WO2023103867A1

WO2023103867A1 - Wheel shock absorption structure and mobile device

Info

Publication number: WO2023103867A1
Application number: PCT/CN2022/135860
Authority: WO
Inventors: 马源; 李帅罡
Original assignee: 深圳市普渡科技有限公司
Priority date: 2021-12-09
Filing date: 2022-12-01
Publication date: 2023-06-15

Abstract

A wheel shock absorption structure, comprising a support frame (1), a movable frame (2), a wheel (7), and a shock absorption assembly. One end of the movable frame (2) is movably connected to the support frame (1), and the other end of the movable frame (2) is rotatably connected to the wheel (7). The shock absorption assembly is connected to at least one of the support frame (1) and the movable frame (2). When the movable frame (2) moves relative to the support frame (1), the short absorption assembly can generate damping to reduce the vibration amplitude of the movable frame (2). Also disclosed is a mobile device comprising the wheel shock absorption structure. By using the wheel shock absorption structure, the mobile device can be more stable during movement.

Description

Wheel shock absorbing structure and mobile equipment

This application claims the priority of the Chinese patent application filed on December 9, 2021, with application number 202123087489.5, entitled "Wheel Shock Absorbing Structure and Mobile Equipment", and the application on December 15, 2021, with application number No. 202123154901.0, the priority of the Chinese patent application entitled "Universal Wheel", the entire content of which is incorporated in this application by reference.

technical field

The present application relates to the technical field of wheel shock absorbers, in particular to a wheel shock absorber structure and mobile equipment.

Background technique

With the rapid development of robot technology, robots are used more and more widely. Among them, universal wheels are often used in robot chassis design.

The universal wheel includes casters and caster brackets. The casters are installed under the caster brackets. The casters and the caster brackets are arranged at intervals up and down. The two are connected by a swing rod assembly that can swing up and down. A spring shock absorber is added to the wheel, and the top end of the spring abuts against the caster bracket, and the bottom end abuts against the fork assembly. Although the spring shock absorber can reduce the vibration effect, if the robot encounters vibration during use, the shock absorber spring in the universal wheel is easy to shrink or stretch too fast, resulting in vibration, which affects the stability of the robot during driving .

Contents of the invention

According to various embodiments of the present application, a wheel shock absorbing structure and a mobile device are provided.

The application provides a wheel shock absorbing structure, comprising:

a support frame, a movable frame and wheels, one end of the movable frame is movably connected to the support frame, and the other end of the movable frame is rotatably connected to the wheels;

A shock absorber assembly, the shock absorber assembly is connected to at least one of the support and the movable frame, and when the movable frame moves relative to the support frame, the shock absorber assembly can generate damping to Weaken the vibration amplitude of the movable frame.

The present application provides a mobile device, wherein the wheel shock-absorbing structure is installed on the bottom of the mobile device.

The details of one or more embodiments of the application are set forth in the accompanying drawings and the description below. Other features and advantages of the application will be apparent from the description, drawings, and claims.

Description of drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present application or the conventional technology, the following will briefly introduce the accompanying drawings that need to be used in the description of the embodiments or the traditional technology. Obviously, the accompanying drawings in the following description are only the present invention For the embodiments of the application, those skilled in the art can also obtain other drawings based on the disclosed drawings without creative effort.

Fig. 1 is a structural schematic diagram of a wheel shock-absorbing structure provided in Embodiment 1 of the present application;

Fig. 2 is a schematic diagram of an exploded structure of the wheel shock-absorbing structure shown in Fig. 1;

Fig. 3 is a schematic front view of the wheel shock-absorbing structure shown in Fig. 1;

Fig. 4 is a schematic side view of the wheel shock-absorbing structure shown in Fig. 1;

Fig. 5 is a schematic sectional view along the section line A-A shown in Fig. 4;

Fig. 6 is a schematic diagram of an exploded structure of some parts of the wheel shock-absorbing structure shown in Fig. 1;

Fig. 7 is a structural schematic diagram of the movable frame in the wheel shock-absorbing structure shown in Fig. 1;

Fig. 8 is a schematic structural diagram of the bottom of a mobile device provided by an embodiment of the present application;

Fig. 9 is a schematic front view of a wheel shock-absorbing structure provided in Embodiment 2 of the present application;

Fig. 10 is a schematic front view of a damper of a wheel shock-absorbing structure provided in Embodiment 3 of the present application;

Fig. 11 is a schematic cross-sectional view along the B-B section line of Fig. 10;

Fig. 12 is a schematic front view of a wheel shock-absorbing structure provided in Embodiment 4 of the present application;

Fig. 13 is a structural schematic diagram of a wheel shock-absorbing structure provided in Embodiment 5 of the present application;

Fig. 14 is a structural schematic view of the wheel shock-absorbing structure of Fig. 13 from another perspective;

Fig. 15 is a cross-sectional view in the A-A direction of the wheel shock-absorbing structure of Fig. 14;

Fig. 16 is an exploded view of the wheel shock-absorbing structure of Fig. 13;

Fig. 17 is a structural schematic diagram of the support frame of the wheel shock absorbing structure of Fig. 13;

Fig. 18 is a structural schematic view from another angle of view of the support frame of the wheel shock absorbing structure of Fig. 13;

Fig. 19 is a structural schematic diagram of the movable frame of the wheel shock-absorbing structure of Fig. 13;

Fig. 20 is a structural schematic diagram of the mounting parts of the wheel shock absorbing structure of Fig. 13;

FIG. 21 is a structural schematic view of another viewing angle of the mounting part of the wheel shock absorbing structure in FIG. 13 .

Explanation of reference signs:

1. Support frame; 11. First guide part; 12. Installation groove; 13. Third through hole; 14. Second flange; 2. Movable frame; 20. Beam; 21. Second guide part; 22. The second 1 through hole; 3, base; 31, limit port; 4, rotating shaft; 5, shock absorber; 6, damper; 61, first friction member; 610, cavity; Friction sheet; 62, second friction member; 7, wheel; 8, friction ring; 9, first buffer member; 100, chassis; 200, first limiter; 210, connection end; 220, limiter end; 300 , the third buffer piece; 400, the spring; 500, the connector; 600, the second limit piece; 610, the limit head; 620, the limit body; 700, the bearing; 710, the inner ring; 720, the outer ring; 800, installation piece; 810, installation hole; 820, second through hole; 830, annular boss; 900, first fastener; 1000, second fastener.

Detailed ways

In order to facilitate the understanding of the present application, the present application will be described more fully below with reference to the relevant drawings. Preferred embodiments of the application are shown in the accompanying drawings. However, the present application can be embodied in many different forms and is not limited to the embodiments described herein. It should be understood that the purpose of providing these embodiments is to make the understanding of the disclosure of the application more thorough and comprehensive.

In addition, the terms "first" and "second" are used for descriptive purposes only, and cannot be interpreted as indicating or implying relative importance or implicitly specifying the quantity or order of the indicated technical features. Thus, the features defined as "first" and "second" may explicitly or implicitly include at least one of these features. In the description of the present application, "plurality" means at least two, such as two, three, etc., unless otherwise specifically defined.

Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the technical field to which this application belongs. The terms used herein in the specification of the application are only for the purpose of describing specific embodiments, and are not intended to limit the application.

The present application provides a wheel shock absorber structure. In some embodiments, a wheel shock absorber structure is provided, including a support frame 1, a movable frame 2, a wheel 7 and a shock absorber assembly. Wherein, one end of the movable frame 2 is movably connected to the support frame 1, and the other end of the movable frame 2 is rotationally connected with the wheels 7; 1 When relative movement occurs, the shock-absorbing assembly can generate damping to weaken the vibration amplitude of the movable frame 2.

In this way, the present embodiment adds a shock absorber assembly to the wheel 7, which can form damping during the relative movement of the movable frame 2 relative to the support frame 1, and reduce the transmission force of the movable frame 2 to the support frame 1, so that The support frame 1 is more stable during the movement.

Please refer to FIG. 1 and FIG. 2 , in some embodiments, the shock absorber assembly includes a shock absorber 5 and a damper 6 .

Please refer to Figure 3, the top of the base 3 is fixedly connected to the support frame 1. In practical applications, the base 3 and the support frame 1 can be independent parts, and the two are fixedly connected by connecting pieces; the base 3 can also be the support frame 1 an extended part.

Base 3 is provided with rotating shaft mounting hole (unmarked) near one end of movable frame 2, and movable frame 2 one end has mounting hole, and rotating shaft 4 penetrates in this rotating shaft mounting hole and mounting hole, thereby realizes that movable frame 2 can be relative to base 3 and The supporting frame 1 rotates around the rotating shaft 4. Optionally, the outer periphery of the rotating shaft 4 is sheathed with a damping member (not marked) for increasing the friction between the movable frame 2 and the rotating shaft 4 . It is easy to understand that the present embodiment does not limit the specific movable connection method between the base 3 and the movable frame 2. In addition to the connection method shown in FIG. Buckle, snap the buckle into the movable groove, and the buckle can move in the movable groove, so as to realize the movement of the movable frame 2 relative to the base 3 .

Please refer to Fig. 3 and 4 again, the wheel 7 is rotatably installed on the other end of the movable frame 2, and the shock absorber 5 is installed between the support frame 1 and the movable frame 2. Optionally, the shock absorber 5 is an elastic member, Such as elastic rubber, springs, etc.; the two ends of the damper 6 are connected with the support frame 1 and the movable frame 2 respectively.

Please refer to FIG. 2 and FIG. 3 again, the damper 6 includes a first friction member 61 and a second friction member 62, the first friction member 61 is installed on the support frame 1, the second friction member 62 is installed on the movable frame 2, and the second friction member 62 is installed on the movable frame 2. A friction member 61 abuts against the second friction member 62, and the damper 6 is used to generate damping when the second friction member 62 is displaced relative to the first friction member 61 to reduce the vibration amplitude of the shock absorber 5; optionally, The first friction member 61 is installed on the end of the support frame 1 away from the rotating shaft 4 , the second friction member 62 is installed on the end of the movable frame 2 away from the rotating shaft 4 , and the first friction member 61 and the second friction member 62 abut against each other.

The first friction member 61 has a movable space inside, the second friction member 62 protrudes into the movable space, and the outer surface of the second friction member 62 abuts against the inner wall of the first friction member 61 .

Optionally, the first friction member 61 includes an inner friction plate 611 and an outer friction plate 612 oppositely disposed, and there is a gap between the inner friction plate 611 and the outer friction plate 612 . The second friction member 62 is inserted in the gap, and the two outer sidewalls of the second friction member 62 are respectively in contact with the inner friction plate 611 and the outer friction plate 612 .

In this embodiment, a damper 6 is added to the wheel 7. The damper 6 can form damping in the telescopic direction of the shock absorber 5, and can reduce the vibration problem caused by the shock absorber 5 shrinking or stretching too fast during the vibration process. , making the wheel 7 more stable during motion.

In some of these embodiments, please refer to FIG. 1 and FIG. 2 , the above-mentioned damper 6 also includes an adjustment screw (not marked in the figure), the inner friction plate 611 and the outer friction plate 612 are both elastic plates, and the adjustment screw is passed through the inner friction plate. The plate 611 and the outer friction plate 612 are used to adjust the distance between the inner friction plate 611 and the outer friction plate 612, thereby adjusting the damping value.

Referring to FIG. 5 and FIG. 6 , a limiting opening 31 is opened on the base 3 , and the movable frame 2 has a beam 20 located in the limiting opening 31 . When the movable frame 2 swings upwards to the highest point, the crossbeam 20 abuts against the first side wall (not marked) of the limiting opening 31; The two side walls (not marked in the figure) abut against each other. It can be seen that the range of the movable frame 2 moving up and down can be controlled through the cooperation of the limit opening 31 and the beam 20 .

Please refer to Figure 6 and Figure 7, in order to fix the shock absorber 5, the bottom surface of the support frame 1 is provided with a first guide 11 corresponding to the position of the shock absorber 5, and the top surface of the movable frame 2 corresponds to the position of the shock absorber 5 The second guide part 21 is provided, and the two ends of the shock absorber 5 are sleeved on the first guide part 11 and the second guide part 21 respectively, so that the first guide part 11 and the second guide part 21 can clamp the shock absorber 5. The problem of displacement of the shock absorber 5 sandwiched between the support frame 1 and the movable frame 2 can be avoided.

Specifically in this embodiment, the first 11 guide part may be a first boss, and the second guide 21 part may be a second boss.

In some of the embodiments, a mobile device is also provided. Please refer to FIG. 8 , which shows the bottom structure of the mobile device. The chassis 100 of the mobile device is equipped with the above-mentioned wheel shock absorbing structure. By adopting the wheel shock-absorbing structure, the mobile equipment can be made more stable during movement.

Please refer to Fig. 1 and Fig. 2, in wherein some embodiments, provide the second kind of wheel shock-absorbing structure, the difference between this embodiment and the first kind of embodiment is:

Please refer to FIG. 9, the damper 6 of this embodiment includes a first friction member 61 and a second friction member 62, the second friction member 62 is installed on the support frame 1, the first friction member 61 is installed on the movable frame 2, and the second friction member 62 is installed on the movable frame 2. A friction member 61 has a movable space inside, and a second friction member 62 protrudes into the movable space, and the outer surface of the second friction member 62 is in contact with the inner wall of the first friction member 61 .

Referring to Fig. 1 and Fig. 2, in some embodiments, a third wheel shock-absorbing structure is provided, and the differences between this embodiment and the first embodiment are:

Please refer to Fig. 10 and Fig. 11, the damper of this embodiment is a piston structure, the first friction member 61 has a cavity 610 inside, the cavity 610 has an opening at one end, the second friction member 62 is a piston, and the piston extends into the cavity. Inside the cavity, the outer surface of the piston contacts the inner wall of the cavity 610 to form friction.

Please refer to Fig. 1 and Fig. 2, in wherein some embodiments, provide the fourth kind of wheel shock-absorbing structure, the difference between this embodiment and the first kind of embodiment is:

Please refer to Fig. 12, the outer periphery of the rotating shaft 4 is provided with a damping member in this embodiment. The friction ring 8 between the friction force, for example, can be sleeved with a rubber ring that can produce elastic deformation. When the movable frame 2 rotates, the rotating shaft 4 rotates relative to the friction ring 8 , and the friction ring 8 rubs against the rotating shaft 4 to generate a resistance opposite to the rotating direction of the movable frame 2 .

In this embodiment, a damper is added to the wheel 7, through which the resistance against the rotation direction of the movable frame 2 can be generated, and the resistance can slow down the shock produced by the shock absorber 5 shrinking or stretching too fast during the vibration process problem, making the wheel 7 more stable during motion.

Please refer to FIG. 13 to FIG. 16 , in some embodiments, a fifth wheel shock absorber structure is provided, and the shock absorber assembly includes a first buffer member 9 and a first limiting member 200 . Wherein, the movable frame 2 is used for being connected with the wheels 7 in rotation. Both sides of the first buffer member 9 are respectively fixedly connected to the support frame 1 and the movable frame 2 , so that the movable frame 2 can move back and forth in a direction approaching or away from the support frame 1 . The first limiting member 200 is arranged between the support frame 1 and the movable frame 2, the first limiting member 200 is provided with a connecting end 210 and a limiting end 220 arranged at a relatively interval, and the connecting end 210 is connected to the supporting frame 1 and the movable frame 2 One of them is connected, and the limit end 220 is spaced apart from the other of the support frame 1 and the movable frame 2, so that the limit end 220 can interfere with the corresponding support frame 1 or the movable frame 2.

In the wheel shock absorbing structure in the above embodiment, firstly, when the wheel shock absorbing structure passes through the steps, the wheels 7 move upward due to the resistance of the steps, and then the wheels 7 drive the movable frame 2 along the path close to the support frame 1. direction, and use the first buffer member 9 to buffer, so as to ensure the stable movement of the support frame 1, and achieve the effect of shock absorption and noise reduction. Then, when the movable frame 2 rises to a certain height, the first limiter 200 can limit the movable frame 2 to continue to move in the direction close to the support frame 1 through the interference fit between the limit end 220 and the corresponding support frame 1 or the movable frame 2 , so that the movable frame 2 and the support frame 1 are arranged at intervals, thereby ensuring that the wheels 7 and the support frame 1 are arranged at intervals, so that the wheels 7 will not interfere with the support frame 1 and be stuck, and ensure that the wheels 7 can rotate normally, which improves the shock absorption of the wheels. The safety and service life of the structure. Finally, when the wheel shock-absorbing structure passes through the steps, the first buffer member 9 releases the buffer force stored in the buffering process, so that the limit end 220 is separated from the corresponding support frame 1 or movable frame 2, and the movable frame 2 moves away from the support frame 1 until it returns to the initial position, so that the wheel shock-absorbing structure can pass through the steps smoothly. In addition, through the interference fit between the limiting end 220 and the corresponding support frame 1 or movable frame 2, the first limiting member 200 can also bear part of the inertial force, thereby reducing the inertial force received by the first buffer member 9, thereby improving The stability and service life of the wheel shock absorber structure.

Wherein, the wheel shock-absorbing structure can be a universal wheel; the supporting frame 1 can be a connecting bracket; the movable frame 2 can be a supporting bracket.

Wherein, the wheels 7 are rotationally connected with the movable frame 2, and may be through structures such as rolling bearings or rotating shafts. The top wall of the first limiting member 200 is higher than the top of the wheel 7 , it only needs to be able to make the wheel 7 rotate relative to the movable frame 2 .

Wherein, the first limiting member 200 may be a limiting column or a limiting bar or other structures. The connecting end 210 of the first limiting member 200 is connected to one of the support frame 1 and the movable frame 2, which may be through clamping, welding or plugging, or through the limiting end 220 and the corresponding supporting frame 1 or The integral molding of the movable frame 2 only needs to be able to limit the displacement of the movable frame 2 along the direction of approaching the support frame 1 through the first limiting member 200 .

Wherein, the number of the first limiting member 200 may be one, two or more than two. Preferably, there are two first limiting members 200 , and the two first limiting members 200 are symmetrically arranged on both sides of the movable frame 2 . In this way, by arranging the two first limiting members 200 symmetrically on both sides of the movable frame 2 , the transmission between the movable frame 2 and the supporting frame 1 is more stable and uniform, thereby improving the stability of the wheel shock-absorbing structure.

In order to better illustrate the principle of the embodiment of the present application, the connecting end 210 is connected to the movable frame 2, and the limiting end 220 of the first limiting member 200 is set at a distance from the support frame 1 for illustration. restrictions or limitations. In other embodiments, the connecting end 210 may also be connected to the supporting frame 1, and the limiting end 220 may be arranged at intervals with the movable frame 2. The principle is similar and will not be repeated here.

Please refer to Fig. 13 to Fig. 18, in some embodiments, the connecting end 210 is connected to the movable frame 2, the wheel shock absorbing structure also includes a second buffer (not shown), and the second buffer is arranged on the limiting end 220 . In this way, by setting the second buffer piece at the limit end 220, before the limit end 220 interferes with the support frame 1, the second buffer piece interferes with the support frame 1 first, so that the second buffer piece can limit the position. The end 220 is buffered, thereby reducing the vibration and noise generated when the limit end 220 collides with the support frame 1 .

Wherein, the second buffer member can be a structure such as an elastic sheet or a rubber gasket, as long as it can reduce the vibration and noise generated when the limiting end 220 collides with the bottom wall of the support frame 1 .

Optionally, the connecting end 210 is connected to the movable frame 2, and the wheel shock-absorbing structure further includes a third buffer 300, the third buffer 300 is arranged on the support frame 1, and the third buffer 300 is arranged corresponding to the limit end 220 . In this way, by setting the third buffer member 300 corresponding to the position-limiting end 220 on the support frame 1, the position-limiting end 220 will first interfere with the third buffer member 300 before it interferes with the support frame 1, so that the third The buffer member 300 can buffer the position-limiting end 220 , thereby reducing the vibration and noise generated when the position-limiting end 220 collides with the support frame 1 .

Wherein, the third buffer member 300 may be a structure such as an elastic sheet or a rubber gasket, as long as it can reduce the vibration and noise generated when the limit end 220 collides with the support frame 1 .

Wherein, the second buffer member is arranged on the position-limiting end 220, and the third buffer member 300 is arranged on the support frame 1, which can be connected by non-detachable connection methods such as clamping or plugging, or can be connected by rivets or adhesive bonding. The detachable connection method only needs to reduce the vibration and noise generated when the limit end 220 collides with the support frame 1 .

Further, the bottom wall of the support frame 1 is provided with an installation groove 12 for installing the third buffer member 300 . In this way, the bottom wall of the support frame 1 is provided with an installation groove 12 corresponding to the limiter, and the third buffer member 300 is arranged in the installation groove 12, thereby facilitating the rapid and accurate installation of the third buffer member 300 At the corresponding position of the bottom wall of the support frame 1 , the installation efficiency and reliability of the third buffer member 300 are improved.

Optionally, the top wall of the limiting end 220 is provided with a second buffer, and the bottom wall of the support frame 1 is provided with a third buffer 300 corresponding to the limiting end 220 . In this way, by setting the second buffer member and the third buffer member 300 correspondingly on the top wall of the limiting end 220 and the bottom wall of the support frame 1 , the shock-absorbing and noise-reducing effect of the wheel shock-absorbing structure is improved.

Optionally, the wheel shock absorbing structure further includes a spring 400 , the spring 400 is arranged between the support frame 1 and the movable frame 2 , and the spring 400 is fixedly connected to at least one of the support frame 1 and the movable frame 2 . In this way, by setting the spring 400 between the support frame 1 and the movable frame 2, the movable frame 2 and the support frame 1 can be buffered by the first buffer member 9 and the spring 400 at the same time, thereby improving the shock absorption of the wheel. Noise reduction effect. In addition, by setting the first limiter 200 between the movable frame 2 and the support frame 1, the first limiter 200 can limit the distance between the movable frame 2 and the support frame 1, thereby limiting the maximum compression of the spring 400 amount, thereby improving the service life of the spring 400 and the wheel shock-absorbing structure.

Wherein, the number of springs 400 can be one, two or more than two. Preferably, the number of springs 400 is two, and the two springs 400 and the first buffer member 9 are triangular and evenly arranged. In this way, the buffer force between the support frame 1 and the movable frame 2 is more uniform, thereby making the wheel shock-absorbing structure more stable during rotation, thereby improving the safety of the wheel shock-absorbing structure.

Wherein, the spring 400 is at least fixedly connected to at least one of the support frame 1 and the movable frame 2, and can be connected by clamping or plugging, or can be connected by welding or rivets.

Please refer to FIG. 17 and FIG. 18 , further, the bottom wall of the support frame 1 is provided with a first guide portion 11 correspondingly, and the spring 400 is sheathed on the outer wall of the first guide portion 11 . In this way, by sheathing the spring 400 on the outer wall of the first guide part 11, the first guide part 11 can play a guiding role during the compression of the spring 400, thereby reducing the radial direction of the spring 400 along the spring 400. The offset amount, thereby improving the buffering effect of the spring 400 and reducing the vibration and noise generated when the limit end 220 collides with the support frame 1 .

Please refer to FIG. 19 , optionally, the top wall of the movable frame 2 is provided with a second guide portion 21 correspondingly, and the spring 400 is sleeved on the outer wall of the second guide portion 21 . In this way, by sheathing the spring 400 on the outer wall of the second guide part 21, the second guide part 21 can play a guiding role during the compression of the spring 400, thereby reducing the radial direction of the spring 400 along the spring 400. The offset amount, thereby improving the buffering effect of the spring 400 and reducing the vibration and noise generated when the limit end 220 collides with the support frame 1 .

Optionally, the bottom wall of the support frame 1 is provided with a first guide portion 11, the top wall of the movable frame 2 is provided with a second guide portion 21 corresponding to the first guide portion 11, and the two ends of the spring 400 are respectively sleeved on the The outer wall of the first guide part 11 and the outer wall of the second guide part 21 . In this way, during the compression process of the spring 400, the first guide portion 11 and the second guide portion 21 are used to respectively guide the two ends of the spring 400, thereby further reducing the offset of the spring 400 along the radial direction of the spring 400, Thereby, the cushioning effect of the spring 400 is improved, and the vibration and noise generated when the position-limiting end 220 collides with the support frame 1 is reduced.

Wherein, the first guide part 11 and the second guide part 21 may be structures such as bosses, guide pillars or guide tubes. The number of the first guide portion 11 and the second guide portion 21 can be flexibly adjusted according to the number of the springs 400 , it only needs to be able to reduce the offset of the spring 400 along the radial direction of the spring 400 .

Wherein, the first buffer member 9 can be a structure such as a damping hinge, a telescopic hydraulic cylinder, a telescopic pneumatic cylinder, or a rotary pneumatic cylinder. The two sides of the first buffer member 9 are respectively fixedly connected with the support frame 1 and the movable frame 2, which can be detachable connections such as clamping, screwing or plugging, or non-detachable connections such as welding or rivet connections. The method only needs to enable the movable frame 2 to reciprocate in a direction approaching or away from the support frame 1, and to buffer the inertial force between the support frame 1 and the movable frame 2.

Please refer to Figures 13 to 16, in some of the embodiments, the wheel shock absorbing structure further includes a connecting piece 500 arranged between the supporting frame 1 and the movable frame 2, the connecting piece 500 is fixedly connected with the supporting frame 1, the first The buffer member 9 includes a damping hinge, and the damping hinge is used to hinge the connecting member 500 with the movable frame 2 . In this way, the connecting piece 500 is fixedly connected to the support frame 1, and the two ends of the damping hinge are respectively fixedly connected to the connecting piece 500 and the movable frame 2, so that the movable frame 2 reciprocates in a direction approaching or away from the supporting frame 1, and then utilizes The buffering function of the damping hinge buffers the movable frame 2, so that the reciprocating rotation of the movable frame 2 in a direction approaching or away from the support frame 1 is more stable and reliable. In addition, by providing a connecting piece 500 between the movable frame 2 and the support frame 1, and by fixing the two ends of the damping hinge with the connecting piece 500 and the movable frame 2 respectively, the rotation axis of the movable frame 2 can be close to the movable frame 2, Furthermore, the offset of the spring 400 along the radial direction of the spring 400 can be reduced, thereby improving the buffering effect and service life of the spring 400 .

Wherein, the connecting member 500 may be a structure such as a connecting block or a connecting column. The connecting piece 500 is arranged at a distance from the movable frame 2 , and it only needs to be able to make the movable frame 2 reciprocate and rotate in a direction approaching or away from the supporting frame 1 .

Wherein, the connecting piece 500 is fixedly connected to the support frame 1, which can be detachable connection methods such as screw connection, clamping or plugging, or non-detachable connection methods such as welding or riveting, as long as the connection piece 500 can be realized. It can be fixedly connected with the support frame 1.

In order to facilitate the handling of the wheel shock absorber structure.

Please refer to FIG. 15 , the wheel shock absorbing structure further includes a second limiting member 600 for limiting the displacement of the movable frame 2 in the direction away from the supporting frame 1 . In this way, by setting the second limiter 600, the second limiter 600 can limit the displacement of the movable frame 2 along the direction away from the support frame 1, thereby limiting the volume of the wheel shock-absorbing structure, thereby facilitating the wheel shock-absorbing Structure handling. In addition, when the wheel shock-absorbing structure passes through the deep ditch, the displacement of the movable frame 2 in the direction away from the support frame 1 is limited by the second limiter 600, so that the wheels 7 that are rotatably connected with the movable frame 2 will not The supporting point has been dropped all the time, so that the wheel 7 can pass through the deep ditch quickly and safely.

Wherein, the second limiting member 600 may be a structure such as a limiting bolt, a limiting telescopic rod, or a limiting rope. One end of the second limiting member 600 can be fixedly connected with the support frame 1 or the connecting member 500, and the other end of the second limiting member 600 can be connected with the movable frame 2 or arranged at intervals with the bottom wall of the movable frame 2, as long as it can It is sufficient to limit the displacement of the movable frame 2 along the direction away from the supporting frame 1 .

Please refer to Fig. 15 and Fig. 19, optionally, the movable frame 2 is provided with a first through hole 22, and the second limiting member 600 includes a limiting head 610 and a limiting body 620, and the limiting body 620 passes through the first through hole. The hole 22 is fixedly connected with the support frame 1, the spacer body 620 is spaced from the inner side wall of the first through hole 22, and the spacer head 610 is spaced from the bottom wall of the movable frame 2, so that the spacer head 610 can limit the activity. The displacement of frame 2 moving away from support frame 1. In this way, the limiting body 620 passes through the first through hole 22 and is fixedly connected to the support frame 1, so that the limiting head 610 is spaced apart from the bottom of the movable frame 2, so that the limiting head 610 can limit the movable frame 2 along the The amount of displacement moving away from the direction of the support frame 1 can limit the volume of the wheel shock-absorbing structure. In addition, the distance between the movable frame 2 and the support frame 1 is limited by the second limiting member 600 , thereby limiting the maximum stretching amount of the spring 400 , thereby improving the service life of the spring 400 and the wheel shock-absorbing structure.

Wherein, the position-limiting body 620 is fixedly connected to the support frame 1, which may be detachable connection methods such as screw connection or insertion, or non-detachable connection methods such as welding and riveting. The position limiting body 620 can also be fixedly connected with the connecting piece 500 , so as to realize the fixed connection with the support frame 1 . The diameter of the limiting body 620 is larger than the diameter of the first through hole 22 , and it only needs to be able to limit the displacement of the movable frame 2 in the direction away from the supporting frame 1 .

Optionally, the wheel shock absorbing structure further includes a fourth buffer (not shown), the fourth buffer is sleeved on the limiting body 620, and the fourth buffer is arranged between the movable frame 2 and the limiting head 610 between. In this way, by disposing the fourth buffer between the movable frame 2 and the limiting head 610 , the fourth buffer can reduce the vibration and noise generated by the collision between the movable frame 2 and the limiting head 610 .

In order to realize the universal rotation of the wheel shock-absorbing structure.

Please refer to FIG. 13 to FIG. 16 , in some embodiments, the wheel shock absorbing structure further includes a bearing 700 and a mounting part 800, the bearing 700 is arranged below the mounting part 800, and is connected with the mounting part 800 and the support frame 1, The supporting frame 1 can rotate relative to the mounting part 800 through the bearing 700 . In this way, the bearing 700 is connected with the mounting part 800 and the support frame 1, so that the support frame 1 can rotate horizontally relative to the mounting part 800 through the bearing 700, and at the same time, the wheel 7 is rotationally connected with the movable frame 2, thereby realizing a wheel shock absorbing structure universal rotation. In addition, by replacing the traditional ball with the bearing 700, the noise generated during the movement of the wheel shock-absorbing structure can be reduced.

Wherein, the bearing 700 may be a deep groove ball bearing, a plane thrust roller bearing or an angular contact bearing or the like. The installation part 800 may be a structure such as a mounting plate or a mounting frame. The bearing 700 is connected to the mounting part 800 and the support frame 1, which can be detachable connection methods such as screw connection, clamping or sleeve connection, or non-detachable connection methods such as welding. It only needs to be able to realize the support frame 1 passing through the bearing 700. Just rotate relative to the mounting part 800 .

Please refer to FIG. 20 and FIG. 21 , optionally, the mounting member 800 is provided with a mounting hole 810 for connecting with a carrying component. In this way, by providing the mounting holes 810 in the mounting tool 800 , mounting of mounted components is facilitated.

Please refer to Fig. 16, Fig. 20 and Fig. 21, further, the wheel shock absorbing structure also includes a first fastener 900, the bottom end of the outer wall of the first fastener 900 is provided with a first flange, and the bearing 700 includes an inner Ring 710 , the inner ring 710 is sheathed on the first fastener 900 and contacts the first flange, and the mounting part 800 presses against the inner ring 710 so that the first flange and the mounting part 800 cooperate to clamp the inner ring 710 . In this way, the inner ring 710 is clamped together by the first flange and the mounting part 800, so that the first fastener 900, the inner ring 710 and the mounting part 800 are fixedly connected as one, thereby improving the gap between the mounting part 800 and the inner ring 710. Transmission stability and reliability. In addition, by sheathing the inner ring 710 on the first fastener 900, the first fastener 900 can restrict the movement of the inner ring 710 in the horizontal plane, thereby improving the stability of the transmission between the mounting part 800 and the inner ring 710 performance and reliability.

Wherein, the first fastener 900 may be provided with structures such as a connecting rod or a connecting sleeve. The top wall of the first fastener 900 is lower than the height of the top wall of the inner ring 710, only the inner ring 710 can be sleeved on the first fastener 900, and the first flange and the mounting part 800 are sandwiched The inner ring is 710.

Wherein, the first flange may be a structure such as an annular block or an arc block. Wherein, the outer diameter of the first flange is smaller than the outer diameter of the inner ring 710 , it only needs to be able to make the first flange cooperate with the mounting part 800 to clamp the inner ring 710 .

Wherein, the first flange and the mounting part 800 cooperate to clamp the inner ring 710, which can be connected by means of screwing or plugging, or can be clamped and fixed by means of intermediate elements, as long as the first flange and the mounting part can be realized 800 can be used to clamp the inner ring 710.

Please refer to Figure 20 and Figure 21, optionally, the first fastener 900 is provided with a threaded hole (not shown), the mounting part 800 is provided with a second through hole 820 corresponding to the threaded hole, and the wheel shock absorbing structure is also Including a bolt, the bolt includes a bolt body and a bolt head, the bolt body passes through the second through hole 820 and is threadedly connected with the threaded hole, and the bolt head presses against the mounting part 800, so that the first flange and the mounting part 800 are clamped together Inner circle 710. In this way, through the threaded connection between the bolt body and the threaded hole, and the bolt head against the mounting part 800, the inner ring 710 is sandwiched between the mounting part 800 and the first flange, thereby improving the height of the mounting part 800 and the inner ring 710. Stability and reliability of transmission between.

Please refer to Fig. 16, Fig. 17 and Fig. 18, optionally, the wheel shock absorbing structure also includes a second fastener 1000, the bearing 700 also includes an outer ring 720, the support frame 1 is provided with a third through hole 13, and the support frame 1 The top wall of the top wall is also provided with a second flange 14 corresponding to the third through hole 13, the outer ring 720 is arranged in the third through hole 13 and contacts the second flange 14, and the second fastener 1000 is pressed against the outer ring 14. ring 720 such that the second flange 14 cooperates with the second fastener 1000 to clamp the outer ring 720 . In this way, by disposing the outer ring 720 in the third through hole 13, and the second fastener 1000 against the outer ring 720, the second flange 14 is clamped with the second fastener 1000, so that the support frame 1. The outer ring 720 and the second fastener 1000 are fixedly connected as one, thereby improving the stability and reliability of the transmission between the outer ring 720 and the support frame 1 .

Wherein, the second fastener 1000 may be a structure such as a connecting plate or a connecting block. The inner diameter of the second flange 14 is larger than the outer diameter of the inner ring 710 and smaller than the outer diameter of the outer ring 720 . The bottom wall of the outer ring 720 is lower than the height of the bottom wall of the support frame 1 , it only needs to realize that the second flange 14 cooperates with the second fastener 1000 to clamp the outer ring 720 .

Wherein, the second fastener 1000 is pressed against the outer ring 720, and the second fastener 1000 can be screwed or crimped with the support frame 1, etc., as long as the second flange 14 and the second fastener 1000 can be realized. Cooperate with clamping the outer ring 720.

Optionally, when the bottom of the support frame 1 is provided with the second flange 14 corresponding to the third through hole 13, the bottom wall of the mounting plate is provided with an annular boss 830 corresponding to the inner ring 710, so that the annular boss The platform 830 can extend into the third through hole 13 and abut against the top wall of the inner ring 710 . In this way, by setting the annular boss 830 corresponding to the inner ring 710 on the bottom wall of the mounting part 800, the annular boss 830 can extend into the third through hole 13 and press against the top wall of the inner ring 710, thereby making The mounting part 800 can cooperate with the first flange to clamp the inner ring 710 , thereby avoiding interference between the mounting part 800 and the second flange 14 , and improving the reliability and stability of the support frame 100 rotating relative to the mounting part 800 .

The technical features of the above-mentioned embodiments can be combined arbitrarily. To make the description concise, all possible combinations of the technical features in the above-mentioned embodiments are not described. However, as long as there is no contradiction in the combination of these technical features, should be considered as within the scope of this specification.

The above-mentioned embodiments only express several implementation modes of the present application, and the description thereof is relatively specific and detailed, but should not be construed as limiting the scope of the patent application. It should be noted that those skilled in the art can make several modifications and improvements without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the scope of protection of the patent application should be based on the appended claims.

Claims

A wheel shock absorbing structure, comprising:

a support frame, a movable frame and wheels, one end of the movable frame is movably connected to the support frame, and the other end of the movable frame is rotatably connected to the wheels;

A shock absorber assembly, the shock absorber assembly is connected to at least one of the support frame and the movable frame, and when the movable frame moves relative to the support frame, the shock absorber assembly can generate damping to Weaken the vibration amplitude of the movable frame.
The wheel shock absorbing structure according to claim 1, wherein the shock absorber assembly includes a shock absorber and a damper, and the shock absorber is installed between the support frame and the movable frame for slowing down the movement of the movable frame relative to each other. The movement of the support frame; the damper includes a first friction member and a second friction member, the first friction member is installed on the support frame, and the second friction member is installed on the movable frame , the first friction member and the second friction member are in contact with each other, and the damper is used to generate damping when the second friction member is relatively displaced relative to the first friction member to weaken the shock absorber amplitude.
The wheel shock absorbing structure according to claim 2, wherein the first friction member has an activity space inside, the second friction member is arranged in the activity space, and the outer surface of the second friction member is in contact with the outer surface of the second friction member. abut against the inner side wall of the first friction member.
The wheel shock absorbing structure according to claim 3, wherein the first friction member has an inner friction plate and an outer friction plate arranged at intervals, the second friction member has a friction plate, and the opposite two friction plates The two outer sidewalls abut against the inner friction plate and the outer friction plate respectively.
The wheel shock absorbing structure according to claim 2, wherein the second friction member has an activity space inside, the first friction member is arranged in the activity space, and the outer surface of the first friction member is in contact with the outer surface of the first friction member. abut against the inner side wall of the second friction member.
The wheel shock absorbing structure according to claim 5, wherein the second friction member has an inner friction plate and an outer friction plate arranged at intervals, the first friction member has a friction plate, and the opposite two friction plates The two outer sidewalls abut against the inner friction plate and the outer friction plate respectively.
The wheel shock absorbing structure according to claim 4 or 6, wherein the damper further includes an adjustment screw, the inner friction plate and the outer friction plate are both elastic plates, and the adjustment screw passes through the inner friction plate The inner friction plate and the outer friction plate are used to adjust the distance between the inner friction plate and the outer friction plate.
The wheel shock absorbing structure according to claim 2, wherein, the wheel shock absorbing structure further includes a rotating shaft, the rotating shaft is fixedly installed on the support frame, and one end of the movable frame is connected to the support frame through the rotating shaft Hinged, the outer periphery of the rotating shaft is sheathed with a damper for increasing the friction between the movable frame and the rotating shaft.
The wheel shock absorbing structure according to claim 8, wherein the first friction member is installed on the end of the supporting frame away from the rotating shaft, and the second friction member is installed on the end of the movable frame away from the rotating shaft. At one end, the first friction member and the second friction member abut against each other.
The shock-absorbing structure for wheels according to claim 8, wherein the support frame includes a base, and an end of the base close to the movable frame is provided with a shaft installation hole, and the damping member is arranged in the shaft installation hole and sleeved connected to the outer periphery of the rotating shaft, and the rotating shaft is installed in the rotating shaft installation hole.
The wheel shock-absorbing structure according to claim 10, wherein a limiting opening is opened on the base, and the movable frame has a beam, and the beam is located in the limiting opening, and the opposite first side of the limiting opening and the second side is used to abut against the beam to limit the movement of the movable frame.
The shock absorbing structure for wheels according to claim 2, wherein the bottom surface of the support frame is provided with a first guide part corresponding to the position of the shock absorber, and the top surface of the movable frame corresponds to the position of the shock absorber. A second guide part is provided at the position, and the upper and lower ends of the shock absorber are respectively sleeved on the first guide part and the second guide part.
The shock-absorbing structure for wheels according to claim 1 or 2, wherein the shock-absorbing assembly includes a first buffer and a first limiter, and the two sides of the first buffer are respectively connected to the support frame and the The movable frame is fixedly connected, so that the movable frame can move back and forth in a direction close to or away from the support frame; the first limiting member is arranged between the support frame and the movable frame, and the first The limit piece is provided with a connecting end and a limit end arranged at relative intervals, the connecting end is connected to one of the support frame and the movable frame, and the limit end is connected to the support frame and the movable frame The other one is set at intervals, so that the limit end can interfere with the corresponding support frame or the movable frame.
The wheel shock absorbing structure according to claim 13, wherein the connecting end is connected to the movable frame, and the wheel shock absorbing structure further includes a second buffer, and the second buffer is arranged at the limit serve.
The wheel shock absorbing structure according to claim 13, wherein the connecting end is connected to the movable frame, and the wheel shock absorbing structure further includes a third buffer, and the third buffer is arranged on the support frame above, and the third buffer is arranged correspondingly to the limiting end.
The wheel shock absorbing structure according to claim 13, wherein the wheel shock absorbing structure further comprises a spring, the spring is arranged between the support frame and the movable frame, and the spring and the support frame And at least one fixed connection in the movable frame.
The wheel shock absorbing structure according to claim 16, wherein the bottom wall of the support frame is correspondingly provided with a first guide part, and the spring is sleeved on the outer side wall of the first guide part.
The wheel shock absorbing structure according to claim 16, wherein the top wall of the movable frame is correspondingly provided with a second guide part, and the spring is sheathed on the outer side wall of the second guide part.
The wheel shock absorbing structure according to claim 16, wherein the wheel shock absorbing structure further comprises a connecting piece arranged between the support frame and the movable frame, the connecting piece is fixedly connected to the support frame, The first buffer member includes a damping hinge, and both sides of the damping hinge are respectively fixedly connected with the connecting member and the movable frame, so that the movable frame can reciprocate in a direction approaching or away from the supporting frame.
The wheel shock absorbing structure according to claim 1, 2, 13, 14, 15, 16, 17, 18 or 19, wherein, the wheel shock absorbing structure further comprises a second limiter, and the second limiter The component is used to limit the displacement of the movable frame moving away from the supporting frame.
The wheel shock absorbing structure according to claim 20, wherein the movable frame is provided with a first through hole, the second limiting member includes a limiting head and a limiting body, and the limiting body passes through the The first through hole is fixedly connected with the support frame, the limiting body is spaced apart from the inner side wall of the first through hole, and the position limiting head is spaced apart from the bottom wall of the movable frame, so that the The limiting head can limit the displacement of the movable frame moving away from the supporting frame.
The wheel shock absorbing structure according to claim 1, 2, 13, 14, 15, 16, 17, 18 or 19, wherein the wheel shock absorbing structure further comprises a bearing and a mounting part, the bearing is arranged on the The bottom of the mounting part is connected with both the mounting part and the supporting frame, so that the supporting frame can rotate relative to the mounting part through the bearing.
The wheel shock absorbing structure according to claim 22, wherein the wheel shock absorbing structure further comprises a first fastener, the bottom end of the outer side wall of the first fastener is provided with a first flange, the The bearing includes an inner ring, the inner ring is sleeved on the first fastener and is in contact with the first flange, and the mounting part is pressed against the inner ring, so that the first flange is in contact with the first flange The mounting part cooperates to clamp the inner ring.
The wheel shock absorbing structure according to claim 22, characterized in that, the wheel shock absorbing structure further includes a second fastener, the bearing further includes an outer ring, the support frame is provided with a third through hole, and the The top wall of the support frame is also provided with a second flange corresponding to the third through hole, the outer ring is arranged in the third through hole and contacts the second flange, the second The fastener presses against the outer ring, so that the second flange cooperates with the second fastener to clamp the outer ring.
A mobile device, wherein the wheel shock absorbing structure according to any one of claims 1-24 is installed on the bottom of the mobile device.