CN217864439U

CN217864439U - Suspension mechanism, chassis structure and carrier

Info

Publication number: CN217864439U
Application number: CN202222452569.4U
Authority: CN
Inventors: 度咸熙; 程文通; 方松翔; 阮兆武
Original assignee: KUKA Robotics Guangdong Co Ltd
Current assignee: KUKA Robotics Guangdong Co Ltd
Priority date: 2022-09-16
Filing date: 2022-09-16
Publication date: 2022-11-22
Anticipated expiration: 2032-09-16

Abstract

The utility model provides a suspension mechanism, a chassis structure and a carrier, wherein the suspension mechanism comprises a first wheel, a second wheel, a driving device and an arm body, and the driving device is connected with the second wheel and is used for driving the second wheel to rotate; the arm body has a hinge position for the arm body to be hinge-connected, and includes a first arm section extending from the hinge position to one side and a second arm section extending from the hinge position to the other side, the first wheel is mounted on the first arm section, the second wheel is mounted on the second arm section, the driving device is located on one side in the axial direction of the second wheel and is arranged in a protruding manner relative to the second arm section in the axial direction, at least a part of the first arm section is inclined relative to the second arm section toward the protruding side of the driving device, so that the position of the first wheel is offset relative to the position of the second wheel toward the protruding side of the driving device. This hang mechanism is favorable to improving the assembly compactness between drive arrangement and the second wheel through setting up drive arrangement in the axial one side of second wheel, reduces the encroachment of occupying the chassis space to do benefit to and reduce turning radius.

Description

Suspension mechanism, chassis structure and carrier

Technical Field

The utility model relates to a guide transportation technical field, in particular to hang mechanism, chassis structure and carrier.

Background

The width of two rear wheels of current wheeled carrier is equivalent with the width of two drive wheels for carrier external profile is big and square, leads to turning radius great, and the width requirement to driving environment is high, and applicable scene has great limitation.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a hang mechanism, its compact structure nature that can improve the carrier chassis reduces chassis turning radius, strengthens the suitability of carrier.

In order to solve the technical problem, the utility model adopts the following technical scheme:

in a technical solution of the present invention, the utility model provides a hang mechanism, include:

a first wheel;

a second wheel;

the driving device is connected with the second wheel and is used for driving the second wheel to rotate;

an arm body having a hinge position for allowing the arm body to be hinge-coupled, the arm body including a first arm section extending from the hinge position to one side and a second arm section extending from the hinge position to the other side, the first wheel being mounted on the first arm section, the second wheel being mounted on the second arm section, the driving device being located on one side of the second wheel in an axial direction and protruding from the second arm section in the axial direction, at least a part of the first arm section being inclined with respect to the second arm section toward a protruding side of the driving device such that a position of the first wheel is offset toward the protruding side of the driving device with respect to a position of the second wheel.

In an embodiment of the present invention, the driving device includes:

a driver;

and a first connecting end is formed at one axial end of the speed reducer and is connected with the driver, a second connecting end is formed at the other axial end of the speed reducer and is connected with the second wheel.

In one technical scheme of the utility model, the second arm section is provided with a ring body which is nested outside the speed reducer and connected with the speed reducer;

the driver comprises a motor, the motor and the speed reducer are axially arranged oppositely, and an output shaft of the motor is in transmission connection with the first connecting end.

In an embodiment of the present invention, the first arm section includes an inclined section and a connecting section, the inclined section is transited between the hinge position and the connecting section, the first wheel is carried on the connecting section, the inclined section is inclined with respect to the second arm section, the inclined section is away from the one end of the hinge position is close to the one end of the hinge position towards the convex side of the driving device.

In a technical solution of the present invention, the suspension mechanism further includes:

the first mounting seat is used for connecting a chassis, and the hinged position of the arm body is hinged with the first mounting seat;

and the wear-resistant part is arranged between the hinge joint and the first mounting seat.

the limiting piece is used for limiting the swing amplitude of the arm body, and the limiting piece is located below the arm body and located at a position between the first mounting seat and the first wheel.

and the pre-pressing device is matched with the arm body and is used for pre-pressing the second wheel.

In a technical solution of the present invention, the pre-pressing device includes:

the supporting rod is connected with the chassis at one end, and the fastening piece capable of reciprocating along the length direction of the supporting rod is connected with the other end of the supporting rod;

the spring is sleeved on the supporting rod, and the pre-pressure of the spring is adjusted by the fastener through the change of the position of the fastener relative to the supporting rod;

the arm body is provided with an extending portion, and the extending portion faces the spring and is inserted into a position between two axial ends of the spring.

In another aspect of the present invention, the utility model provides a chassis structure, include:

a chassis;

the two or more suspension mechanisms are arranged on the chassis, the two suspension mechanisms are arranged in a pairwise relationship, the arms of the two related suspension mechanisms correspond to each other in position and have a distance, the driving devices correspond to each other in position and have opposite protruding directions, and the distance between the first wheels is closer than the distance between the second wheels.

In one technical solution of the present invention, a first avoidance hole is provided at a position of the chassis corresponding to the first wheel, and the first wheel is used for passing through the first avoidance hole and extending out of the chassis to support the chassis;

a second avoidance hole is formed in the position, corresponding to the second wheel, of the chassis, and the second wheel penetrates through the second avoidance hole and extends out of the chassis to support the chassis;

the distance between the first avoidance holes is closer than the distance between the second avoidance holes.

In a technical solution of the present invention, the chassis structure further includes:

more than two third wheels, each of which is connected with the chassis;

the second wheel is positioned in the middle between the front end and the rear end of the chassis, the first wheel is positioned between the second wheel and the rear end of the chassis, and the third wheel is positioned between the second wheel and the front end of the chassis; and/or the first wheel and the third wheel are universal wheels.

the frame body is positioned on the chassis and is arranged in a protruding mode relative to the inner bottom surface of the chassis, the frame body surrounds an avoidance space, and the driving device penetrates through the avoidance space.

In another aspect of the present invention, the present invention provides a cart, which comprises a chassis structure and a body disposed on the chassis structure.

The utility model has the advantages that:

the utility model provides a suspension mechanism is through setting up drive arrangement in the axial one side of second wheel, this mode of setting is favorable to improving the assembly compactness between drive arrangement and the second wheel, reduce encroaching on the chassis space, and set up through the protruding side slope with at least partly first arm section towards drive arrangement for the second arm section, make the position of first wheel can be for the position of second wheel towards drive arrangement's protruding side biasing, thereby make the automobile body width of first wheel position department can reduce, reduce automobile body turning radius.

It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the invention as claimed.

Drawings

The above and other objects, features and advantages of the present invention will become more apparent by describing in detail exemplary embodiments thereof with reference to the attached drawings.

Fig. 1 is a schematic view of a chassis structure according to an embodiment of the prior art.

Fig. 2 is a schematic perspective view of a suspension mechanism according to an embodiment of the present invention.

Fig. 3 is a side view of a suspension mechanism according to an embodiment of the present invention.

Fig. 4 is a sectional view of a drive device of a suspension mechanism according to an embodiment of the present invention.

Fig. 5 is a schematic perspective view of a chassis structure according to an embodiment of the present invention.

Fig. 6 is a side view of a chassis structure according to an embodiment of the present invention.

The reference numerals are explained below:

1. a suspension mechanism;

11. a first wheel; 12. a second wheel; 13. a drive device; 131. a driver; 132. a speed reducer; 133. a first connection end; 134. a second connection end; 135. an output shaft; 14. an arm body; 141. a hinged position; 142. a first arm segment; 142a, an inclined section; 142b, a connecting section; 143. a second arm segment; 144. a ring body; 15. a first mounting seat; 16. a wear part; 17. a limiting member; 18. a pre-compaction device; 181. a support bar; 182. a fastener; 183. a spring; 184. an extension portion; 185. pressing a plate;

2. a chassis structure;

20. a chassis; 21. a first avoidance hole; 22. a second avoidance hole; 23. a third wheel; 24. a second mounting seat; 25. a frame body.

Detailed Description

While the present invention may be susceptible to embodiment in different forms, there is shown in the drawings and will herein be described in detail only some specific embodiments thereof with the understanding that the present description is to be considered as an exemplification of the principles of the invention and is not intended to limit the invention to that as illustrated herein.

Thus, a feature indicated in this specification will serve to explain one of the features of an embodiment of the invention, and not to imply that every embodiment of the invention must have the described feature. Further, it should be noted that this specification describes many features. Although some features may be combined to show a possible system design, these features may also be used in other combinations not explicitly described. Thus, the combinations illustrated are not intended to be limiting unless otherwise specified.

In the embodiments shown in the drawings, the directional indications (such as upper, lower, inner, outer, left, right, front, rear, etc.) are used to explain the structures and movements of the various components of the invention not absolutely, but relatively. These illustrations are appropriate when these components are in the positions shown in the figures. If the description of the positions of these components changes, the indication of these directions changes accordingly.

Example embodiments will now be described more fully with reference to the accompanying drawings. Example embodiments may, however, be embodied in many different forms and should not be construed as limited to the examples set forth herein; rather, these example embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the concept of example embodiments to those skilled in the art. The drawings are merely schematic illustrations of the present invention, which are not necessarily drawn to scale. The same reference numerals in the drawings denote the same or similar parts, and a repetitive description thereof will be omitted.

The following description of the preferred embodiments of the present invention will be made with reference to the accompanying drawings.

As shown in fig. 1, a chassis structure of a conventional transportation vehicle is shown, in which a driving mechanism is located between non-axial directions of two driving wheels and extends in a direction close to a rear wheel, so that the driving mechanism occupies a large space in the chassis, a suspension arm close to a straight line is adopted to avoid interference with the driving mechanism when the rear wheel is disposed, and a distance between the two rear wheels is equivalent to a distance between the two driving wheels, resulting in a large and square vehicle body and a large turning radius.

A suspension mechanism 1 according to an embodiment of the present invention is described below with reference to fig. 2 to 4.

As shown in fig. 2 and 3, the suspension mechanism 1 includes a first wheel 11, a second wheel 12, a driving device 13 and an arm 14, wherein the driving device 13 is connected with the second wheel 12 and is used for driving the second wheel 12 to rotate; the arm 14 has a hinge point 141 at which the arm 14 is provided to be hinged, the arm 14 includes a first arm section 142 extending from the hinge point 141 to one side and a second arm section 143 extending from the hinge point 141 to the other side, the first wheel 11 is mounted on the first arm section 142, the second wheel 12 is mounted on the second arm section 143, the driving device 13 is provided on one side in the axial direction of the second wheel 12 and is provided to project from the second arm section 143 in the axial direction, and at least a part of the first arm section 142 is inclined with respect to the second arm section 143 toward the projecting side of the driving device 13 so that the position of the first wheel 11 is offset toward the projecting side of the driving device 13 with respect to the position of the second wheel 12.

Specifically, the arm 14 is hinged to a chassis of the transportation vehicle at a hinge position 141, the suspension mechanism 1 realizes two-wheel linkage of the first wheel 11 and the second wheel 12 through the arm 14, the first wheel 11 arranged on the first arm section 142 and the second wheel 12 arranged on the second arm section 143 are used for supporting the chassis, the chassis is driven to move through rotation of the second wheel 12, and when the transportation vehicle encounters a rugged or hollow road surface, the first wheel 11 and the second wheel 12 can respectively swing up and down to automatically adapt to the terrain. Drive arrangement 13 is located the axial of second wheel 12 and follows the axial is for the protruding setting of second arm section 143, and this setting mode is favorable to improving the assembly compactness between drive arrangement 13 and the second wheel 12, reduces drive arrangement 13 and occupies the encroachment of chassis space, reserves sufficient space for the setting of other parts of chassis, is favorable to the miniaturization, the rationalization design on chassis promptly.

Further, by tilting at least a part of the first arm section 142 towards the convex side of the driving means 13 relative to the second arm section 143, such that the position of the first wheel 11 is offset towards the convex side of the driving means 13 relative to the position of the second wheel 12, i.e. such that the position of the first wheel 11 is closer to the centre line of the chassis relative to the position of the second wheel 12, the chassis at the position corresponding to the first wheel 11 can be retracted inwards, the chassis width is reduced, thereby reducing the turning radius.

In some embodiments of the present invention, as shown in fig. 4, the driving device 13 includes a driver 131 and a speed reducer 132, one axial end of the speed reducer 132 forms a first connecting end 133, the first connecting end 133 is connected to the driver 131, the other axial end of the speed reducer 132 forms a second connecting end 134, and the second connecting end 134 is connected to the second wheel 12.

Specifically, the reducer 132 has functions of reducing speed and increasing torque, the first connection end 133 is an input end of the reducer 132 and is connected to an output end of the driver 131 to realize power transmission, and the second connection end 134 is an output end of the reducer 132 and is connected to the second wheel 12 to drive the second wheel 12 to rotate. The connection form between the second wheel 12 and the second connection end 134 is not limited, as long as the connection between the second wheel 12 and the second connection end can realize that the output shaft of the speed reducer 132 drives the second wheel 12 to rotate when rotating. For example, the connection can be achieved by welding, keying, form fitting, etc. In some embodiments, the second connection end 134 is configured with a rotatable output flange to which the second wheel 12 is fixedly attached by screws.

In some embodiments of the present invention, as shown in fig. 2 and 3, the second arm section 143 is provided with a ring body 144, and the ring body 144 is nested outside the speed reducer 132 and connected to the speed reducer 132; the driver 131 includes a motor, the motor is disposed opposite to the speed reducer 132 in the axial direction, and an output shaft of the motor is in transmission connection with the first connection end 133. By disposing the driver 131 axially opposite to the decelerator 132, the assembling compactness is improved.

Specifically, the speed reducer 132 has a housing matched with the shape of the ring body 144, the ring body 144 is nested on the housing, so that the arm 14 is connected to the speed reducer 132, one end of the housing close to the driver 131 is a first connection end 133, one end of the housing far from the driver 131 is a second connection end 134, an output flange capable of rotating relative to the housing is arranged at the second connection end 134, and the second wheel 12 is fixedly connected to the output flange. Wherein, a containing cavity for containing the input shaft of the reducer 132 and the gear assembly is formed in the housing, the containing cavity extends from the first connecting end 133 to the second connecting end 134, and at least part of the output shaft of the motor is placed in the containing cavity and is in transmission connection with the output shaft of the reducer 132. The above-mentioned connection mode of the motor and the reducer 132 is helpful to reduce the axial length of the driving device 13, further improve the space utilization rate of the chassis, and reduce the size of the chassis.

In some embodiments of the present invention, as shown in fig. 2, the first arm section 142 includes an inclined section 142a and a connection section 142b, the inclined section 142a is transited between the hinge position 141 and the connection section 142b, the first wheel 11 is carried on the connection section 142b, the inclined section 142a is inclined relative to the second arm section 143, and one end of the inclined section 142a far from the hinge position 141 is offset toward a convex side of the driving device 13 relative to one end near the hinge position 141.

Specifically, the inclined section 142a is inclined with respect to the second arm section 143 toward a direction away from the second arm section 143, and is inclined upward such that an angle between the extending direction of the second arm section 143 and the extending direction of the inclined section 142a is greater than 90 ° and less than 180 °. In some embodiments, the connecting segment 142b is spaced apart from the second arm segment 143 and parallel to the first arm segment 142.

In some embodiments of the present invention, as shown in fig. 2, in order to hinge the arm 14 on the chassis, the suspension mechanism 1 further includes a first mounting seat 15, the first mounting seat 15 is used for connecting the chassis, and the hinge position 141 of the arm 14 is hinged to the first mounting seat 15. Also included is a wear member 16 disposed between the hinge location 141 and the first mounting seat 15.

Specifically, the first mounting seat 15 is fixed on the chassis, and is provided with a receiving groove having a receiving space, an opening of the receiving groove faces upward, the hinge position 141 of the arm body 14 is hinged and pinned in the receiving groove, and the wear-resistant sheet is arranged in the receiving groove and located between the hinge position 141 and the inner wall surface of the first mounting seat 15. The wear-resistant part 16 is preferably made of a material which is not easy to wear, such as plastic, metal, ceramic and the like, so that the service life of the arm body 14 is prolonged.

In some embodiments of the present invention, as shown in fig. 2 and 3, the suspension mechanism 1 further includes at least one limiting member 17 for limiting the swing range of the arm 14, and the limiting member 17 is located below the arm 14 and at a position between the first mounting seat 15 and the first wheel 11.

Specifically, the limiting member 17 is disposed between the first mounting seat 15 and the first wheel 11 in a manner of protruding from the upper surface of the chassis, when a slightly higher obstacle is encountered during the forward movement of the cart, the second wheel 12 is lifted, the second arm section 143 swings upward along with the second wheel 12, the arm 14 rotates relative to the chassis at the hinge position 141, the first arm section 142 generates a downward movement trend to drive the first wheel 11 to move downward, the position of the first arm section 142 corresponding to the limiting member 17 interferes with the limiting member 17, and a downward swinging angle of the first arm section 142 is limited, so that the uncontrolled downward movement of the first wheel 11 is avoided to drive the second wheel 12 to lift off the ground, the second wheel 12 is kept grounded, and the cart is ensured to move forward smoothly.

In some embodiments of the present invention, as shown in fig. 2 and 3, the suspension mechanism 1 further comprises a pre-compression device 18, cooperating with the arm 14, for pre-compressing the second wheel 12.

The pre-pressing device 18 can generate downward pressure on the second wheel 12, so that the second wheel 12 is lowered, and the second wheel 12 can be ensured to be always tightly attached to the ground, so that a large friction force is generated between the second wheel 12 and the ground, the carrier can move forward smoothly, the phenomenon of slipping caused by small friction force between the second wheel 12 and the ground can be avoided, the second wheel 12 can be further ensured to be in contact with the ground all the time, sufficient advancing power can be stably provided, and the carrier can smoothly and stably pass through the ground when the ground passes through road conditions such as uneven slopes, soft carpets or small obstacles.

In some embodiments of the present invention, as shown in fig. 2, the pre-pressing device 18 includes a supporting rod 181, a fastening member 182, and a spring 183, one end of the supporting rod 182 is used for connecting to a chassis, and the other end is connected to the fastening member 182, and the fastening member 182 is capable of reciprocating along the length direction of the supporting rod 181; the spring 183 is sleeved on the support rod 1821, and the fastening piece 182 adjusts the pre-pressure of the spring 183 through the position change relative to the support rod 181; wherein an outward extension 184 is provided on the arm body 14, the outward extension 184 being provided toward the spring 183 and being inserted at a position between both ends in the axial direction of the spring 183.

Specifically, the amount of deformation of the spring 183 is changed by the movement of the fastening member 182 along the support rod 181, and the pre-pressure of the spring 183 is adjusted by adjusting the amount of deformation of the spring 183. When the pre-pressure of the spring 183 reaches a set range, the fastening member 182 can be fixed at a proper position of the supporting rod 181, wherein the supporting rod 181 and the fastening member 182 can be fixed at a relative position by a buckle or a screw thread, and preferably, the supporting rod 181 is in threaded connection with the fastening member 182.

The extension 184 is disposed on the ring body 144, and includes an L-shaped connecting portion connected to the ring body 144 and an insertion portion formed by bending the connecting portion toward the spring, and the insertion portion is inserted into a position between two axial ends of the spring 183.

The pre-stressing device 18 of this embodiment facilitates real-time adjustment of the pressure exerted on the second wheel 12 and replacement when damage or fatigue occurs during use of the spring.

In some embodiments, a pressure plate 185 is further disposed between the fastening member 182 and the spring 183, so that the pressure plate 185 can increase the contact area with the spring 183, and the preload adjustment effect of the spring 183 is improved.

The chassis structure 2 according to an embodiment of the present invention is described below with reference to fig. 5 and 6.

As shown in fig. 5 and 6, the chassis structure 2 includes a chassis 20 and two or more suspension mechanisms 1 as described above, the two or more suspension mechanisms 1 are disposed on the chassis 20, the suspension mechanisms 1 are disposed in a pairwise relationship, the arms 14 of the two associated suspension mechanisms 1 are disposed correspondingly and with a distance therebetween, the driving devices 13 are disposed correspondingly and with opposite protruding directions, and the distance between the first wheels 11 is closer than the distance between the second wheels 12.

Specifically, the two suspension mechanisms 1 are symmetrically arranged on both sides of the chassis 20, the two driving devices 13 are located between the two second wheels 12 at axially opposite positions, and since at least a part of the first arm section 142 of the arm body 14 is obliquely arranged relative to the second arm section 143 toward the convex side of the driving devices 13, the two first wheels 11 are closer to each other than the two second wheels 12, that is, the distance between the two first wheels 11 is smaller than the distance between the two second wheels 12, so that the chassis profile at the first wheels 11 can be relatively reduced, and the chassis turning radius can be reduced.

In some embodiments of the present invention, as shown in fig. 5, a first avoiding hole 21 is disposed on the chassis 20 at a position corresponding to the first wheel 11, and the first wheel 11 is configured to pass through the first avoiding hole 21 and extend out of the chassis 20 to support the chassis 20; a second avoidance hole 22 is formed in the position, corresponding to the second wheel 12, of the chassis 20, and the second wheel 12 is used for penetrating through the second avoidance hole 22 and extending out of the chassis 20 to support the chassis 20; the distance between the first avoidance holes 21 is closer than the distance between the second avoidance holes 22.

Specifically, the first avoidance holes 21 are arranged in one-to-one correspondence with the first wheels 11, the second avoidance holes 22 are arranged in one-to-one correspondence with the second wheels 12, and when the ground fluctuation arm body 14 swings, the first wheels 11 and the second wheels 12 arranged at the two ends of the arm body 14 can swing relatively to extend out of the chassis or retract onto the chassis from the corresponding avoidance holes. Moreover, it can be seen that all the components of the chassis structure 2 of the utility model can be installed from right above and downwards, and the installation and the maintenance are convenient.

In some embodiments of the present invention, as shown in fig. 5 and 6, the chassis structure 2 further includes more than two third wheels 23, and each of the third wheels 23 is connected to the chassis 20; the second wheel 12 is located at the middle position between the front end and the rear end of the chassis, the first wheel 11 is located at the position between the second wheel 12 and the rear end of the chassis 20, and the third wheel 23 is located at the position between the second wheel 12 and the front end of the chassis 20.

Specifically, the two or more third wheels 23 are disposed on the chassis 20 through the one-to-one corresponding second mounting seats 24 disposed on the chassis 20, the second mounting seats 24 have a mounting space with a downward opening, and the third wheels 23 are disposed in the mounting space and extend out of the mounting space to abut against the ground. Compared with the mode of connecting the two third wheels 23 by adopting the flexible cantilever or the swing arm, the structure is simple, and the size and the shape of the chassis corresponding to the third wheel 23 can be conveniently adjusted by independently arranging the third wheels 23. The first wheel 11 and the third wheel 23 in this embodiment are provided at the front and rear of the second wheel 12, and when the truck moves, the third wheel 23 first contacts an obstacle. The first wheel 11 and the third wheel 23 are respectively two, are symmetrically distributed and longitudinally arranged, and are matched with each other to ensure the balance of the truck during moving, and are also used for supporting loads above a chassis, such as the weight of the truck body, and supporting articles and equipment carried by the truck body.

In some embodiments of the present invention, the first wheel 11 and the third wheel 23 are universal wheels, so that the truck can realize in-situ spin.

In some embodiments of the present invention, as shown in fig. 5, the chassis structure 2 further includes a frame 25, which is located on the chassis 20, and is set convexly relative to the inner bottom surface of the chassis 20, the frame 25 encloses an avoiding space, and the driving device 13 is disposed in the avoiding space. The frame 25 prevents the driving device 13 from being lifted too much when the truck travels on a road surface with large undulations, and the driving device is not connected to the second wheel 12 and is damaged.

The utility model also provides a carrier, it includes foretell chassis structure and sets up structural automobile body in chassis.

In summary, the suspension mechanism, the chassis structure and the transportation vehicle having the same provided in the embodiment at least have the following beneficial technical effects:

compared with the prior art, the suspension mechanism of the application is characterized in that the driving device is arranged on one axial side of the second wheel, the arrangement mode is favorable for improving the assembly compactness between the driving device and the second wheel, the encroachment on the space of the chassis is reduced, at least one part of the first arm section is obliquely arranged towards the protruding side of the driving device relative to the second arm section, the position of the first wheel can be biased towards the protruding side of the driving device relative to the position of the second wheel, the width of a vehicle body at the position of the first wheel can be reduced, the carrier has a smaller turning radius, and the requirement on the driving environment is reduced. Moreover, each part of the chassis structure can be installed from top to bottom, and assembly and maintenance are convenient and fast.

While the present application has been described with reference to several exemplary embodiments, it is understood that the terminology used is intended to be in the nature of words of description and illustration, rather than of limitation. As the present application may be embodied in several forms without departing from the spirit or essential characteristics thereof, it should also be understood that the above-described embodiments are not limited by any of the details of the foregoing description, but rather should be construed broadly within its spirit and scope as defined in the appended claims, and therefore all changes and modifications that fall within the meets and bounds of the claims, or equivalences of such meets and bounds are therefore intended to be embraced by the appended claims.

Claims

1. A suspension mechanism, comprising:

a first wheel;

a second wheel;

2. The suspension mechanism of claim 1, wherein the drive device comprises:

a driver;

and one axial end of the speed reducer forms a first connecting end, the first connecting end is connected with the driver, the other axial end of the speed reducer forms a second connecting end, and the second connecting end is connected with the second wheel.

3. Suspension arrangement according to claim 2,

the second arm section is provided with a ring body which is nested on the outer side of the speed reducer and is connected with the speed reducer;

4. Suspension mechanism according to any one of claims 1 to 3,

the first arm section includes an inclined section and a connecting section, the inclined section is transited between the hinge position and the connecting section, the first wheel is mounted on the connecting section, the inclined section is inclined relative to the second arm section, and one end of the inclined section far away from the hinge position is offset towards the convex side of the driving device relative to one end close to the hinge position.

5. The suspension mechanism of any one of claims 1-3, further comprising:

6. The suspension mechanism of claim 5, further comprising:

7. The suspension mechanism of any one of claims 1 to 3, further comprising:

8. The suspension mechanism according to claim 7, wherein the pre-compression device comprises:

9. A chassis structure, comprising:

a chassis;

two or more suspension mechanisms according to any one of claims 1 to 8, each being arranged on the chassis, the suspension mechanisms being arranged in relation to each other two by two, the arms of the two associated suspension mechanisms being positioned correspondingly and with a spacing, and the driving means being positioned correspondingly and with opposite projection directions, and the distance between the first wheels being closer than the distance between the second wheels.

10. Chassis structure according to claim 9,

a first avoidance hole is formed in the position, corresponding to the first wheel, of the chassis, and the first wheel penetrates through the first avoidance hole and extends out of the chassis to support the chassis;

11. The chassis structure according to claim 9 or 10, further comprising:

more than two third wheels, each of which is connected with the chassis;

12. The chassis structure according to claim 9 or 10, further comprising:

the frame body is positioned on the chassis and arranged in a protruding mode relative to the inner bottom face of the chassis, the frame body surrounds an avoidance space, and the driving device penetrates through the avoidance space.

13. A cart comprising the chassis structure of any one of claims 9 to 12 and a vehicle body provided on the chassis structure.