WO2019000439A1

WO2019000439A1 - Suspension assembly, chassis, and vehicle

Info

Publication number: WO2019000439A1
Application number: PCT/CN2017/091287
Authority: WO
Inventors: 刘芳; 王振旭; 陈逸奇
Original assignee: 深圳市大疆创新科技有限公司
Priority date: 2017-06-30
Filing date: 2017-06-30
Publication date: 2019-01-03
Also published as: CN108883676A

Abstract

A suspension assembly, a chassis, and a vehicle. The suspension assembly is applied to a frame of a vehicle and comprises a fixing assembly (1) and a rotating assembly (2); the fixing assembly (1) is connected to the frame, and the fixing assembly (1) has a rotating shaft (11); the axial direction of the rotating shaft (11) is in the same vertical plane as the traveling direction of the vehicle; the rotating assembly (2) is rotatably disposed on the rotating shaft (11); the rotating assembly (2) is connected to the axle of the vehicle. A vehicle using the suspension assembly and the chassis is more adaptable to the terrain.

Description

Suspension assembly, chassis and vehicle

Technical field

The present invention relates to the field of vehicle structures, and more particularly to a suspension assembly, a chassis and a vehicle.

Background technique

With the continuous development of technology, small unmanned vehicles using remote control or automatic control technology have been more and more widely used.

At present, small unmanned vehicles are mainly loaded with loads such as cameras or robot arms, and are used and operated in various dangerous or unsuitable places for people to enter. In order to adapt to different terrain conditions and avoid damage to the vehicle due to bumps, the chassis and suspension system of the small unmanned vehicle adopt an independent suspension structure similar to the off-road vehicle. Among them, the non-loaded body is mainly used, and the structure such as independent suspension is adopted to improve the adaptability of the small unmanned vehicle to the terrain.

However, at present, the suspension systems of small unmanned vehicles are complicated, the assembly is difficult, and the situation that the load is unstable due to unstable posture is prone to occur.

Summary of the invention

Embodiments of the present invention provide a suspension assembly, a chassis, and a vehicle, which have good adaptability to terrain.

In a first aspect, the present invention provides a suspension assembly for use on a frame of a vehicle, comprising a fixed assembly and a rotating assembly, a fixed assembly and a frame connection, and the fixed assembly has a rotating shaft, an axial direction of the rotating shaft and the vehicle The direction of travel is in the same vertical plane, the rotating assembly is rotatably disposed on the rotating shaft, and the rotating assembly is coupled to the axle of the vehicle.

In a second aspect, the present invention provides a chassis including a frame, an axle, and a suspension assembly as described above, the suspension assembly being coupled between the frame and the axle.

In a third aspect, the present invention provides a vehicle comprising a load and a chassis as described above, the load being carried on a frame of the chassis.

The suspension assembly of the embodiment of the present invention can be applied to a frame of a vehicle, and the suspension assembly specifically includes a fixing component and a rotating component, the fixing component and the frame connection of the vehicle, and the fixing component has a rotation The rotating shaft, the axial direction of the rotating shaft is in the same vertical plane as the traveling direction of the vehicle, the rotating assembly is rotatably disposed on the rotating shaft, and the rotating assembly is coupled to the axle of the vehicle. In this way, the suspension assembly can lift and lower the axle and the wheel of the vehicle along with the undulation of the road surface by the relative rotation of the rotating component and the fixed component, thereby increasing the adhesion between the wheel and the ground, and the suspension component buffers and reduces The role of the vibration, so that the vehicle still maintains a good driving stability, making the vehicle's terrain adaptability stronger.

DRAWINGS

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, a brief description of the drawings used in the embodiments or the prior art description will be briefly described below. Obviously, the drawings in the following description It is a certain embodiment of the present invention, and other drawings can be obtained from those skilled in the art without any inventive labor.

1 is a schematic structural view of a suspension assembly according to Embodiment 1 of the present invention;

2 is a schematic exploded view of a suspension assembly according to Embodiment 1 of the present invention;

3 is a schematic structural view of a fixing component in a suspension assembly according to Embodiment 1 of the present invention;

4 is a schematic structural view of a limit ring in a suspension assembly according to Embodiment 1 of the present invention;

FIG. 5 is a schematic view showing a mounting structure of a quick-release screw member according to Embodiment 1 of the present invention; FIG.

6 is a schematic view showing another mounting structure of the quick-release screw member according to the first embodiment of the present invention;

7 is a schematic structural view of a chassis according to Embodiment 2 of the present invention;

Figure 8 is a schematic exploded view of the chassis shown in Figure 7;

Figure 9 is a schematic structural view of a rear axle portion of the chassis of Figure 7;

FIG. 10 is a schematic structural diagram of a vehicle according to Embodiment 3 of the present invention.

Description of the reference signs:

1—fixed assembly; 2—rotating component; 3—quick-release threaded part; 4—bearing; 5—torsion spring; 11—rotating shaft; 12—first connecting base; 13—limit ring; 21—sleeve; - second connection base; 31 - screw; 32 - blocking portion; 33 - positioning nut; 111 - suspended end; 112 - shoulder; 131 - annular flange; 132 - notch; 133 - fixed block; Department; 1111, 331 - threaded hole; 1112 - external thread; 100 - suspension assembly; 101 - frame; 102 - axle; 200 - chassis; 201 - load; 202 - wheel; 300 - vehicle; 22a - connection surface ; 102a - front axle; 102b - rear axle.

Detailed ways

The technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the drawings in the embodiments of the present invention. It is a partial embodiment of the invention, and not all of the embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative efforts are within the scope of the present invention.

1 is a schematic structural view of a suspension assembly according to Embodiment 1 of the present invention. 2 is a schematic exploded view of a suspension assembly according to Embodiment 1 of the present invention. 3 is a schematic structural view of a fixing assembly in a suspension assembly according to Embodiment 1 of the present invention. 4 is a schematic structural view of a limit ring in a suspension assembly according to Embodiment 1 of the present invention. As shown in FIGS. 1 to 4, the suspension assembly provided by the present embodiment can be applied to a frame of a vehicle and as a part of a chassis of the vehicle. The suspension assembly specifically includes a fixed assembly 1 and a rotating assembly 2, the fixed assembly 1 and a frame connection of the vehicle, and the fixed assembly 1 has a rotating shaft 11 whose axial direction is in the same vertical plane as the traveling direction of the vehicle The rotating assembly 2 is rotatably disposed on the rotating shaft 11, and the rotating assembly 2 is coupled to the axle of the vehicle.

Wherein, the suspension assembly is generally connected between the frame of the vehicle and the axle of the vehicle for transmitting the force and torque between the frame of the vehicle and the wheel of the vehicle, and buffering the transmission due to the unevenness of the road surface. The force of the frame or body ensures that the vehicle can travel smoothly on uneven roads or on rough terrain.

Specifically, the suspension assembly includes a main structure such as the fixing assembly 1 and the rotating assembly 2, wherein the fixing assembly 1 is generally connectable to the frame of the vehicle by various fixing means, and the fixing assembly 1 has a rotating shaft 11 which is rotated. The axial direction of the 11 is generally substantially the same as the direction of travel of the vehicle and is in the same vertical plane as the direction of travel of the vehicle. The rotating assembly 2 is disposed above the rotating shaft 11 and rotatable about the axial direction of the rotating shaft 11, and since the axial direction of the rotating shaft 11 and the traveling direction of the vehicle are in the same vertical plane, the rotating assembly 2 can travel substantially along the vehicle. The direction is rotated, and the axle to which the rotating assembly 2 is attached can also rotate in this direction.

When the road on which the vehicle is traveling is rough, for example, when the road surface on one side of the vehicle is higher and the road surface on the other side is lower, since the axle is connected to the rotating assembly 2, the wheels connected to both ends of the vehicle axle will follow The undulation of the road surface produces different forces and movement trends, and can be rotated around the axis of rotation 11 The rotating rotating component 2 can rotate under different forces of the road surface at both ends of the axle, and rotates relative to the rotating shaft 11 of the fixed assembly 1. At this time, with the rotation of the rotating component 2, the orientation of the axle is relatively The wheel connected to one end of the high road surface can be lifted up under the force of the road surface, and the other end of the axle, that is, the wheel on the lower side of the road surface will fall and contact with the road surface, so that both sides of the wheel can be Keeping in contact with the uneven road surface, and the frame of the vehicle and the whole body and the fixed component 1 are connected, so that the original posture can be maintained, so that the wheel of the vehicle can be more adapted to the road surface, and the adhesion between the wheel and the ground is increased. Sexuality, and the suspension component acts as a buffer and vibration mitigation, so that the vehicle still maintains a good running smoothness, making the vehicle's terrain adaptability stronger.

Since the axle of the vehicle generally includes a front axle and a rear axle, and each axle is connected to one wheel on one side of the vehicle body at both ends, the axial direction of the rotating shaft 11 in the suspension assembly and the traveling direction of the vehicle are required. Keep in the same vertical plane, but not to the left and right sides, otherwise it will affect the direction of travel of the vehicle.

As a preferred embodiment, the axial direction of the rotating shaft 11 may be a horizontal direction. At this time, the rotating assembly 2 always rotates in a plane perpendicular to the traveling direction of the vehicle, so that the rotation of the axle and the wheel in the plane with the undulation of the road does not affect the traveling direction of the vehicle, that is, the suspension assembly does not affect the vehicle. The direction of travel has an impact, avoiding the yaw of the vehicle due to the ups and downs of the road.

In order to achieve the connection of the suspension assembly to the frame and the axle, and the connection and relative rotation between the fixed assembly 1 and the rotating assembly 2 inside the suspension assembly, the fixed assembly 1 and the rotating assembly 2 in the suspension assembly are correspondingly Has a structure for implementing connections and activities. For example, the fixing component 1 in the suspension assembly includes a first connecting base 12, and the first connecting base 12 can be connected to the frame by screwing, welding, etc., and the first end of the rotating shaft 11 is connected to the first connecting base 12, The second end of the rotating shaft 11 projects toward the outside of the first connecting base 12 and forms a floating end 111. Since the second end of the rotating shaft 11 protrudes from the first connecting base 12 and is exposed, the rotational connection can be conveniently realized with the structure of the rotating assembly 2.

Correspondingly, as an optional connection manner, the rotating component 2 includes a second connecting base 22 and a sleeve 21, the second connecting base 22 and the axle are connected, and the sleeve 21 and the second connecting base 22 are fixedly connected, and the sleeve 21 sets are disposed outside the floating end 111 of the rotating shaft 11, and the sleeve 21 and the rotating shaft 11 are rotatably connected.

Thus, the rotating assembly 2 can be rotatably connected by the cooperation between the sleeve 21 and the rotating shaft 11, and the second connecting base 22 can be detachably or non-detachably connected to the axle by screwing, welding or snapping. The connection is achieved and the second connection base 22 can remain in a fixed connection with the outer wall or end of the sleeve 21.

In addition, due to the practical application and vehicle reliability, the off-road capability of the vehicle while traveling is usually limited to a certain range. Thus, the angle of rotation between the rotating assembly 2 and the fixed assembly 1 in the suspension assembly should also be limited to a range of angles. In order to limit the rotation angle of the rotating component 2 about the rotating shaft 11, the fixing component 1 may further include a separate limiting ring 13 , the limiting ring 13 is sleeved on the rotating shaft 11 , and the limiting ring 13 is located on the sleeve 21 and Between the first connecting bases 12, the limiting ring 13 is provided with a stop structure for limiting the angle of rotation of the sleeve 21 with respect to the rotating shaft 111.

Since the limiting ring 13 can be sleeved on the rotating shaft 11 and the rotation angle of the sleeve 21 is limited by its own stopping structure, the limiting ring 13 has a small occupied space and is convenient for installation without the need for In addition, a limiting structure having a large size and a complicated structure is disposed to limit the rotating component 2.

Further, the limiting ring 13 can realize the limitation of the sleeve 21 by a convex structure such as a protrusion. Specifically, the end of the sleeve 21 facing the first connecting base 12 is provided with a protruding portion 211. The stopping structure includes an annular convex portion protruding from the end surface of the limiting ring 13 and protruding toward the floating end 111 of the rotating shaft 11. The flange 131 is provided with a notch 132. The width of the notch 132 is larger than the width of the protrusion 211 in the width direction of the notch 132. The protrusion 211 is located in the notch 132, and the protrusion 211 is used for the sleeve. When the cylinder 21 rotates with respect to the rotating shaft 11, it abuts against one end of the annular flange 131 to restrict the rotation angle of the sleeve 21.

Thus, when the sleeve 21 is rotated relative to the rotating shaft 11, its angle of rotation or range of rotation is limited to the extent of the notch 132. When the sleeve 21 is rotated relative to the rotating shaft 11, the position of the projection 211 on the sleeve 21 is also changed, and the movement is made with respect to the width direction of the notch 132 until the edge of the projection 211 and the notch 132. The ends of the annular flange 131 abut. The annular flange 131 is generally completely broken at the notch 132 such that the notch 132 will occupy a certain range of arcuate angles on the circumference of the annular flange 131, which is approximately the rotatable angle of the sleeve 21.

Due to the limiting ring 13 of the above structure, it is required to be fixed relative to the fixing component 1 to When the sleeve 21 is rotated relative to the rotating shaft 11 , the sleeve 21 is limited as a reference. Therefore, in order to fix the limiting ring 13 on the fixing component 1 , the limiting ring 13 is generally provided for connecting with the first connecting base 12 . The fixing block 133, the fixing block 133 and the first connecting base 12 are screwed or snapped together, or may be connected by other detachable connection methods, and details are not described herein again.

In addition, the limiting ring 13 can also be integrated with the fixing component 1 . For example, the limiting protrusion or the limiting step can be machined on the outer side of the rotating shaft 11 in the fixing component 1 and the pair of sleeves 21 can be completed. Limits.

When the limiting ring 13 and the fixing component 1 are in a split structure, in order to avoid interference and scraping in the axial direction between the limiting ring 13 and the sleeve 21, the limit can be limited by the axial positioning structure. The ring 13 and the sleeve 21 are respectively restrained at different positions in the axial direction. For example, a shoulder 112 may be disposed on the rotating shaft 11, and the diameters of the rotating shafts on both sides of the shoulder 112 are different, and the diameter of the shaft section near the first end of the rotating shaft 11 is larger than the diameter of the shaft section near the second end of the rotating shaft 11. The sleeve 21 and the limiting ring 13 are respectively sleeved on both sides of the shoulder 112, and the end surface of the sleeve 21 abuts against the shoulder 112. Thus, the axial position of the sleeve 21 relative to the rotating shaft 11 is limited by the shoulder 112 without overlying the shoulder 112 and causing a scraping between the retaining ring 13, thereby ensuring that the sleeve 21 can be rotated relative to The shaft 11 rotates flexibly and normally.

When the vehicle is driving, when passing obstacles or bumpy roads, the wheels should be kept close to the ground to ensure the adhesion between the wheels and the ground; and after the vehicles pass obstacles or rough roads, the axles should quickly return to normal. The posture, that is, the horizontal state, is to improve the stability of the vehicle. In order to have the axle and the wheel have the ability to quickly return to the normal posture, the suspension assembly may further comprise an elastic member respectively connected to the fixing assembly 1 and the rotating assembly 2, and the elastic member is used for driving the rotating assembly 2 when the elastic deformation occurs. Rotation with respect to the rotating shaft 11 to restore the axle to a horizontal state. Thus, when the vehicle is on a rough road surface, the axle and the rotating assembly 2 will rotate relative to the fixed component 1 along with the undulation of the road surface, and the elastic member will rely on its own elasticity to make the wheel and the ground closely fit to improve the wheel. Adhesion to the ground to enhance the smoothness, controllability and safety of the vehicle. In addition, after the vehicle drives over the rugged road surface, the elastic member releases its own elastic potential energy stored by the deformation, and drives the rotating assembly 2 to return to the normal position, at which time the axle is restored to the horizontal state, so that the vehicle performs normal driving.

In the above suspension assembly structure with the limiting ring 13, the elastic member can utilize the limiting ring 13 The shape and structure are set. Specifically, the elastic member may be a torsion spring 5, and the torsion spring 5 is wound around the rotating shaft 11, and one end of the torsion spring 5 abuts against the protruding portion 211 on the sleeve 21, and the other end of the torsion spring 5 and the limit One end of the annular flange 131 on the ring 13 abuts. When the sleeve 21 is rotated relative to the rotating shaft 11 under the action of the rough road surface and the axle, the torsion spring 5 is elastically deformed and restored to the original state after the vehicle drives over the rough road surface to ensure normal running of the vehicle.

After the sleeve 21 and the rotating shaft 11 realize the axially rotatable connection, in order to prevent the sleeve 21 from slipping or falling off from the rotating shaft 11 from the axial direction, the rotating assembly 2 further includes a fixing sleeve 21 for fixing. A quick release locking structure with respect to the axial position of the rotating shaft 11. The quick release locking structure can lock the sleeve 21 at a certain position in the axial direction of the rotating shaft 11 to prevent the sleeve 21 from being separated from the rotating shaft 11, and the quick release locking structure is generally easy to disassemble, so as to facilitate the fixing of the assembly 1 and Quick assembly and disassembly of the rotating assembly 2.

As a preferred embodiment, the quick release locking structure can be quickly disassembled by means of a threaded connection. Specifically, the quick release locking structure may include a quick release screw 3 , the quick release screw 3 and the floating end 111 of the rotating shaft 11 are screwed, and the quick release screw 3 is disposed at the sleeve 21 away from the first connecting base 12 . On the end face. Thus, if the disassembly and assembly of the rotating assembly 2 is to be realized, the quick-release screw member 3 can be removed from the rotating shaft 11 along the thread, and the disassembly and assembly process is convenient and quick.

At this time, in order to facilitate connection with the quick release screw 3, the free end 111 of the rotary shaft 11 may be located in or protruded from the sleeve 21. Corresponding to the different positions of the suspended ends 111 with respect to the sleeve 21, the quick-release screw members 3 also have different structures.

For example, FIG. 5 is a schematic view showing a mounting structure of a quick-release screw member according to Embodiment 1 of the present invention. As shown in FIG. 5, as one of the possible structures, the quick release screw member 3 includes a screw 31 and a blocking portion 32 at one end of the screw shaft, and the floating end 111 of the rotating shaft 11 is provided with a threaded hole 1111 matching the screw 31, The screw 31 and the threaded hole are screwed, and the projection 32 is disposed on the end surface of the sleeve 21 away from the first connecting base.

Thus, when the floating end 111 of the rotating shaft 11 is located in the sleeve 21, in order to be coupled with the rotating shaft 11, the end surface of the rotating shaft 11 is provided with a threaded hole 1111, and the quick-release screw 3 passes through the screw which projects into the sleeve 21. 31 and the threaded hole 1111 are screwed, and the projection 32 of the quick release screw 3 is blocked on the end surface of the sleeve 21 to cooperate with the rotating shaft 11 or the first connecting base 12 to sandwich the sleeve 21 on the rotating shaft. On the 11th, the relative positioning of the sleeve 21 and the rotary shaft 11 in the axial direction is completed.

6 is a schematic view showing another mounting structure of the quick release screw provided in the first embodiment of the present invention. As shown in FIG. 6, as another possible structure, the quick release screw 3 may include a quick release nut 33, and the free end 111 of the rotary shaft 11 is provided with an external thread matching the threaded hole 331 of the quick release nut 33. 1112, the quick release nut 33 and the floating end 111 of the rotating shaft 11 are screwed, and the end surface of the quick release nut 33 is disposed on the end surface of the sleeve 21 away from the first connecting base.

Thus, corresponding to the case where the floating end 111 of the rotating shaft 11 protrudes from the sleeve 21, the external end of the rotating shaft 11 protruding from the end surface of the sleeve 21 can be provided with an external thread 1112, and the quick release nut 33 and the external thread 1112 is connected and abuts against the end surface of the sleeve 21 to sandwich the sleeve 21 with the rotating shaft 11 or the first connecting base 12, and the relative positioning of the sleeve 21 and the rotating shaft 11 in the axial direction is completed. .

In addition, the quick release locking structure may also be other structures, such as an eccentric locking structure or a snap structure, which are common in the art, and will not be described herein.

In order to achieve the relative sliding between the fixed assembly 2 and the rotating assembly 1, the rotating shaft 11 and the sleeve 21 can be in direct contact with each other, and the relative sliding can be completed, and a gap can be formed between the rotating shaft 11 and the sleeve 21, and A structure that facilitates sliding is provided in the gap. Specifically, a bearing 4 may be disposed between the rotating shaft 11 and the rotating assembly 2. In general, the outer ring of the bearing 4 can be coupled to the rotating assembly 2, and the inner ring of the bearing 4 is coupled to the rotating shaft 11. The inner and outer rings of the bearing 4 can be smoothly rotated relative to each other, thereby completing the normal relative sliding between the rotating shaft 11 and the sleeve 21. Alternatively, the bearing 4 can be either a plain bearing or a rolling bearing. And the number of the bearings 4 can be plural to ensure the smoothness of the rotation.

Furthermore, in order to achieve a connection to the axle, in the suspension assembly, the second connection base 22 of the rotary assembly 2 is provided with a connection surface 22a for connection to the axle, the connection surface 22a being arranged obliquely with respect to the horizontal plane. As the vehicle body advances, the impact of the obstacle on the wheel can partially act on the direction of travel of the vehicle, reducing the impact on the suspension assembly and the entire vehicle chassis.

Generally, the angle between the joining face 22a and the horizontal plane is usually between 10 and 20, and preferably about 15 .

In this embodiment, the suspension assembly is applicable to a frame of a vehicle, and the suspension assembly specifically includes a fixing assembly and a rotating assembly, the fixing assembly and the frame connection of the vehicle, and the fixing assembly has a rotating shaft and an axial direction of the rotating shaft. The rotating assembly is rotatably disposed on the rotating shaft in the same vertical plane as the traveling direction of the vehicle, and the rotating assembly is coupled to the axle of the vehicle. Such a suspension assembly can By the relative rotation of the rotating component and the fixed component, the axle and the wheel of the vehicle are lifted and lowered with the undulation of the road surface, the adhesion between the wheel and the ground is increased, and the suspension component acts as a buffering and damping device, so that The vehicle still maintains a good running stability, making the vehicle's terrain adaptability stronger.

FIG. 7 is a schematic structural view of a chassis according to Embodiment 2 of the present invention. Figure 8 is a schematic exploded view of the chassis shown in Figure 7. Figure 9 is a schematic view showing the structure of the rear axle portion of the chassis of Figure 7. As shown in FIG. 7 to FIG. 9 , the chassis 200 of the present embodiment includes a frame 101 , an axle 102 , and a suspension assembly 100 according to the first embodiment. The suspension assembly 100 is coupled to the frame 100 and the axle 102 . between. The specific structure and the main working principle of the suspension assembly 100 have been described in detail in the foregoing first embodiment, and are not described herein again.

Specifically, the fixed assembly 1 of the suspension assembly 100 is coupled to the frame 101, and the rotating assembly 2 is coupled to the axle 102. The suspension assembly 100 can transmit the force and torque between the frame 101 of the vehicle and the wheels of the vehicle. And buffering the force transmitted to the frame 101 due to the unevenness of the road surface, so that the chassis 200 can adapt to the rugged road surface and improve the passing performance of the vehicle.

Wherein, the axle 102 on the chassis 200 includes a front axle 102a and a rear axle 102b, and the center of gravity of the vehicle is generally close to the rear axle 102b of the chassis 200. Therefore, the suspension assembly 100 of the first embodiment is generally connected to the frame 101 and the front. Between bridges 102a. Thus, the suspension assembly 100 can effectively improve the adhesion of the wheel to the ground, and even if the road surface is rough, it can ensure that at least three wheels on the chassis 200 can land, thereby ensuring the stability of the wheel on a complicated road surface.

Since the wheels on the chassis 200 are generally symmetrically disposed at both ends of the axle 102, the suspension assembly 100 is disposed at the center of the front axle 102a in order to ensure that the wheels on both sides of the chassis 200 have sufficient adhesion to the ground and the overall running stability of the chassis. position. At this time, the rotation angles and the rotation formation of the wheels distributed at both ends of the front axle 102a with respect to the rotation axis of the suspension assembly 100 are equal, which can balance the force of the front axle 102a and improve the stability of the vehicle during running.

The rear axle 102b of the chassis 200 generally has a damping and cushioning design. Specifically, the rear axle 102b may include a rear cantilever 1021 and a shock absorber 1022. One end of the shock absorber 1022 is connected to the rear cantilever 1021, and the other end of the shock absorber 1022 is connected to the frame 101. The shock absorber 1022 is opposite to the vertical. The direction is tilted.

Wherein, the rear axle 102b can be buffered and damped by the shock absorber 1022, and the rear cantilever 1021 and the shock absorber 1022 together form a cantilever structure formed by a certain vibration reduction, and the cantilever structure is subjected to When an impact such as an obstacle strikes, the shock absorber 1022 will elastically deform along its own axial direction, and change the shape of the cantilever structure, so that when the wheel jumps due to the obstacle, the displacement and vibration of the rear axle 102b as a whole are reduced, and the vehicle is improved. Stationarity. The shock absorber 1022 is tilted such that the impact of the obstacle on the wheel can partially act on the direction of advancement of the vehicle, reducing the impact on the suspension assembly 100 and the entire vehicle chassis. Typically, the angle between the shock absorber 1022 and the vertical direction is between 10 and 20 degrees, and preferably about 15 degrees. The angle between the front axle and the horizontal direction is also between 10° and 20°.

In this embodiment, the chassis includes a frame, an axle, and a suspension assembly, and the suspension assembly is coupled between the frame and the axle; the suspension assembly specifically includes a fixing assembly and a rotating assembly, and the fixed assembly and the frame of the vehicle are connected. And the fixing component has a rotating shaft, the axial direction of the rotating shaft is in the same vertical plane as the traveling direction of the vehicle, the rotating component is rotatably disposed on the rotating shaft, and the rotating component is connected with the axle of the vehicle. In this way, the suspension assembly of the chassis can lift and lower the axles and wheels of the vehicle along with the undulation of the road surface by the relative rotation of the rotating assembly and the fixed assembly, thereby increasing the adhesion between the wheel and the ground, and the suspension assembly buffers. And the role of vibration reduction, so that the vehicle still maintains a good driving stability, making the vehicle's terrain adaptability stronger.

FIG. 10 is a schematic structural diagram of a vehicle according to Embodiment 3 of the present invention. As shown in FIG. 10, the vehicle 300 provided in this embodiment includes a wheel 202, a load 201, and a chassis 200 according to the foregoing second embodiment. The load 201 is carried on the frame of the chassis 200, and the wheel 202 is mounted on the chassis 200. . The specific structure, composition, and working principle of the chassis 200 have been described in detail in the foregoing Embodiment 2, and details are not described herein again.

Specifically, the load 201 in the vehicle 300 may generally include various types of work equipment, such as a video camera, or a transmitter for launching a toy bullet. The load 201 is secured to the frame of the chassis 200 in a variety of removable or non-removable manners, and the chassis 200 provides good ride stability for the load 201, allowing the load 201 to function properly while the vehicle is in motion.

Additionally, alternatively, the wheel 202 mounted in the chassis 200 of the vehicle may typically be a Mecanum wheel. There are many small rollers or rollers distributed obliquely on the rim of the Mecanum wheel. The small rollers or rollers have special busbars. When the wheels 202 rotate around the fixed wheel axle, due to the envelope of each small roller. It is a cylindrical surface, so the wheel 202 can continuously roll forward. When the rotational speeds and rotational directions of the different wheels are inconsistent, the wheels 202 can be laterally slipped by the rotation of the small rollers. So the Mecanum wheel can not only move forward, but also horizontally. Sliding. Thus, the steering wheel 200 of the vehicle 300 may be provided with no steering mechanism, and all the wheels 202 may be directly oriented in the same direction. When the vehicle 300 needs to be turned, the chassis of the vehicle 300 may be controlled by the combination of the rotational speeds of the different wheels and the steering. The 200 points in different directions to facilitate the omnidirectional rotation of the vehicle 300.

In this embodiment, the vehicle includes a load and a chassis, and the load is carried on the frame of the chassis; the suspension assembly is connected between the frame and the axle; the suspension assembly specifically includes a fixing component and a rotating component, the fixing component and the vehicle of the vehicle The frame is connected, and the fixing component has a rotating shaft, the axial direction of the rotating shaft is in the same vertical plane as the traveling direction of the vehicle, the rotating component is rotatably disposed on the rotating shaft, and the rotating component is coupled with the axle of the vehicle. In this way, the axle and the wheel of the vehicle can be lifted and lowered with the undulation of the road surface by the relative rotation of the rotating component and the fixed component, thereby increasing the adhesion between the wheel and the ground, and the suspension component functions as a buffer and a vibration damping. So that the vehicle still maintains a good driving stability, making the vehicle's terrain adaptability stronger.

Finally, it should be noted that the above embodiments are merely illustrative of the technical solutions of the present invention, and are not intended to be limiting; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art will understand that The technical solutions described in the foregoing embodiments may be modified, or some or all of the technical features may be equivalently replaced; and the modifications or substitutions do not deviate from the technical solutions of the embodiments of the present invention. range.

Claims

A suspension assembly for use on a frame of a vehicle, comprising: a fixing assembly and a rotating assembly, the fixing assembly being coupled to the frame, and the fixing assembly having a rotating shaft, the rotating shaft The axial direction is in the same vertical plane as the direction of travel of the vehicle, the rotating assembly is rotatably disposed on the rotating shaft, and the rotating assembly is coupled to the axle of the vehicle.
The suspension assembly according to claim 1, wherein the axial direction of the rotating shaft is a horizontal direction.
The suspension assembly according to claim 1, wherein the fixing assembly comprises a first connecting base, the first connecting base is coupled to the frame, and the first end of the rotating shaft and the first A connecting base is connected, and the second end of the rotating shaft protrudes outward of the first connecting base and forms a floating end.
The suspension assembly according to claim 3, wherein said rotating assembly comprises a second connecting base and a sleeve, said second connecting base being coupled to said axle, said sleeve and said second The connecting base is fixedly connected, the sleeve is sleeved outside the floating end of the rotating shaft, and the sleeve and the rotating shaft are rotatably connected.
The suspension assembly according to claim 4, wherein the fixing assembly further comprises a limiting ring, the limiting ring is sleeved on the rotating shaft, and the limiting ring is located at the sleeve Between the first connecting base and the first connecting base, the limiting ring is provided with a stopping structure for limiting the rotation angle of the sleeve with respect to the rotating shaft.
The suspension assembly according to claim 5, wherein an end of the sleeve facing the first connecting base is provided with a projection, and the stopping structure includes an end surface at the limiting ring And an annular flange protruding toward the floating end of the rotating shaft, the annular flange is provided with a notch, the width of the notch being larger than the width of the protruding portion in the width direction of the notch The protrusion is located in the notch, and the protrusion is used to abut one end of the annular flange when the sleeve rotates relative to the rotating shaft to limit the sleeve The angle of rotation of the barrel.
The suspension assembly according to claim 5 or 6, wherein the retaining ring is provided with a fixing block for connecting with the first connecting base, the fixing block and the first connecting base thread Connect or snap.
The suspension assembly according to claim 5 or 6, wherein the rotating shaft is provided with a shoulder, and the sleeve and the limiting ring are respectively sleeved on both sides of the shoulder, and An end surface of the sleeve abuts the shoulder.
The suspension assembly according to claim 6, further comprising an elastic member that is coupled to the fixing member and the rotating member, respectively, the elastic member for driving the elastic deformation The rotating assembly rotates relative to the rotating shaft to restore the axle to a horizontal state.
The suspension assembly according to claim 9, wherein the elastic member is a torsion spring, the torsion spring is wound around the rotating shaft, and one end of the torsion spring is opposite to the protruding portion Then, the other end of the torsion spring abuts against one end of the annular flange.
A suspension assembly according to any of claims 4-6, wherein the rotating assembly further comprises a quick release locking structure for securing the axial position of the sleeve relative to the rotating shaft.
The suspension assembly of claim 11 wherein said quick release locking structure comprises a quick release threaded member, said quick release threaded member being threadedly coupled to a free end of said rotating shaft, and said quick release thread The member is disposed on an end surface of the sleeve away from the first connecting base.
The suspension assembly of claim 12 wherein the free end of the rotating shaft is located within or extends from the sleeve.
The suspension assembly according to claim 13, wherein said quick release screw member includes a screw and a blocking portion at one end of said screw, and said floating end of said rotating shaft is provided with a thread matching said screw a hole, the screw and the threaded hole are screwed, and the protrusion is disposed on an end surface of the sleeve away from the first connecting base.
The suspension assembly according to claim 13, wherein said quick release screw member comprises a quick release nut, and said floating end of said rotary shaft is provided with an external thread matched with a threaded hole of said quick release nut, The quick release nut is screwed to the suspended end of the rotating shaft, and an end surface of the quick release nut is disposed on an end surface of the sleeve away from the first connecting base.
A suspension assembly according to any one of claims 1 to 6, wherein a bearing is disposed between the rotating shaft and the rotating assembly.
The suspension assembly according to any one of claims 4 to 7, wherein the second connecting base is provided with a connecting surface for connecting with the axle, the connecting surface being opposite to the water Plane tilt setting.
The suspension assembly of claim 17 wherein the angle between the attachment surface and the horizontal plane is between 10 and 20 degrees.
A chassis, including a frame, an axle, and a suspension assembly, the suspension assembly being coupled between the frame and the axle; the suspension assembly including a stationary assembly and a rotating assembly, The fixing assembly is coupled to the frame, and the fixing assembly has a rotating shaft, the axial direction of the rotating shaft is in the same vertical plane as the traveling direction of the vehicle, and the rotating assembly is rotatable On the rotating shaft, and the rotating assembly is coupled to an axle of the vehicle.
The chassis according to claim 19, wherein the axial direction of the rotating shaft is a horizontal direction.
The chassis according to claim 19, wherein the fixing assembly comprises a first connecting base, the first connecting base is coupled to the frame, and the first end of the rotating shaft is connected to the first The base is connected, and the second end of the rotating shaft protrudes outward of the first connecting base and forms a floating end.
The chassis according to claim 21, wherein said rotating assembly comprises a second connecting base and a sleeve, said second connecting base being coupled to said axle, said sleeve and said second connecting base A fixed connection is provided, the sleeve is sleeved outside the floating end of the rotating shaft, and the sleeve and the rotating shaft are rotatably connected.
The chassis according to claim 22, wherein the fixing assembly further comprises a limiting ring, the limiting ring is sleeved on the rotating shaft, and the limiting ring is located at the sleeve and the Between the first connecting bases, the limiting ring is provided with a stopping structure for limiting the rotation angle of the sleeve with respect to the rotating shaft.
The chassis according to claim 23, wherein an end of the sleeve facing the first connecting base is provided with a protrusion, and the stopping structure comprises an end surface at the limiting ring, and An annular flange protruding toward the hanging end of the rotating shaft, wherein the annular flange is provided with a notch, the width of the notch being larger than the width of the protruding portion in the width direction of the notch, a projection located in the notch, the projection being adapted to abut one end of the annular flange when the sleeve is rotated relative to the rotating shaft to limit the sleeve The angle of rotation.
A chassis according to claim 23 or 24, wherein said limit ring A fixing block is provided for connecting with the first connecting base, and the fixing block and the first connecting base are screwed or snapped.
The chassis according to claim 23 or 24, wherein the rotating shaft is provided with a shoulder, the sleeve and the limiting ring are respectively sleeved on both sides of the shoulder, and The end face of the sleeve abuts the shoulder.
The chassis according to claim 24, further comprising an elastic member respectively coupled to said fixing member and said rotating member, said elastic member for driving said rotation when elastic deformation occurs The assembly rotates relative to the axis of rotation to restore the axle to a horizontal state.
The chassis according to claim 27, wherein the elastic member is a torsion spring, the torsion spring is wound around the rotating shaft, and one end of the torsion spring abuts the protruding portion, The other end of the torsion spring abuts against one end of the annular flange.
A chassis according to any one of claims 22 to 24, wherein the rotating assembly further comprises a quick release locking structure for fixing the axial position of the sleeve relative to the rotating shaft.
The chassis according to claim 29, wherein said quick release locking structure comprises a quick release screw member, said quick release screw member being screwed to a free end of said rotary shaft, and said quick release thread member And disposed on an end surface of the sleeve away from the first connecting base.
30. A chassis according to claim 30 wherein the free end of the rotating shaft is located within or extends from the sleeve.
The chassis according to claim 31, wherein said quick release screw member comprises a screw and a blocking portion at one end of said screw, and said floating end of said rotating shaft is provided with a threaded hole matching said screw The screw and the threaded hole are screwed, and the protrusion is disposed on an end surface of the sleeve away from the first connecting base.
The chassis according to claim 31, wherein said quick release screw member comprises a quick release nut, and said floating end of said rotary shaft is provided with an external thread matching said threaded hole of said quick release nut, said The quick release nut is screwed to the suspended end of the rotating shaft, and an end surface of the quick release nut is disposed on an end surface of the sleeve away from the first connecting base.
A chassis according to any one of claims 19 to 24, wherein a bearing is disposed between the rotating shaft and the rotating assembly.
The chassis according to any one of claims 22-25, characterized in that the second connecting base is provided with a connecting surface for connection with the axle, the connecting surface being inclined with respect to a horizontal plane.
A chassis according to claim 35, wherein the angle between the connecting surface and the horizontal plane is between 10 and 20 .
The chassis of claim 19 wherein said axle comprises a front axle and a rear axle, said suspension assembly being coupled between said frame and said front axle.
The chassis according to claim 37, wherein said suspension assembly is disposed at a central position of said front axle.
A chassis according to claim 37 or claim 38, wherein said rear axle comprises a rear cantilever and a shock absorber, one end of said shock absorber being coupled to said rear cantilever, and the other end of said shock absorber The frame is connected, and the shock absorber is disposed obliquely with respect to a vertical direction.
A chassis according to claim 39, wherein the angle between the shock absorber and the vertical direction is between 10 and 20 .
A vehicle, comprising: a load and a chassis, the load being carried on a frame of the chassis;

The chassis includes a frame, an axle, and a suspension assembly, the suspension assembly being coupled between the frame and the axle; the suspension assembly including a stationary assembly and a rotating assembly, the stationary assembly and The frame is coupled, and the fixing assembly has a rotating shaft, an axial direction of the rotating shaft is in a same vertical plane as a traveling direction of the vehicle, and the rotating component is rotatably disposed on the rotating shaft And the rotating assembly is coupled to the axle of the vehicle.
The vehicle according to claim 41, characterized in that the axial direction of the rotating shaft is a horizontal direction.
The vehicle according to claim 41, wherein said fixing assembly comprises a first connecting base, said first connecting base being coupled to said frame, said first end of said rotating shaft being connected to said first The base is connected, and the second end of the rotating shaft protrudes outward of the first connecting base and forms a floating end.
The vehicle according to claim 43, wherein said rotating assembly comprises a second connecting base and a sleeve, said second connecting base being coupled to said axle, said sleeve and said second connecting base a fixed connection, the sleeve is sleeved outside the free end of the rotating shaft, and The sleeve and the rotating shaft are rotatably connected.
The vehicle according to claim 44, wherein said fixing assembly further comprises a retaining ring, said retaining ring is sleeved on said rotating shaft, and said retaining ring is located at said sleeve and said Between the first connecting bases, the limiting ring is provided with a stopping structure for limiting the rotation angle of the sleeve with respect to the rotating shaft.
The vehicle according to claim 45, wherein an end of the sleeve facing the first connecting base is provided with a projection, and the stopping structure includes an end surface at the limiting ring, and An annular flange protruding toward the hanging end of the rotating shaft, wherein the annular flange is provided with a notch, the width of the notch being larger than the width of the protruding portion in the width direction of the notch, a projection located in the notch, the projection being adapted to abut one end of the annular flange when the sleeve is rotated relative to the rotating shaft to limit the sleeve The angle of rotation.
The vehicle according to claim 45 or 46, wherein the retaining ring is provided with a fixing block for connecting with the first connecting base, and the fixing block and the first connecting base are screwed or Card access.
The vehicle according to claim 45 or 46, wherein the rotating shaft is provided with a shoulder, the sleeve and the limiting ring are respectively sleeved on both sides of the shoulder, and The end face of the sleeve abuts the shoulder.
A vehicle according to claim 46, further comprising an elastic member that is coupled to said fixing member and said rotating member, respectively, said elastic member for driving said rotation when elastic deformation occurs The assembly rotates relative to the axis of rotation to restore the axle to a horizontal state.
The vehicle according to claim 49, wherein the elastic member is a torsion spring, the torsion spring is wound around the rotating shaft, and one end of the torsion spring abuts the protruding portion, The other end of the torsion spring abuts against one end of the annular flange.
A vehicle according to any of claims 44-46, wherein said rotating assembly further comprises a quick release locking structure for securing the axial position of said sleeve relative to said axis of rotation.
The vehicle according to claim 51, wherein said quick release locking structure comprises a quick release screw member, said quick release screw member being screwed to a free end of said rotary shaft, and said quick release thread member And disposed on an end surface of the sleeve away from the first connecting base.
The vehicle of claim 52 wherein the free end of the rotating shaft is located within or extends from the sleeve.
The vehicle according to claim 53, wherein said quick release screw member includes a screw and a blocking portion at one end of said screw, and said floating end of said rotating shaft is provided with a threaded hole matching said screw. The screw and the threaded hole are screwed, and the protrusion is disposed on an end surface of the sleeve away from the first connecting base.
The vehicle according to claim 52, wherein said quick release screw member includes a quick release nut, and said floating end of said rotary shaft is provided with an external thread that matches a threaded hole of said quick release nut, said The quick release nut is screwed to the suspended end of the rotating shaft, and an end surface of the quick release nut is disposed on an end surface of the sleeve away from the first connecting base.
A vehicle according to any one of claims 41 to 46, wherein a bearing is disposed between the rotating shaft and the rotating assembly.
The vehicle according to any one of claims 44 to 47, characterized in that the second connecting base is provided with a connecting surface for connection with the axle, the connecting surface being inclined with respect to a horizontal plane.
A chassis according to claim 57, wherein the angle between the connecting surface and the horizontal plane is between 10 and 20 .
The vehicle of claim 41 wherein said axle comprises a front axle and a rear axle, said suspension assembly being coupled between said frame and said front axle.
The vehicle of claim 59 wherein said suspension assembly is disposed at a central location of said front axle.
A vehicle according to claim 59 or 60, wherein said rear axle includes a rear cantilever and a shock absorber, one end of said shock absorber being coupled to said rear cantilever, and the other end of said shock absorber The frame is connected, and the shock absorber is disposed obliquely with respect to a vertical direction.
The vehicle according to claim 61, wherein the angle between the shock absorber and the vertical direction is between 10° and 20°.
The vehicle of claim 62 wherein the wheel mounted on the chassis is a Mecanum wheel.