- 3 A 3 in 3 FIG. 32 3; 3

Fig. 4 is an enlarged view of the position iv in fig. 3.

Icon: 10-a suspension structure; 100-a base; 110-a rotating shaft; 112-shaft end; 114-shoulder of shaft; 116-a shaft body; 122-a first sleeve; 1222-a first mounting surface; 124-a second sleeve; 1242-second mounting face; 130-a substrate; 132-a rotating slot; 1322-a cell wall; 134-swing hole; 136-a mount; 1362-threaded hole; 140-a limiting plate; 150-adjusting bolts; 160-a slider; 162-a second hook groove; 170-bolt seat; 210-a first swing link; 220-a second swing link; 222-a first hook groove; 300-a hub motor; 310-a motor shaft; 400-an elastic member; 500-preload pieces; 600-a fixed seat; 700-bolt; 800-screw.

Detailed Description

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

Thus, the following detailed description of the embodiments of the present application, presented in the accompanying drawings, is not intended to limit the scope of the claimed application, but is merely representative of selected embodiments of the application. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

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

In the description of the present application, it is to be noted that the terms "inside", "below", and the like refer to orientations or positional relationships based on orientations or positional relationships shown in the drawings or orientations or positional relationships that are conventionally arranged when products of the application are used, and are used only for convenience in describing the application and simplifying the description, but do not indicate or imply that the devices or elements referred to must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the application. Furthermore, the terms "first," "second," and the like are used merely to distinguish one description from another, and are not to be construed as indicating or implying relative importance.

In the description of the present application, it is also to be noted that, unless otherwise explicitly specified or limited, the terms "disposed" and "connected" are to be interpreted broadly, e.g., as being either fixedly connected, detachably connected, or integrally connected; they may be mechanically coupled, directly coupled, indirectly coupled through intervening media, or may be interconnected between two elements. The specific meaning of the above terms in the present application can be understood in a specific case by those of ordinary skill in the art.

In this application, unless expressly stated or limited otherwise, the first feature may be directly on or under the second feature or may include both the first and second features being in direct contact, but also the first and second features being in contact via another feature between them, not being in direct contact. Also, the first feature being above, on or above the second feature includes the first feature being directly above and obliquely above the second feature, or merely means that the first feature is at a higher level than the second feature. A first feature that underlies, and underlies a second feature includes a first feature that is directly under and obliquely under a second feature, or simply means that the first feature is at a lesser level than the second feature.

It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict.

When the wheeled mobile robot moves, the wheeled mobile robot is easy to slip and shake due to the change of the terrain, and the moving stability is poor. Jolting is highly likely to occur in the vertical direction, leading to the risk of the chassis tipping. The wheel spacing error of the two hub motors is overlarge due to the fact that the wheel spacing is an important parameter in a control algorithm of a driving system to the chassis, and the wheel type mobile robot is not beneficial to accurate control of the driving system to the chassis due to the fact that the wheel spacing is an important parameter in the control algorithm of the driving system to the chassis.

An embodiment of the application provides a suspended structure 10, to the ascending rocking of vertical direction, through the cooperation of swing arm and elastic component 400 for the swing arm can drive in-wheel motor 300 under the effect of elastic force and cushion the swing from top to bottom based on base 100 (base 100 is connected on wheeled robot's chassis), thereby lets wheeled robot be in the ground of the adaptable unevenness of height of removal in-process, guarantees wheeled robot at the ascending mobility stability of vertical direction. For the shake in the horizontal axial direction, the sleeve is pre-tightened on the base 100 along the axial direction through the pre-tightening piece 500, so that no axial movement gap exists between the sleeve (the swing arm is arranged on the sleeve) and the base 100, and the wheel spacing error of the two in-wheel motors 300 arranged on the chassis of the wheeled robot is further reduced in the up-and-down swinging process, so that the driving control of the chassis of the wheeled robot is more accurate, and the movement stability of the wheeled robot in the horizontal direction is ensured.

3 referring 3 to 3 fig. 31 3 to 34 3, 3 fig. 31 3 illustrates 3 a 3 detailed 3 structure 3 of 3 a 3 suspension 3 structure 310 3 provided 3 in 3 an 3 alternative 3 embodiment 3 of 3 the 3 present 3 application 3 in 3 a 3 first 3 view 3, 3 fig. 32 3 illustrates 3 a 3 detailed 3 structure 3 of 3 the 3 suspension 3 structure 310 3 provided 3 in 3 an 3 alternative 3 embodiment 3 of 3 the 3 present 3 application 3 in 3 a 3 second 3 view 3, 3 fig. 3 3 3 is 3 a 3 cross 3- 3 sectional 3 view 3 taken 3 along 3 a 3- 3 a 3 in 3 fig. 32 3, 3 and 3 fig. 34 3 is 3 an 3 enlarged 3 view 3 taken 3 at 3 a 3 position 3 iv 3 in 3 fig. 3 3 3. 3

The suspension structure 10 includes a base 100, a swing arm, a hub motor 300, a preload member 500, an elastic member 400, and a fixing base 600. Wherein the swing links include a first swing link 210 and a second swing link 220. In the embodiment of the present application, the elastic member 400 is a tension spring, and the preload member 500 is a lamination.

The base 100 includes a base 130, a rotation shaft 110, a bushing, a stopper plate 140, a bolt seat 170, an adjustment bolt 150, and a slider 160. Referring to fig. 1 and 2, the base 130 extends in a direction perpendicular to the motor shaft 310 and is located above the motor shaft 310 in the vertical direction, and the length of the base 130 is slightly longer than that of the in-wheel motor 300. The cross section of the base 130 is substantially L-shaped, the two ends of the base 130 are respectively formed with a mounting seat 136, the mounting seat 136 is provided with a threaded hole 1362, and the base 130 is mounted on a chassis (not shown) of the wheeled robot through the mounting seat 136.

Referring to fig. 4, a rotation slot 132 is formed at one end of the base 130, two slot walls 1322 of the rotation slot 132 extend downward along a vertical direction, an end surface of a lower end of the slot wall 1322 is semicircular, and a height of the slot wall 1322 in the vertical direction is greater than a diameter of the motor shaft 310. The two slot walls 1322 are correspondingly provided with through holes (not shown) for the rotation shaft 110 to pass through at the middle position.

The rotation shaft 110 is formed with a shaft end 112, a shoulder 114 and a shaft body 116, which have successively decreasing diameters, wherein the diameter of the shaft end 112 is the same as the diameter of the semicircular lower end surface of the slot wall 1322 (see fig. 1 and 2). The diameter of the shaft body 116 is the same as the aperture of the through hole, the shaft body 116 penetrates into the through hole from the end surface of a slot wall 1322 far away from the in-wheel motor 300 and then enters the rotating slot 132, and the shaft shoulder 114 abuts against the slot wall 1322 at the upper end of the through hole in the vertical direction, so that the shaft shoulder 114, the shaft body 116 and the rotating slot 132 jointly enclose a space for installing the sleeve and the preload member 500. Shaft end 112 abuts against an outer end surface of a slot wall 1322 remote from hub motor 300, and then shaft end 112 is fixed to slot wall 1322 by three bolts 700.

As shown in fig. 3 and 4, the sleeve includes a first sleeve 122 and a second sleeve 124. The first sleeve 122 and the second sleeve 124 have the same size, and when the first sleeve 122 and the second sleeve 124 are mirror-mounted on the shaft body 116 along the axial direction, the end of the second sleeve 124 abuts against the groove wall 1322 close to the in-wheel motor 300. The diameters of the ends of the first and second sleeves 122, 124 are larger than the diameters of the main body portions thereof, so that the ends of the first sleeve 122, the first mounting surface 1222, the ends of the second sleeve 124, and the second mounting surface 1242 together enclose a mounting surface for mounting the first swing link 210.

When the first swing link 210 is mounted on the mounting surface, the end of the first sleeve 122 and the end of the second sleeve 124 independently abut against two sides of the first swing link 210 along the axial direction. When the thickness of the first swing link 210 is greater than the sum of the heights (i.e., the length dimension along the axial direction) of the first sleeve 122 and the second sleeve 124, a gap is left between the first sleeve 122 and the second sleeve 124 on the axial direction contact surface with the first swing link 210, and since the end of the first sleeve 122 and the end of the second sleeve 124 are respectively abutted against the two ends of the first swing link 210 along the axial direction, the first swing links of different sizes can be fixedly mounted, and the sleeves of other sizes do not need to be replaced. The preload member 500 is sleeved on the shaft body 116, is located between the shoulder 114 and the first sleeve 122, and is abutted against the shoulder 114 and the end of the first sleeve 122 to form a preload force.

It should be noted that the embodiment of the present application is not limited to a specific structure of the sleeve, and in other alternative embodiments, the sleeve may also be a sleeve structure having two ends for mounting the first swing link 210.

During the movement of the wheeled robot, the sleeve abuts against the slot wall 1322 of the rotating slot 132 by a pre-tightening force, so that there is no axial movement gap between the sleeve and the base 100 together with the first swing link 210. The shape of pivot 110 can be convenient for it forms the space that is used for installing sleeve and pretension piece 500 after being connected with rotation groove 132, the dismouting and the location of sleeve pipe and pivot 110 of being convenient for, makes the cooperation of pretension piece 500 installation back and pivot 110 and rotation groove 132 on axial direction more inseparable simultaneously, has played spacing pretension piece 500's effect.

Referring to fig. 1 and 3, the limiting plate 140 is U-shaped, and the limiting plate 140 is fixed at the bottom end of the rotating groove 132 through a screw 800 to limit the maximum swing stroke of the first swing link 210 when the first swing link 210 rotates around the rotating shaft 110 through the sleeve, thereby achieving a safety protection effect.

Referring to fig. 1 and fig. 2, the first swing link 210 is located below the base 130, and a space for the first swing link 210 to swing is left between the first swing link 210 and the base 130. One end of the first swing link 210 is rotatably sleeved on the shaft body 116 of the rotating shaft 110 through a sleeve (please refer to the above description), and the other end of the first swing link 210 is provided with a connecting hole for the motor shaft 310 to pass through. The motor shaft 310 penetrates through the connection hole on the first swing link 210, so that the motor shaft 310 can swing up and down under the driving of the first swing link 210 while rotating. The fixing base 600 is in threaded connection with the bottom end of the second swing link 220, and the upper end surface of the fixing base 600 is arc-shaped so as to be adapted to the motor shaft 310. The fixing base 600 is used for supporting the motor shaft 310 in the axial direction, and plays a role in installation protection.

When the first swing link 210 can swing upward and is close to the base 130, the base 130 can limit the maximum upward swing stroke of the first swing link 210, so as to play a role of safety protection. When the first swing link 210 swings downwards, the limiting plate 140 can limit the maximum stroke of the downward swing of the first swing link 210, so as to play a role in safety protection.

Referring to fig. 1-4, the lower end of the second swing link 220 is fixedly connected to an end of the first swing link 210 away from the motor shaft 310 by welding or thread fit, and is located in the rotating slot 132. The top end of the base 130 is provided with a swing hole 134 through which the second swing link 220 passes, the swing hole 134 has a certain length, and the swing hole 134 is located above the rotating shaft 110 so as to facilitate the swing of the second swing link 220. The second swing link 220 passes through the swing hole 134, and a first hook groove 222 is formed at the upper end of the second swing link 220. The first swing link 210 is located below the base 130, the second swing link 220 is approximately embedded in the base 130, and the upper end of the second swing link 220 penetrates through the base 130, so that the overall structure of the suspension structure 10 is more compact, the overall space volume of the suspension structure 10 is reduced, and the suspension structure 10 is convenient to assemble on the wheeled robot.

The top end of the base 130 is provided with a bolt seat 170, the bolt seat 170 is arranged far away from the swing hole 134, and the bolt seat 170 is used for connecting the adjusting bolt 150. The top end of the base 130 is further provided with a sliding groove (not shown) for slidably connecting the sliding block 160, and the sliding groove is disposed between the bolt seat 170 and the swing hole 134. The slider 160 is installed on the slide groove, one end of the adjusting bolt 150 is connected to the slider 160, and the relative position of the slider 160 on the slide groove can be changed by screwing the adjusting bolt 150 based on the bolt seat 170. The slider 160 has a second hook groove 162 formed at a bottom end thereof, the second hook groove 162 and the first hook groove 222 are oppositely disposed along a length direction of the base 130, and both ends of the elastic member 400 (a tension spring) are hooked on the first hook groove 222 and the second hook groove 162, respectively. The adjusting bolt 150 is matched with the sliding block 160, so that the elastic force of the elastic piece 400 can be conveniently adjusted, and debugging is facilitated.

When the wheeled robot is moving on a horizontal ground, the overall position of the suspension structure 10 is as shown in fig. 2, and the first swing link 210 is parallel to the horizontal ground. When the wheeled robot passes through a steep high slope ground, the in-wheel motor 300 moves upward relative to the chassis (i.e., the reference system of the base 130), and at this time, the first swing link 210 swings upward based on the rotating shaft 110 (i.e., the reference system of the base 130), i.e., rotates clockwise in fig. 2, the second swing link 220 rotates simultaneously, the elastic member 400 stretches further, the elastic force increases, and the elastic member 400 plays a role in buffering. When the wheeled robot moves from a high slope to a low slope, the increased elastic force helps the swing arm swing downwards, i.e. the swing arm rotates counterclockwise in fig. 2, and finally the elastic member 400 returns to the horizontal position, and the elastic member 400 also plays a certain role in buffering in the process. The swing arm is matched with the elastic piece 400 together, so that the swing arm drives the wheel hub motor 300 to swing up and down in a buffering mode based on the base 100 under the action of elastic force, the wheeled robot can adapt to uneven ground in the moving process, and the moving stability of the wheeled robot in the vertical direction is guaranteed.

The pre-tightening member 500 pre-tightens the sleeve to the base 100 (see the above description) along the axial direction, so that there is no axial movement gap between the sleeve (together with the swing arm) and the base 100, and thus, in the up-and-down swinging process, the wheel spacing error of the two in-wheel motors 300 installed on the chassis of the wheeled robot is further reduced, the driving control of the chassis of the wheeled robot is more accurate, and the movement stability of the wheeled robot in the horizontal direction is ensured.

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

Claims (10)

1. A suspension structure characterized by:

the suspension structure comprises a base, a swing arm, a hub motor, an elastic piece and a pre-tightening piece;

the base is provided with a rotating shaft, the swing arm is rotatably arranged on the rotating shaft through a sleeve, and the pre-tightening piece is used for pre-tightening the sleeve on the base along the axial direction;

the motor shaft of in-wheel motor install in the swing arm, the motor shaft with pivot parallel arrangement, the one end of elastic component connect in the base, the other end of elastic component connect in the swing arm.

2. The suspension structure according to claim 1, wherein:

the base comprises a base body, the base body is in an L shape with a rotating groove formed at one end, and the rotating shaft is abutted against the rotating groove;

the sleeve is rotatably sleeved on the rotating shaft and is positioned between the rotating shaft and the groove wall of the rotating groove along the axial direction;

the preload piece is arranged between the rotating shaft and the sleeve pipe along the axial direction, so that the sleeve pipe is abutted against the groove wall of the rotating groove through the preload force.

3. The suspension structure according to claim 2, wherein:

the swing arm comprises a first swing rod and a second swing rod;

one end of the first swing rod is used for mounting a motor shaft of the hub motor, and the other end of the first swing rod is rotatably sleeved on the rotating shaft through the sleeve;

the second swing rod is connected to the first swing rod, and the second swing rod is connected to the elastic piece.

4. The suspension structure according to claim 3, wherein:

the rotating shaft is provided with a shaft end, a shaft shoulder and a shaft body, the diameters of which are sequentially reduced;

the shaft end is abutted against the outer side surface of the rotating groove;

the shaft body penetrates through the groove wall of the rotating groove, so that the shaft shoulder abuts against the groove wall of the rotating groove, and the shaft shoulder, the shaft body and the rotating groove jointly enclose a space for installing the sleeve and the pre-tightening piece;

the shaft body is sleeved with the pre-tightening piece, and the pre-tightening piece is respectively abutted against the shaft shoulder and the sleeve.

5. The suspension structure according to claim 4, wherein:

the sleeve comprises a first sleeve and a second sleeve;

the first sleeve and the second sleeve are arranged in a mirror image mode along the axial direction to form a mounting surface for mounting the first swing rod;

the first sleeve and the second sleeve are respectively abutted to two sides of the first swing rod, the second sleeve abuts against the groove wall of the rotating groove, and the pre-tightening piece is arranged between the shaft shoulder and the first sleeve along the axial direction.

6. The suspension structure according to claim 3, wherein:

the base further comprises a limiting plate;

a space for the first oscillating bar to oscillate is reserved between the first oscillating bar and the base body;

the limiting plate is connected to the bottom end of the rotating groove so as to limit the maximum swinging stroke of the first swinging rod.

7. The suspension structure according to claim 3, wherein:

the base further comprises an adjusting bolt and a sliding block;

the top end of the base body is provided with a swing hole through which the second swing rod penetrates, the adjusting bolt is connected to the top end of the base body through a bolt seat and is far away from the swing hole, the sliding block is connected to the adjusting bolt and is connected to the base body in a sliding mode, one end of the elastic piece is connected to the sliding block, and the other end of the elastic piece is connected to the second swing rod.

8. The suspension structure according to claim 7, wherein:

the elastic piece is a tension spring;

the top end of the second swing rod is provided with a first hook groove, the top end of the sliding block is provided with a second hook groove, the first hook groove and the second hook groove are arranged in a back-to-back mode, and two ends of the tension spring are connected to the first hook groove and the second hook groove respectively.

9. The suspension structure according to claim 3, wherein:

the suspension structure further comprises a fixed seat;

the first swing rod is provided with a connecting hole for the motor shaft of the hub motor to penetrate through;

the fixed seat is connected to the bottom end of the second swing rod to support a motor shaft of the hub motor.

10. The suspension structure according to claim 2, wherein:

and mounting seats are respectively formed at two ends of the base body, and threaded holes are formed in the mounting seats.

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