Active suspension, vehicle and wheeled robot

Abstract

The application discloses an active suspension, a car and a wheeled robot, and belongs to the field of suspensions, and solves the problem that a rotary motor needs to output a large torque, and the technical scheme for solving the problem mainly comprises a wheel frame, a support frame, a connecting rod and a driving part, the support frame comprises a first support end and a second support end, one end of the connecting rod is rotationally connected with the first support end, the other end is rotationally connected with the driving part, a connecting part is formed at the middle segment position of the connecting rod, the connecting part is rotationally connected with the center of the wheel frame, the driving part comprises a telescopic rod, one end of the telescopic rod is rotationally connected with the second support end, the driving part drives the telescopic rod to extend or retract so as to drive the connecting rod to rotate around the first support end, and the connecting part drives the support frame to vertically displace when the connecting rod rotates. The application needs a smaller torque output by the driving part under the same support load.

Description

Technical Field

[0001] This invention demonstrates an active suspension system, a car, and a wheeled robot, belonging to the field of suspension technology. Background Technology

[0002] Active suspension has actuators that act as direct force generators, which can perform optimal feedback control based on input and output to give the suspension the best damping characteristics, thereby improving the ride comfort and handling stability of cars or wheeled robots.

[0003] Existing active suspensions typically use a rotary motor to directly drive a reduction gear, which then provides vertical force through rocker arms and connecting rods. This vertical force causes the wheel carrier to produce vertical displacement, thereby adjusting the vehicle's attitude. In this type of active suspension, the vertical thrust is transmitted to the wheel carrier via the rocker arm, which can be considered a lever rotating around a fulcrum. During the vertical displacement of the suspension, the lever arm of the rocker arm constantly changes, especially when the suspension approaches its limit of travel, where the lever arm shortens. Under the same suspension support force, the rotary motor needs to significantly increase its output torque, requiring a high-torque motor, which in turn requires a larger installation space and results in a higher overall manufacturing cost for the active suspension. Furthermore, continuous high torque input causes the reducer gears to bear high alternating loads for extended periods, potentially leading to wear and even fatigue failure. In addition, the rocker arms and connecting rods are also subjected to additional lateral forces from the high torque, making them prone to deformation and increasing the likelihood of suspension failure. Summary of the Invention

[0004] The purpose of this invention is to solve the problem that rotary motors need to output large torques. To this end, an active suspension, automobile, and wheeled robot are provided that require less torque output from the drive unit under the same support load.

[0005] To solve the above-mentioned technical problems, the present invention adopts the following technical solution: An active suspension system includes: Wheel frame, used to mount tires; The support frame includes a first support end and a second support end; The connecting rod has one end rotatably connected to the first support end and the other end rotatably connected to the drive unit. A connecting part is formed in the middle section of the connecting rod, which is used to rotatably connect to the center of the wheel frame. The driving unit includes a telescopic rod, one end of which is rotatably connected to a second support end. The driving unit drives the telescopic rod to extend and retract, thereby causing the connecting rod to rotate around the first support end. When the connecting rod rotates, it causes the connecting part to undergo vertical displacement relative to the support frame.

[0006] The beneficial effects of using the present invention are: In this invention, the support frame, connecting rod, and drive unit are connected end-to-end in pairs, forming an approximate triangle. The drive unit controls the extension and retraction of the telescopic rod. As the overall length of the drive unit changes, the connecting rod rotates around the first support end, causing the connecting part to undergo vertical displacement relative to the support frame. The drive unit converts the linear motion of the telescopic rod into the rotation of the connecting rod. The drive point and rotation point of the connecting rod are located at the two ends of the connecting rod, while the connecting part is located between the drive point and the rotation point. During the rotation of the connecting rod, the thrust force on the drive point has a larger lever arm relative to the connecting part. Therefore, under the same support load, the thrust force of the drive unit on the drive point can be smaller, meaning the required output torque of the drive unit is smaller. This reduces the torque requirement of the drive unit, allowing for the use of a smaller actuator and reducing the size and cost of the drive unit. This reduces cost and energy consumption. Furthermore, the connecting rod and drive unit are essentially on the same plane, effectively improving space utilization. No additional installation space is required, significantly reducing the space occupied by the drive unit, thus making the overall structure of the active suspension more compact and helping to reduce its overall volume. Secondly, the end of the drive unit is directly hinged to the end of the connecting rod. The linear movement of the telescopic rod directly drives the connecting rod to rotate. The thrust generated by the telescopic rod's extension and retraction can be directly transmitted to the end of the connecting rod through the hinge point. Since the connecting part is located on the connecting rod, the connecting rod is the only power transmission component. There are no multi-stage rocker arms or multi-stage connecting rod transmissions, reducing the number of power transmission stages and shortening transmission lag. This allows the connecting rod to quickly respond to the power output of the drive unit. For the same vertical displacement, the active suspension can complete the adjustment in a shorter time, giving it a faster response speed.

[0007] Preferably, the support frame includes a first support arm and a second support arm, with the first support end located on the first support arm and the second support end located on the second support arm.

[0008] Preferably, the end of the connecting rod rotatably connected to the first support end is the rotation point, and the end rotatably connected to the drive unit is the drive point. A first connecting line is formed between the rotation point and the drive point, and the connecting unit and the second support end are respectively located on both sides of the first connecting line. Using the aforementioned technical solution, the rotation point, drive point, and second support end form a triangle. The drive point and the second support end are respectively located at the two ends of the drive unit. As the telescopic rod increases in size, the drive unit gradually approaches the connecting rod. Distributing the connecting unit and the second support end on both sides of the first connecting line increases the distance between the connecting rod and the drive unit, preventing premature spatial interference between the telescopic rod and the connecting rod, allowing the connecting rod to have a larger rotation angle. It also increases the maximum stroke of the connecting unit relative to the support frame in the vertical direction. A larger stroke can be obtained without lengthening the total length of the connecting rod or telescopic rod. Furthermore, the active suspension has a larger adjustment range, thus adapting to more usage scenarios. The active suspension has stronger active control performance, improving the smoothness and comfort of vehicle or robot operation.

[0009] Preferably, the connecting rod includes a first rocker arm and a second rocker arm located on both sides of the connecting portion. The rotation point is formed at the end of the first rocker arm, and the driving point is formed at the end of the second rocker arm. The second rocker arm extends toward the side where the second support end is located. By adopting the aforementioned technical solution, the extension of the second rocker arm toward the driving portion increases the maximum value of the angle between the second rocker arm and the driving portion. As the telescopic rod extends, the angle between the second rocker arm and the driving portion continuously decreases. When it decreases to a certain extent, the second rocker arm will interfere with the driving portion, thereby achieving a mechanical limit and preventing the connecting rod from rotating. Therefore, increasing the maximum value of the angle effectively increases the rotation range of the connecting rod, effectively improves the limit stroke of the wheel carrier's vertical displacement, and increases the height adjustment range of the active suspension, enabling the active suspension to adapt to more usage scenarios and have stronger control performance.

[0010] Preferably, the second rocker arm has a bent portion near the drive point, which bends towards the side where the second support end is located. Using the aforementioned technical solution, the second rocker arm has a bent portion near the drive point facing the second support end, causing the bent portion to deflect towards the location of the drive unit. The inner side of the bent portion can form a clearance space reserved for the drive unit. When the connecting rod rotates at a large angle, the end of the drive unit can enter the clearance space, preventing the drive unit from colliding with and being limited by the second rocker arm prematurely. This allows the connecting rod to achieve a larger swing angle and increases the vertical displacement stroke of the wheel frame.

[0011] Preferably, a reinforcing rib is provided on the inner side of the bent portion. Using the aforementioned technical solution, the corner of the second rocker arm is a weak point under stress. Providing a reinforcing rib on the inner side of the bent portion can significantly improve its strength, reduce the possibility of deformation or breakage, and enhance the overall structural strength and service life of the second rocker arm.

[0012] Preferably, a second connecting line is formed between the rotation point and the second support end. When the telescopic rod is retracted to its shortest length, the angle between the first connecting line and the second connecting line is an acute angle. Using the aforementioned technical solution, as the telescopic rod extends, the angle between the first connecting line and the second connecting line continuously increases. Reducing the minimum value of the angle between the first connecting line and the second connecting line can effectively increase the maximum rotation angle of the linkage, effectively increase the limit travel of the wheel frame's vertical displacement, and increase the height adjustment range of the active suspension, enabling the active suspension to adapt to more usage scenarios and possess stronger control performance.

[0013] Preferably, the first and second support arms are integral structures. Using the aforementioned technical solution, the integral structure provides better structural continuity, which can improve the strength of the first and second support arms, reduce the possibility of deformation or breakage, and extend their service life. Furthermore, since the wheel frame is supported on the first support arm via a connecting rod, and the thrust of the drive unit acts on the second support arm, the external forces on the first and second support arms are relatively large. Increasing the strength of the first and second support arms can improve their load-bearing capacity and enhance the load capacity of the active suspension.

[0014] Preferably, the support frame is equipped with a steering assembly. The first and second support arms are fixed to the output end of the steering assembly. The steering assembly drives the first and second support arms to rotate, thereby steering the wheel frame. Using the aforementioned technical solution, wheel steering is achieved by the steering assembly directly driving the first and second support arms, along with their connecting rods and the wheel frame, to rotate synchronously. This eliminates the need for traditional independent steering knuckles, steering tie rods, and swing arm steering linkages, significantly reducing the number of components. This allows for a more compact chassis layout for automobiles or wheeled robots, saving chassis installation space and facilitating the integrated design of small vehicle and wheeled robot chassis.

[0015] Preferably, when the telescopic rod is retracted to its shortest length, the wheel frame is at its highest or lowest position relative to the support frame. By employing the aforementioned technical solution, the displacement direction of the wheel frame relative to the support frame remains consistent during the extension or retraction of the telescopic rod, ensuring a fixed mapping relationship between the telescopic rod's extension / retraction and the wheel frame's lifting / lowering position. The control system can accurately predict the height difference between the wheel frame and the support frame based on the telescopic rod's extension / retraction length, making the control and adjustment of the active suspension more precise and reliable.

[0016] Preferably, the drive unit further includes a housing, the telescopic rod is slidably mounted on the housing, one end of the telescopic rod extends into the housing, and the other end forms a drive end that is rotatably connected to the second support end. The end of the housing away from the telescopic rod forms a hinge seat, and the hinge seat is rotatably connected to the end of the connecting rod.

[0017] Preferably, the drive unit is an electric push rod, a hydraulic power cylinder, or a pneumatic power cylinder.

[0018] The present invention also discloses an automobile, including a frame and an active suspension, wherein the active suspension employs an active suspension as described in any of the preceding claims, and the support frame is connected to the frame.

[0019] The present invention also discloses a wheeled robot, including a robot body and an active suspension, wherein the active suspension adopts the active suspension as described in any of the above, and the support frame is connected to the robot body.

[0020] Other features and advantages of the present invention will be disclosed in detail in the following detailed description and accompanying drawings. Attached Figure Description

[0021] The invention will be further described below with reference to the accompanying drawings: Figure 1 This is a schematic diagram of the structure of an active suspension according to the present invention; Figure 2 This is an exploded view of an active suspension system according to the present invention; Figure 3 This is a schematic diagram of the structure of the central link, drive unit, first support arm and second support arm of an active suspension according to the present invention; Figure 4 This is a schematic diagram of the structure of the active suspension's telescopic bar when it is retracted to its shortest length according to the present invention; Figure 5 This is a schematic diagram of the structure of the telescopic rod of an active suspension system after extension according to the present invention.

[0022] Reference numerals: 1. Support frame; 21. First support arm; 211. First support end; 22. Second support arm; 221. Second support end; 3. Connecting rod; 301. Rotation point; 302. Drive point; 303. Connecting part; 31. First rocker arm; 32. Second rocker arm; 321. Bending part; 322. Reinforcing rib; 4. Drive part; 41. Housing; 42. Telescopic rod; 5. Steering assembly; 6. Wheel frame; 61. Tire; 71. First connecting line; 72. Second connecting line. Detailed Implementation

[0023] The technical solutions of the embodiments of the present invention will be explained and described below with reference to the accompanying drawings. However, the following embodiments are only preferred embodiments of the present invention and not all of them. Other embodiments obtained by those skilled in the art based on the embodiments in the implementation methods without creative effort are all within the protection scope of the present invention.

[0024] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "clockwise," and "counterclockwise," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0025] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0026] Example 1: like Figures 1 to 5 As shown, this embodiment illustrates an active suspension, including a wheel frame 6, a support frame 1, a connecting rod 3, and a drive unit 4. The support frame 1 includes a first support end 211 and a second support end 221. One end of the connecting rod 3 is rotatably connected to the first support end 211, and the other end is rotatably connected to the end of the drive unit 4. A connecting part 303 is formed at the middle section of the connecting rod 3. The connecting part 303 is rotatably connected to the center of the wheel frame 6. A tire 61 can be fitted on the outer periphery of the wheel frame 6. The wheel frame 6 can move by rotating around the connecting part 303. The drive unit 4 includes a telescopic rod 42. One end of the telescopic rod 42 is rotatably connected to the second support end 221. The drive unit 4 drives the telescopic rod 42 to extend and retract to drive the connecting rod 3 to rotate around the first support end 211. When the connecting rod 3 rotates, it causes the connecting part 303 to undergo vertical displacement relative to the support frame 1.

[0027] In this embodiment, the support frame 1, connecting rod 3, and drive unit 4 are connected end-to-end in pairs, forming an approximate triangle. The drive unit 4 controls the extension and retraction of the telescopic rod 42. As the overall length of the drive unit 4 changes, the connecting rod 3 rotates around the first support end 211, thereby causing the connecting part 303 to undergo vertical displacement relative to the support frame 1. The drive unit 4 converts the linear motion of the telescopic rod 42 into the rotation of the connecting rod 3. The drive point 302 and the rotation point 301 of the connecting rod 3 are located at the two ends of the connecting rod 3, while the connecting part 303 is located between the drive point 302 and the rotation point 301. During the rotation of the connecting rod 3, the thrust on the drive point 302 has a larger lever arm relative to the connecting part 303. Therefore, under the same support load, the thrust of the drive unit 4 on the drive point 302 can be smaller, that is, the torque output required by the drive unit 4 is smaller, which can reduce the torque requirement of the drive unit 4 and thus allow for the use of smaller specifications. The actuator can reduce the size, cost, and energy consumption of the drive unit 4. In addition, the link 3 and the drive unit 4 are basically on the same plane, which can effectively improve space utilization, eliminate the need for additional installation space, and significantly reduce the space occupied by the drive unit 4, thereby making the overall structure of the active suspension more compact and helping to reduce the overall volume of the active suspension. Secondly, the end of the drive unit 4 is directly hinged to the end of the link 3. The linear movement of the telescopic rod 42 directly drives the link 3 to rotate. The thrust generated by the extension and retraction of the telescopic rod 42 can be directly transmitted to the end of the link 3 through the hinge point. The connecting part 303 is located on the link 3. Therefore, the link 3 is the only power transmission component. There are no multi-stage rocker arms and multi-stage link 3 transmissions, which reduces the number of power transmission stages and shortens the transmission lag. This allows the link 3 to respond quickly to the power output of the drive unit 4. For the same vertical displacement, the active suspension can complete the adjustment in a shorter time, giving the active suspension a faster response speed.

[0028] It should be noted that the connecting part 303 is formed at the middle section of the connecting rod 3. The middle section does not refer to the center of the connecting rod 3, but rather that the connecting part 303 is located between the two ends.

[0029] Specifically, in this embodiment, the support frame 1 is provided with a first support arm 21 and a second support arm 22. The first support end 211 is formed at the end of the first support arm 21, and the second support end 221 is formed at the end of the second support arm 22. One end of the connecting rod 3 is rotatably connected to the first support arm 21, and this end serves as the rotation point 301 of the connecting rod 3. The other end of the connecting rod 3 is rotatably connected to the end of the driving part 4, and this end serves as the driving point 302 of the connecting rod 3. One end of the driving part 4 is rotatably connected to the second support end 221, and the other end is rotatably connected to the driving point 302 of the connecting rod 3. The first support arm 21 and the second support arm 22 do not produce vertical displacement relative to the support frame 1. The connecting rod 3 is supported on the first support arm 21, and the driving part 4 is supported on the second support arm 22. The rotation point 301, the driving point 302, and the second support end 221 form a triangular structure. A first connecting line 71 is formed between the rotation point 301 and the driving point 302, and a second connecting line 72 is formed between the rotation point 301 and the second support end 221. The driving part 4 is located between the driving point 302 and the second support end 221. When the length of the telescopic rod 42 changes, the thrust of the driving part 4 acts on the driving point 302, thereby driving the connecting rod 3 to rotate around the first support end 211. The connecting part 303 rotates with the connecting rod 3 and undergoes vertical displacement relative to the support frame 1.

[0030] Specifically, in this embodiment, the connecting part 303 and the second support end 221 are located on both sides of the first connecting line 71, that is, the driving point 302, the rotation point 301 and the connecting part 303 are not on the same straight line. The connecting part 303 is located outside the triangular area formed by the rotation point 301, the driving point 302 and the second support end 221. As the telescopic rod 42 continues to increase, the driving part 4 will gradually approach the connecting rod 3. By distributing the connecting part 303 and the second support end 221 on both sides of the first connecting line 71, the distance between the connecting rod 3 and the driving part 4 can be increased, so that the telescopic rod 42 will not interfere with the connecting rod 3 too early, so that the connecting rod 3 has a larger rotation angle. At the same time, it can also increase the maximum stroke of the connecting part 303 relative to the support frame 1 in the vertical direction. A larger stroke can be obtained without lengthening the total length of the connecting rod 3 or the telescopic rod 42. At the same time, the active suspension can have a larger adjustment range, thus adapting to more usage scenarios. The active control performance of the active suspension is stronger, which can improve the smoothness and comfort of the vehicle or robot during operation.

[0031] Specifically, in this embodiment, the connecting rod 3 includes a first rocker arm 31 and a second rocker arm 32 located on both sides of the connecting portion 303. The connecting portion 303 is located at the connection between the first rocker arm 31 and the second rocker arm 32. The rotation point 301 is formed at the end of the first rocker arm 31, and the driving point 302 is formed at the end of the second rocker arm 32. The second rocker arm 32 extends toward the side where the second support end 221 is located, that is, an angle is formed between the first rocker arm 31 and the second rocker arm 32. The second rocker arm 32 extends toward the driving portion 4, which can increase the second rocker arm 32's rotation angle. The maximum value of the angle between the second rocker arm 32 and the drive unit 4 will continuously decrease as the telescopic rod 42 extends. When the angle decreases to a certain extent, the second rocker arm 32 will interfere with the drive unit 4, thereby achieving mechanical limit and preventing the connecting rod 3 from rotating. Therefore, increasing the maximum value of the angle can effectively increase the rotation range of the connecting rod 3, effectively improve the limit stroke of the vertical displacement of the wheel frame 6, improve the height adjustment range of the active suspension, and enable the active suspension to adapt to more usage scenarios and have stronger control performance.

[0032] It should be noted that, since the connecting part 303 is rotatably connected to the center of the wheel frame 6, and the connecting part 303 serves as the connection between the wheel frame 6 and the support frame 1, it bears a large load. In order to improve the strength of the connecting part 303, in this embodiment, the first rocker arm 31 and the second rocker arm 32 are integral structures, which makes the connecting part 303 have stronger rigidity and strength, can bear a larger load, and reduce the possibility of the first rocker arm 31 and the second rocker arm 32 breaking at the connecting part 303, thus helping to improve the service life of the link 3. At the same time, it can also keep the first rocker arm 31 and the second rocker arm 32 reliably fixed, avoiding relative deflection of the first rocker arm 31 and the second rocker arm 32 from affecting the rotation of the link 3, making the adjustment of the active suspension more stable and reliable, and having better application safety. Secondly, the integral structure can also save the connecting and fixing components of the first rocker arm 31 and the second rocker arm 32, eliminating the assembly process of the first rocker arm 31 and the second rocker arm 32, which helps to reduce the production cost of the link 3 and improve the assembly efficiency of the active suspension.

[0033] It is understandable that in other embodiments, the first rocker arm 31 and the second rocker arm 32 may also be a separate structure.

[0034] Specifically, in this embodiment, the second rocker arm 32 is provided with a bent portion 321 near the drive point 302, and the bent portion 321 bends toward the side where the second support end 221 is located; Reference Figure 3As shown, the second rocker arm 32 is located on the upper side of the connecting part 303. The driving point 302 is formed at the top of the second rocker arm 32. A bending part 321 that bends towards the driving part 4 is provided near the top of the second rocker arm 32. After bending through the bending part 321, the extension direction of the driving point 302 forms an angle with the second rocker arm 32. This angle is acute. Furthermore, a clearance space reserved for the driving part 4 can be formed on the inner side of the bending part 321. When the connecting rod 3 rotates at a large angle, the end of the driving part 4 can enter the clearance space, preventing the driving part 4 from colliding with and being limited by the second rocker arm 32 too early. This allows the connecting rod 3 to achieve a larger swing angle and increases the vertical displacement stroke of the wheel frame 6.

[0035] To improve the strength of the bending portion 321, a reinforcing rib 322 is provided on the inner side of the bending portion 321 in this embodiment. The second rocker arm 32 is a weak point in terms of stress at the corner of the bending portion 321. By providing a reinforcing rib 322 on the inner side of the bending portion 321, the strength of the bending portion 321 can be greatly improved, the possibility of deformation or breakage of the bending portion 321 can be reduced, and the overall structural strength and service life of the second rocker arm 32 can be improved.

[0036] Specifically, such as Figure 4 As shown, in this embodiment, when the telescopic rod 42 is retracted to its shortest state, the first rocker arm 31 is in a vertical state, and the connecting part 303 is directly above the rotation point 301. At this time, the connecting part 303 is at its highest position relative to the support frame 1, and the position of the second support end 221 is higher than that of the first support end 211. A second connecting line 72 is formed between the second support end 221 and the rotation point 301, and the angle between the first connecting line 71 and the second connecting line 72 is an acute angle. As the telescopic rod 42 continues to extend, the angle between the first connecting line 71 and the second connecting line 72 will continue to increase. Reducing the minimum value of the angle between the first connecting line 71 and the second connecting line 72 can effectively increase the maximum rotation angle of the link 3, effectively increase the limit stroke of the vertical displacement of the wheel frame 6, increase the height adjustment range of the active suspension, and enable the active suspension to adapt to more usage scenarios and have stronger control performance.

[0037] like Figure 5 As shown, in this embodiment, when the telescopic rod 42 extends, the drive unit 4 pushes the connecting rod 3 to rotate counterclockwise through the drive point 302. During the rotation of the connecting rod 3, the connecting part 303 rotates with the connecting rod 3, and the connecting part 303 gradually descends relative to the support frame 1, thereby increasing the height difference between the connecting part 303 and the support frame 1. At the same time, the included angle between the first connecting line 71 and the second connecting line 72 also continuously increases, and the drive unit 4 gradually approaches the connecting rod 3 until the drive unit 4 contacts the connecting rod 3, thereby restricting the connecting rod 3 from continuing to rotate, so as to achieve the maximum rotation angle of the connecting rod 3. It should be noted that... Figure 5This is the intermediate state during the extension process of the telescopic rod 42, which can continue to extend.

[0038] In addition, in this embodiment, during the extension and retraction process of the telescopic rod 42, the telescopic rod 42 moves from... Figure 4 Status activity to Figure 5 In this state, the vertical displacement direction of the connecting part 303 always remains downward, that is, the displacement direction of the wheel frame 6 relative to the support frame 1 also remains downward; while during the retraction of the telescopic rod 42, the telescopic rod 42 from Figure 5 Status activity to Figure 4 In this state, the vertical displacement direction of the connecting part 303 always remains upward, that is, the displacement direction of the wheel frame 6 relative to the support frame 1 also remains upward; during the extension or retraction of the telescopic rod 42, the displacement direction of the wheel frame 6 relative to the support frame 1 always remains consistent, so that the extension and retraction amount of the telescopic rod 42 has a fixed mapping relationship with the lifting position of the wheel frame 6. The control system can accurately predict the height difference between the wheel frame 6 and the support frame 1 based on the extension and retraction length of the telescopic rod 42, making the control and adjustment of the active suspension more precise and reliable.

[0039] It is understandable that in other embodiments, when the telescopic rod 42 is retracted to its shortest position, the wheel frame 6 may also be in its lowest position relative to the support frame 1. That is, when the telescopic rod 42 is retracted to its shortest position, the first rocker arm 31 is in a vertical position, and the connecting part 303 is directly below the rotation point 301. At this time, the connecting part 303 is in its lowest position relative to the support frame 1.

[0040] It should be noted that when the telescopic rod 42 is retracted to its shortest length, and the connecting part 303 is directly below or above the rotation point 301, the vertical displacement direction of the connecting part 303 remains consistent within the extension stroke range of the telescopic rod 42. Even if the rotation angle of the connecting rod 3 is greater than 90°, the vertical displacement direction of the connecting part 303 will not change, thereby effectively improving the lifting height of the connecting part 303 relative to the support frame 1.

[0041] It is understandable that in other embodiments, when the telescopic rod 42 is retracted to its shortest length, the rotation point 301 and the connecting part 303 may also be on the same horizontal plane. During the extension of the telescopic rod 42, the telescopic rod 42 may push the connecting rod 3 to rotate downward, that is, the connecting part 303 may move downward relative to the support frame 1; of course, the telescopic rod 42 may also push the connecting rod 3 to rotate upward, that is, the connecting part 303 may move upward relative to the support frame 1. In this embodiment, in order to keep the displacement direction of the wheel frame 6 relative to the support frame 1 consistent during the extension or retraction of the telescopic rod 42, the maximum rotation angle of the connecting rod 3 is 90°. Of course, in order to increase the maximum rotation angle of the connecting rod 3, when the telescopic rod 42 is retracted to its shortest length, the first rocker arm 31 may also be set at an angle to the horizontal plane.

[0042] Specifically, in this embodiment, the drive unit 4 further includes a housing 41, in which a lifting driver is provided. The telescopic rod 42 is slidably installed in the housing 41. One end of the telescopic rod 42 extends into the housing 41 and is connected to the output end of the lifting driver. The other end of the telescopic rod 42 serves as the drive end and is rotatably connected to the second support end 221. The end of the housing 41 away from the telescopic rod 42 is provided with a hinge seat. The end of the connecting rod 3 away from the rotation point 301 is rotatably connected to the hinge seat. The connection between the connecting rod 3 and the hinge seat forms the drive point 302.

[0043] It is understandable that in other embodiments, the driving end of the telescopic rod 42 may also be rotatably connected to the end of the connecting rod 3, and the connection between the driving end and the connecting rod 3 forms a driving point 302. The hinge seat on the housing 41 is rotatably connected to the second support end 221.

[0044] Specifically, in this embodiment, the drive unit 4 is an electric push rod, a hydraulic power cylinder, or a pneumatic power cylinder.

[0045] Specifically, in this embodiment, the support frame 1 is also provided with a steering assembly 5. The steering assembly 5 includes a steering driver and a steering rocker arm. The steering driver is fixed on the support frame 1 and drives the steering rocker arm to rotate in the horizontal direction. The first support arm 21 and the second support arm 22 are fixed on the outer periphery of the steering rocker arm. The steering rocker arm drives the first support arm 21 and the second support arm 22 to rotate in the horizontal direction, thereby realizing the steering of the wheel frame 6. The steering assembly 5 directly drives the first support arm 21 and the second support arm 22, along with the connecting rod 3 and the wheel frame 6, to rotate synchronously to realize wheel steering. The traditional independent steering knuckle, steering tie rod, swing arm steering linkage 3 and other supporting steering transmission components are eliminated, greatly reducing the number of parts, making the chassis layout of automobiles or wheeled robots more compact, saving chassis installation space, and facilitating the integrated design of small vehicle and wheeled robot chassis.

[0046] It should be noted that in this embodiment, the first support arm 21 and the second support arm 22 are integral structures. The integral structure has better structural continuity, which can improve the strength of the first support arm 21 and the second support arm 22, reduce the possibility of deformation or breakage of the first support arm 21 and the second support arm 22, and improve the service life of the first support arm 21 and the second support arm 22. In addition, since the wheel frame 6 is supported on the first support arm 21 through the connecting rod 3, and the thrust of the drive unit 4 acts on the second support arm 22, the external force on the first support arm 21 and the second support arm 22 is relatively large. Increasing the strength of the first support arm 21 and the second support arm 22 can improve the load-bearing capacity of the first support arm 21 and the second support arm 22 and improve the load of the active suspension.

[0047] It is understandable that in other embodiments, the first support arm 21 and the second support arm 22 may also be a support rod, which is fixed to the steering rocker arm, and the two ends of the support rod form a first support end 211 and a second support end 221, respectively.

[0048] Example 2: This embodiment also illustrates a vehicle, including a frame and an active suspension, wherein the active suspension adopts the active suspension as described in Embodiment 1, and the support frame 1 is connected to the frame.

[0049] Example 3: This embodiment also illustrates a wheeled robot, including a robot body and an active suspension. The active suspension adopts the active suspension described in Embodiment 1, and the support frame 1 is connected to the robot body.

[0050] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Those skilled in the art should understand that the present invention includes, but is not limited to, the contents described in the accompanying drawings and the specific embodiments above. Any modifications that do not depart from the functional and structural principles of the present invention will be included within the scope of the claims.

Claims

1. An active suspension, characterized by include: Wheel frame, used to mount tires; The support frame includes a first support end and a second support end; The connecting rod has one end rotatably connected to the first support end and the other end rotatably connected to the drive unit. A connecting part is formed in the middle section of the connecting rod, which is used to rotatably connect to the center of the wheel frame. The driving unit includes a telescopic rod, one end of which is rotatably connected to a second support end. The driving unit drives the telescopic rod to extend and retract, thereby causing the connecting rod to rotate around the first support end. When the connecting rod rotates, it causes the connecting part to undergo vertical displacement relative to the support frame.

2. An active suspension according to claim 1, wherein The support frame includes a first support arm and a second support arm, with the first support end located on the first support arm and the second support end located on the second support arm.

3. An active suspension according to claim 2, wherein The end of the connecting rod that is rotatably connected to the first support end is the rotation point, and the end that is rotatably connected to the driving part is the driving point. A first connecting line is formed between the rotation point and the driving point, and the connecting part and the second support end are respectively located on both sides of the first connecting line.

4. An active suspension according to claim 3, wherein The connecting rod includes a first rocker arm and a second rocker arm located on both sides of the connecting portion. The rotation point is formed at the end of the first rocker arm, and the driving point is formed at the end of the second rocker arm. The second rocker arm extends toward the side where the second support end is located.

5. An active suspension according to claim 4, wherein The second rocker arm has a bent section near the drive point, and the bent section bends toward the side where the second support end is located.

6. An active suspension according to claim 5, characterized in that, The inner side of the bent portion is provided with reinforcing ribs.

7. An active suspension according to claim 3, characterized in that, A second connecting line is formed between the rotation point and the second support end. When the telescopic rod is retracted to its shortest length, the angle between the first connecting line and the second connecting line is an acute angle.

8. An active suspension according to claim 2, characterized in that, The first support arm and the second support arm are an integral structure.

9. An active suspension according to claim 2, characterized in that, The support frame is equipped with a steering assembly. The first support arm and the second support arm are fixed to the output end of the steering assembly. The steering assembly drives the first support arm and the second support arm to rotate so as to steer the wheel frame.

10. An active suspension according to claim 1, characterized in that, When the telescopic rod is retracted to its shortest position, the wheel frame is at its highest or lowest position relative to the support frame.

11. An active suspension according to claim 1, characterized in that, The drive unit also includes a housing, the telescopic rod is slidably mounted on the housing, one end of the telescopic rod extends into the housing, and the other end forms a drive end that is rotatably connected to the second support end. The end of the housing away from the telescopic rod forms a hinge seat, and the hinge seat is rotatably connected to the end of the connecting rod.

12. An active suspension according to claim 1, characterized in that, The drive unit is an electric push rod, a hydraulic power cylinder, or a pneumatic power cylinder.

13. A car, characterized in that, It includes a vehicle frame and an active suspension, wherein the active suspension is an active suspension as described in any one of claims 1 to 12, and the support frame is connected to the vehicle frame.

14. A wheeled robot, characterized in that, It includes a robot body and an active suspension, wherein the active suspension adopts the active suspension as described in any one of claims 1 to 12, and the support frame is connected to the robot body.

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