Suspension system of vehicle

Abstract

The present application provides a suspension system of a vehicle. Actuating elements are provided on two sides of a vehicle body to provide an acting force for the vehicle body, so that the vehicle body is in a balanced position. When the vehicle body deviates from the balanced position, the resultant force generated by the two actuating elements restores the vehicle body to the balanced position. The suspension system of a vehicle provided in the present description can overcome the problem that in a suspension system implementing connection by means of a linkage mechanism, a vehicle body is prone to shaking and difficult to balance due to a high degree of freedom of wheels.

Description

Vehicle suspension system Technical Field

[0001] This specification relates to the field of vehicle technology, and in particular to a vehicle suspension system. Background Art

[0002] With the advancement of technology, a wide variety of mobility vehicles have emerged, bringing significant convenience to people's lives. In particular, the use of short-distance mobility vehicles, such as scooters, tricycles, and self-balancing vehicles, is increasing. These vehicles can be operated while standing up, are compact and lightweight, making them suitable for navigating confined spaces and offering significant advantages for ultra-short-distance travel. However, the suspension systems of existing short-distance mobility vehicles utilize a connecting rod structure, which can easily cause the vehicles to sway from side to side, making them unbalanced and prone to rollover.

[0003] Therefore, it is necessary to provide a new vehicle suspension system to improve vehicle stability and safety.

[0004] The content of the background technology section is merely information known to the inventor personally, and does not mean that the above information has entered the public domain before the application date of this disclosure, nor does it mean that it can become the prior art of the present disclosure.

[0005] Summary of the Invention

[0006] This specification provides a vehicle suspension system that can solve the problems existing in the related art.

[0007] The present application provides a suspension system for a vehicle, which is used to connect a pair of wheels of the vehicle and a body of the vehicle, wherein the pair of wheels includes a first wheel and a second wheel, which are respectively located on both sides of the body, and the suspension system includes a multi-link mechanism and a return device, wherein the multi-link mechanism connects the body and the pair of wheels when in operation; the return device includes a pair of actuators, which are distributed on both sides of the body, wherein one of the pair of actuators connects the body and the first wheel when in operation, and the other of the pair of actuators connects the body and the second wheel when in operation, and the pair of actuators are used to provide a force so that the body is in a balanced position under the resultant force of the forces, wherein when the body deviates from the balanced position, the resultant force of the forces drives the body to return to the balanced position.

[0008] In some embodiments, the pair of actuators are symmetrically distributed on both sides of the vehicle body. When the vehicle body is in the equilibrium position, the pair of actuators provide forces of equal magnitude and opposite directions in the tilt direction of the vehicle body to maintain the vehicle body in the equilibrium position. When the vehicle body deviates from the equilibrium position, the resultant force of the forces provides the vehicle body with a force opposite to the tilt direction in the tilt direction, driving the vehicle body to return to the equilibrium position.

[0009] In some embodiments, when the vehicle body is in the equilibrium position, each actuator in the pair of actuators is in a compressed state.

[0010] In some embodiments, the pair of wheels are the front wheels of the vehicle, and the vehicle also includes a rear wheel, or the pair of wheels are the rear wheels of the vehicle, and the vehicle also includes a front wheel, and the body connects the front wheel and the rear wheel.

[0011] In some embodiments, the multi-link mechanism is a four-link mechanism, so that the pair of wheels can move in a vertical direction relative to the vehicle body.

[0012] In some embodiments, the four-bar linkage mechanism includes a base, a pair of wheel bases, an upper fork arm and a lower fork arm, wherein the base is fixedly connected to the vehicle body when in operation; the pair of wheel bases are respectively connected to the pair of wheels for rotation around a first direction when in operation to enable the vehicle to travel, and the first direction is the axial direction of the pair of wheels; the upper fork arm is respectively connected to the base and the pair of wheel bases in a manner that can float along the vertical direction; the lower fork arm is respectively connected to the base and the pair of wheel bases in a manner that can float along the vertical direction.

[0013] In some embodiments, the pair of wheel bases includes a first wheel base and a second wheel base, wherein the first wheel base is rotationally connected to the first wheel during operation, and the second wheel base is rotationally connected to the second wheel during operation.

[0014] In some embodiments, the upper fork arm includes a first upper fork arm and a second upper fork arm, one end of the first upper fork arm is rotatably connected to the base, and the other end is movably connected to the first wheel base, one end of the second upper fork arm is rotatably connected to the base, and the other end is movably connected to the second wheel base.

[0015] In some embodiments, the two ends of the first upper fork arm are respectively connected to the base and the first wheel base for rotation around a second direction, and the two ends of the second upper fork arm are respectively connected to the base and the second wheel base for rotation around the second direction, wherein the second direction includes the longitudinal direction of the vehicle body.

[0016] In some embodiments, the lower fork arm includes a first lower fork arm and a second lower fork arm, one end of the first lower fork arm is rotatably connected to the base, and the other end is movably connected to the first wheel base, one end of the second lower fork arm is rotatably connected to the base, and the other end is movably connected to the second wheel base, wherein the first upper fork arm and the first lower fork arm are arranged in parallel, and the second upper fork arm and the second lower fork arm are arranged in parallel.

[0017] In some embodiments, two ends of the first lower fork arm are respectively connected to the base and the first wheel base for rotation around the second direction, and two ends of the second lower fork arm are respectively connected to the base and the second wheel base for rotation around the second direction.

[0018] In some embodiments, the base includes a first mounting portion and a second mounting portion, the first mounting portion is arranged opposite to the first wheel base, and the second mounting portion is arranged opposite to the second wheel base, wherein the first upper fork arm is connected between the first mounting portion and the first wheel base, the second upper fork arm is connected between the second mounting portion and the second wheel base, the first lower fork arm is connected between the first mounting portion and the first wheel base, and the second lower fork arm is connected between the second mounting portion and the second wheel base.

[0019] In some embodiments, a first rotating connection portion is provided at a position of the first mounting portion corresponding to the first upper fork arm, two second rotating connections are provided at a position of the first mounting portion corresponding to the first lower fork arm, and the two second rotating connections are spaced apart in a vertical direction, a first rotating connection portion is provided at a position of the second mounting portion corresponding to the second upper fork arm, and two second rotating connections are provided at a position of the second mounting portion corresponding to the second lower fork arm, and the two second rotating connections are spaced apart in a vertical direction, the first upper fork arm is connected to the first mounting portion through the first rotating connection portion, the second upper fork arm is connected to the second mounting portion through the first rotating connection portion, the first lower fork arm is connected to the first mounting portion through the two second rotating connections, and the second lower fork arm is connected to the second mounting portion through the two second rotating connections.

[0020] In some embodiments, the first mounting portion and the second mounting portion are each provided with a third rotating connection portion, and the third rotating connection portion is located above the first rotating connection portion in the vertical direction; the pair of actuators includes a first actuator and a second actuator, one end of the first actuator is rotatably connected to the third rotating connection portion on the first mounting portion, and the other end is rotatably connected to the first upper fork arm, and one end of the second actuator is rotatably connected to the third rotating connection portion on the second mounting portion, and the other end is rotatably connected to the second upper fork arm.

[0021] In some embodiments, the pair of actuators includes a first actuator and a second actuator, one end of the first actuator is rotatably connected to the base, and the other end is rotatably connected to the upper fork arm or the lower fork arm, and one end of the second actuator is rotatably connected to the base, and the other end is rotatably connected to the upper fork arm or the lower fork arm.

[0022] In some embodiments, the suspension system further includes a steering mechanism, which is rotationally connected to the vehicle body and the pair of wheels, respectively, to drive the pair of wheels to steer.

[0023] In some embodiments, the steering mechanism includes a steering rocker arm, a steering link and a steering connecting seat, wherein the two ends of the steering rocker arm are respectively connected to the base and the steering connecting seat for rotation around the third direction, one end of the steering link is connected to the steering connecting seat for rotation around the second direction, and the other end is connected to the pair of wheel bases for rotation around the third direction, wherein the third direction is the vertical direction of the vehicle body, wherein when the steering rocker arm rotates relative to the base, it pulls the first wheel base for steering.

[0024] In some embodiments, the steering mechanism further includes a driving device mounted on the base and rotatably connected to the steering rocker arm around the third direction to drive the steering rocker arm to rotate relative to the base.

[0025] In some embodiments, the pair of actuators include at least one of a hydraulic actuator, a pneumatic actuator, and an elastic device.

[0026] In some embodiments, the suspension system further includes a shock absorbing device, which is rotationally connected to the pair of wheels and the vehicle body respectively.

[0027] In summary, the suspension system of the vehicle provided in this specification provides a force to the vehicle body by arranging actuators on both sides of the vehicle body, so that the vehicle body is in a balanced position. When the vehicle body deviates from the balanced position, the combined force generated by the two actuators restores the vehicle body to the balanced position. The suspension system of the vehicle provided in this specification can overcome the problem that the vehicle body is easy to shake and difficult to balance due to the high degree of freedom of the wheels in the suspension system connected by the connecting rod mechanism. The suspension system of the vehicle provided in this specification can also achieve steering through a steering mechanism, and can achieve automatic steering through a drive device, which broadens the use scenarios of the vehicle and allows the vehicle to travel in an unmanned state.

[0028] Other features of the vehicle suspension system provided in this specification are partially outlined in the following description. The following figures and examples will be readily apparent to those skilled in the art based on the description. The inventive aspects of the vehicle suspension system provided in this specification can be fully explained through practice or use of the methods, devices, and combinations provided in the following detailed examples. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] In order to more clearly illustrate the technical solutions in the embodiments of this specification, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of this specification. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0030] FIG1 shows a schematic structural diagram of a vehicle according to an embodiment of the present application;

[0031] FIG2 shows an exploded view of a suspension system of a vehicle according to an embodiment of the present application;

[0032] FIG3 shows a front view of a suspension system of a vehicle provided according to an embodiment of the present application;

[0033] FIG4 shows a left side view of a suspension system of a vehicle according to an embodiment of the present application;

[0034] FIG5 shows a top view of a suspension system of a vehicle according to an embodiment of the present application; and

[0035] FIG6 shows an axonometric view of a suspension system of a vehicle according to an embodiment of the present application. DETAILED DESCRIPTION

[0036] The following description provides specific application scenarios and requirements for this specification, with the goal of enabling those skilled in the art to make and use the contents of this specification. Various modifications to the disclosed embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be applied to other embodiments and applications without departing from the spirit and scope of this specification. Therefore, this specification is not limited to the embodiments shown, but is intended to be accorded the broadest scope consistent with the claims.

[0037] The terms used herein are for the purpose of describing specific example embodiments only and are not intended to be limiting. For example, as used herein, the singular forms "a," "an," and "the" may also include the plural forms, unless the context clearly indicates otherwise. When used in this specification, the terms "comprise," "include," and / or "contain" are intended to refer to the presence of the associated features, integers, steps, operations, elements, and / or components, but do not preclude the presence of one or more other features, integers, steps, operations, elements, components, and / or groups or the addition of other features, integers, steps, operations, elements, components, and / or groups in the system / method.

[0038] These and other features of this specification, as well as the operation and function of the associated elements of the structure, and the economical assembly and manufacture of the components, can be significantly improved with consideration of the following description. Reference is made to the accompanying drawings, all of which form a part of this specification. However, it should be expressly understood that the drawings are for illustration and description purposes only and are not intended to limit the scope of this specification. It should also be understood that the drawings are not drawn to scale.

[0039] The flowcharts used in this specification illustrate operations implemented by systems according to some embodiments of the present specification. It should be clearly understood that the operations of the flowcharts may not be implemented in sequence. Rather, the operations may be implemented in reverse order or simultaneously. Furthermore, one or more additional operations may be added to the flowcharts. One or more operations may be removed from the flowcharts.

[0040] In this specification, "X includes at least one of A, B, or C" means that X includes at least A, or X includes at least B, or X includes at least C. In other words, X may include only any one of A, B, and C, or any combination of A, B, and C, as well as other possible contents / elements. Any combination of A, B, and C may be A, B, C, AB, AC, BC, or ABC.

[0041] In this specification, unless otherwise specified, the association relationship between structures can be a direct association relationship or an indirect association relationship. For example, when describing "A is connected to B", unless it is clearly stated that A is directly connected to B, it should be understood that A can be directly connected to B or indirectly connected to B; for another example, when describing "A is above B", unless it is clearly stated that A is directly above B (AB are adjacent and A is above B), it should be understood that A can be directly above B or indirectly above B (AB is separated by other elements and A is above B). And so on.

[0042] Conventional vehicle suspension systems connect the wheels and body via a linkage mechanism, allowing the wheels greater freedom of movement relative to the body, resulting in a better driving experience. This linkage also reduces the vehicle's anti-rollover moment (from the moment arm from the wheel to the vehicle's center of gravity to the moment arm from the hinge point of the linkage to the vehicle's center of gravity). This reduces the vehicle's anti-rollover moment, making it more susceptible to swaying and difficult to straighten when disturbed by external forces, leading to tilting or even rollover.

[0043] The vehicle suspension system provided in this specification is designed to fully retain the advantages of a linkage mechanism as a suspension system while avoiding the disadvantages associated with its use. Based on the above considerations and analysis of the anti-rolling torque, the suspension system provided in this specification is equipped with a self-centering device. When the vehicle body's balanced position is disturbed, this self-centering device can respond based on the vehicle body's tilt, driving the vehicle body back to its balanced position by properly matching the forces applied between the vehicle body and the wheels.

[0044] The suspension system of the vehicle provided in this specification is provided with actuators on both sides of the vehicle body, which constitute a return device to provide a force between the vehicle body and the wheels from both sides of the vehicle body, so that the vehicle body is in a balanced position. When the vehicle body deviates from the balanced position, the two actuators generate forces of different sizes to drive the vehicle body back to the balanced position. The suspension system of the vehicle provided in this specification can overcome the problem of the vehicle body being easy to shake and difficult to balance due to the high degree of freedom of the wheels in the suspension system connected by the connecting rod mechanism. At the same time, the setting of the return device will not affect the operation of the connecting rod mechanism, that is, it will not affect the experience of the vehicle when driving.

[0045] The vehicles provided herein can be short-distance vehicles, such as scooters, tricycles, and self-balancing scooters. Their small size and light weight make them ideal for short-distance travel. In particular, they are small in width. The width of the vehicle can be defined as the axial direction of the vehicle's wheels. This means the vehicle has a small wheelbase. Furthermore, this small wheelbase makes the vehicle more susceptible to rollover.

[0046] Figure 1 shows a schematic structural diagram of a vehicle 001 according to an embodiment of the present application. As shown in Figure 1 , the vehicle 001 may include a vehicle body 100 , a pair of wheels 200 , and a suspension system 400 .

[0047] The body 100 may be the base and main structure of the vehicle 001. The body 100 may be used to connect various components of the vehicle 001, such as the wheels 200, the suspension system 400, and so on. The body 100 may also be used to carry a user. The body 100 may have a variety of different structures to suit different application scenarios. For example, the body 100 of a balance bike, a tricycle, a scooter, etc. may have different structures. Figure 1 in this specification uses a three-wheeled scooter as an example for description. Those skilled in the art should understand that other structures of the body 100 are also within the scope of protection of this specification. The material of the body 100 may be a metal material, such as carbon steel, aluminum alloy, titanium alloy, carbon fiber, and so on. The material of the body 100 may also be a combination of multiple different materials, which is not limited in this specification.

[0048] The base is generally designed to include a base structure 600 capable of supporting a user. The base structure 600 is generally configured to have a standing area 610 for the user to stand on. As shown in FIG1 , the standing area 610 can be a completely smooth structure, i.e., the surface of the standing area is flat. The standing area 610 can also include a roughened structure. The roughened structure can be formed by the surface of the standing area 610 itself, or the roughened structure can be integrally attached to the surface of the standing area. The purpose of the roughened structure is to increase friction between the user and the standing area 610, preventing the user from slipping. In some embodiments, the roughened structure can be a criss-cross pattern of raised stripes formed on the surface of the standing area 610. In other embodiments, the roughened structure can be a honeycomb-shaped support plate installed on the surface of the standing area 610, which can be removed from the standing area 610. In still other embodiments, the roughened structure can be an anti-slip film or anti-slip mat installed on the surface of the standing area 610.

[0049] The main structure of the vehicle body is the remainder of the vehicle body excluding the base structure 600. For example, the main structure may include the vehicle stem 500, the handlebar 800, and the like. The vehicle stem 500 generally serves as a connection between the handlebar 800 and the base structure 600, supporting and connecting the handlebar 800. It also serves as a connector for other components. The vehicle stem 500 has multiple connection ports and various connectors. The embodiments described herein utilize a cover plate on the vehicle stem 500 to effectively conceal these ports and connectors, thereby enhancing the vehicle's aesthetics and safety.

[0050] As shown in FIG1 , the vehicle body 100 may include a steering wheel for user operation to control the vehicle 001. In some embodiments, the vehicle body 100 may also include a seat mounted in the standing area 610, allowing the user to sit in the seat and drive the vehicle 001. In some embodiments, the vehicle body 100 may also include a storage area for storing items. In some embodiments, the vehicle body 100 may also include other components, which are not limited in this specification.

[0051] A pair of wheels is mounted on the bottom of the base structure 600. The pair of wheels 200 may include a first wheel 210 and a second wheel 220. The first wheel 210 and the second wheel 220 may be located on either side of the vehicle body 100, respectively, so that the vehicle body 100 can stand independently. The first wheel 210 and the second wheel 220 may be symmetrically distributed on either side of the vehicle body 100. The pair of wheels 200 may serve as the driving portion of the vehicle 001, enabling the vehicle 001 to travel. The pair of wheels 200 may be connected to the vehicle body 100 to drive the vehicle body 100. In some embodiments, the pair of wheels 200 may be connected to the vehicle body 100 via a suspension system 400.

[0052] In some embodiments, vehicle 001 may include a pair of wheels 200, such as a self-balancing scooter. In some embodiments, vehicle 001 may also include other wheels, distributed along the longitudinal direction of vehicle body 100 with the pair of wheels 200. The longitudinal direction may be the direction of travel of vehicle body 100. In some embodiments, the pair of wheels 200 may be the front wheels of vehicle 001. In this case, vehicle 001 may also include rear wheels 300. The number of rear wheels 300 may be one or two, and they may be symmetrically distributed on both sides of vehicle body 100. In some embodiments, the pair of wheels 200 may be the rear wheels of vehicle 001. In this case, vehicle 001 may also include front wheels 300. The number of front wheels 300 may be one or two, and they may be symmetrically distributed on both sides of vehicle body 100. Vehicle body 100 may be connected to the front and rear wheels. In the vehicle 001 shown in FIG. 1 , the description is based on an example in which the pair of wheels 200 are the front wheels of vehicle 001. Those skilled in the art will appreciate that the pair of wheels 200 serving as the rear wheels of vehicle 001 is also within the scope of protection of this specification. The pair of wheels 200 may be pneumatic tires or solid rubber tires, which is not limited in this specification.

[0053] The suspension system 400 can be used to connect the pair of wheels 200 and the body 100 of the vehicle 001. The suspension system 400 is a general term for all force-transmitting connections between the body 100 and the wheels of the vehicle 001. Its function is to transmit forces and torque acting between the wheels and the body. The suspension system 400 can also cushion the impact forces transmitted to the body 100 by uneven roads and reduce the resulting vibrations, ensuring smooth travel for the vehicle 001.

[0054] As shown in Figure 1, for the convenience of description, we define the width direction of the vehicle body 100 as the first direction X, the longitudinal direction of the vehicle body 100 as the second direction Y, and the height direction of the vehicle body 100 as the third direction Z. The width direction of the vehicle body 100 can be the direction in which the pair of wheels 200 are arranged. That is, the axial direction of the pair of wheels 200, or the wheelbase direction of the pair of wheels 200. The longitudinal direction of the vehicle body 100 can be the direction in which the vehicle 001 travels in a straight-ahead state. That is, the arrangement direction of the front and rear wheels, or the wheelbase direction of the front and rear wheels. The height direction of the vehicle body 100 can be the vertical direction. Among them, the first direction, the second direction, and the third direction are perpendicular to each other.

[0055] FIG2 shows an exploded view of a suspension system 400 for vehicle 001 according to an embodiment of the present application; FIG3 shows a front view of a suspension system 400 for vehicle 001 according to an embodiment of the present application; FIG4 shows a left side view of a suspension system 400 for vehicle 001 according to an embodiment of the present application; FIG5 shows a top view of a suspension system 400 for vehicle 001 according to an embodiment of the present application; and FIG6 shows an axonometric view of a suspension system 400 for vehicle 001 according to an embodiment of the present application. As shown in FIG2 to FIG6 , the suspension system 400 may include a multi-link mechanism 420 and a return device 440. In some embodiments, the suspension system 400 may also include a steering mechanism 460. In some embodiments, the suspension system 400 may also include a shock absorber 480.

[0056] The multi-link mechanism 420 and the return device 440 are the main components of the suspension system 400. In the embodiments disclosed herein, the multi-link mechanism 420 and the return device 440 can be used in various coordinated relationships. The return device 440 primarily connects the vehicle body 100 and the pair of wheels 200. The return device 440 generates a force based on the tilt relationship between the vehicle body 100 and the pair of wheels 200 to maintain or restore the vehicle body to a balanced position. The steering mechanism 460 and the shock absorber 480 are both optional components of the suspension system. Depending on the usage scenario and the functional requirements of the suspension system, the steering mechanism 460 and / or the shock absorber 480 can be installed in different situations.

[0057] When in operation, the multi-link mechanism 420 connects the vehicle body 100 and the pair of wheels 200. "In operation" may refer to the state in which the suspension system 400 is installed on the vehicle 001. The multi-link mechanism 420 generally refers to a suspension structure comprising three or more connecting rods that provides multi-directional control forces, ensuring a more reliable driving trajectory for the wheels 200. The multi-link mechanism 420 not only ensures a certain level of comfort, but also, due to its numerous links, allows the pair of wheels 200 of the vehicle 001 to remain as perpendicular to the ground as possible during driving, minimizing tilt of the vehicle body 100 and maintaining the wheels 200's ground contact. The multi-link mechanism 420 can be a three-link mechanism, a four-link mechanism, or a five-link mechanism. Of course, with appropriate material selection and dimensional design, the multi-link mechanism 420 can also be a two-link mechanism.

[0058] In some embodiments, the multi-link mechanism 420 may be a four-link mechanism, as shown in Figures 2 to 6 , which enables the pair of wheels 200 to move in a vertical direction relative to the vehicle body 100. The four-link mechanism may include a base 422, a pair of wheel bases 424, an upper wishbone 426, and a lower wishbone 428.

[0059] The base 422 can be fixedly connected to the vehicle body 100 during operation. "During operation" refers to the state in which the suspension system 400 is installed on the vehicle 001. The suspension system 400 can be connected to the vehicle body 100 via the base 422. This fixed connection can be achieved in a variety of ways, such as threaded connection, welding, riveting, integral molding, etc.

[0060] It should be noted here that the return device 440 described above is intended to connect a pair of wheels 200 and the vehicle body 100, and the base 422 is a component fixedly connected to the vehicle body 100. At this time, the return device 440 can be connected to the vehicle body 100 through the base 422, that is, at least one end of the return device 440 can be connected to the base 422, so that the return device 440 can be integrated into the four-bar linkage, making the suspension system more centralized and compact in structural design.

[0061] The base 422 has certain strength requirements, and therefore, can be manufactured using sheet metal processing. Furthermore, to avoid affecting the balance of the vehicle body 100, the base 422 can be designed to have a symmetrical structure, such that after the base 422 is mounted on the vehicle body 100, the axis of symmetry of the base 422 can coincide with the second direction. Furthermore, the vehicle body 100 is positioned between a pair of wheels 200. To facilitate assembly of the upper fork arm 426 and the lower fork arm 428, the base 422 can be configured to include a first mounting portion 422-1 and a second mounting portion 422-2, which are disposed opposite each other and correspond to the pair of wheels 200, respectively. In some embodiments, the base 422 can further include a third mounting portion between the first mounting portion 422-1 and the second mounting portion 422-2. In some embodiments, the base 400 may include only the third mounting portion.

[0062] The pair of wheel bases 424 can be respectively connected to the pair of wheels 200 in a first direction during operation, thereby enabling the vehicle 001 to travel. The pair of wheel bases 424 can include a first wheel base 424-1 and a second wheel base 424-2. The first wheel base 424-1 can be connected to the first wheel 210 during operation. The second wheel base 424-2 can be connected to the second wheel 220 during operation.

[0063] It should be noted that the pair of wheels 200 are mounted on a pair of wheel bases 424. This allows the alignment device 440 to be connected to the pair of wheels 200 via the pair of wheel bases 424. That is, the other end of the alignment device 440 can be connected to the wheel bases 424. This allows the alignment device 440 to be integrated into the four-bar linkage, making the suspension system more centralized and compact in structural design. Of course, it will be noted in the following description that the other end of the alignment device 400, which is used to connect to the pair of wheels 200, can also be directly connected to the upper fork arm 426 or the lower fork arm 428 to achieve connection with the pair of wheels 200. It can be appreciated that the embodiments of this article use a four-bar linkage as an example to systematically introduce the suspension system as a whole and the return device 440, wherein the return device 440 is designed to be connected to the base 422 and the upper fork arm 426 or the base 400 and the lower fork arm 428. However, it is not difficult to understand that the return device 440 can also be directly connected to the vehicle body 100 and a pair of wheels 200, or the return device 440 can also be directly connected to the vehicle body 100 and a pair of wheel bases 424, or the return device 440 can also be directly connected to the base 422 and a pair of wheel bases 424. This article does not limit the connection relationship, and it is only necessary to satisfy that the return device 440 can act between the pair of wheels 200 and the vehicle body 100.

[0064] In some embodiments, the rotation of the pair of wheels 200 can be manually driven. In some embodiments, a power unit can be mounted on the first wheel base 424-1 and / or the second wheel base 424-2 to drive the rotation of the first wheel 210 and / or the second wheel 220. The power unit can be a motor or a combination of a motor and a speed reducer. The power unit can be mounted on the first wheel base 424-1 and / or the second wheel base 424-2, and its power output shaft can be directly or indirectly connected to the first wheel 210 and / or the second wheel 220 to provide power to the first wheel 210 and / or the second wheel 220.

[0065] The upper fork arm 426 is connected to the base 422 and the pair of wheel bases 424 in a manner that allows them to float in the vertical direction. The lower fork arm 428 is connected to the base 422 and the pair of wheel bases 424 in a manner that allows them to float in the vertical direction.

[0066] The vertical floating of the upper fork arm 426 is generally manifested as the upper fork arm 426 moving up or down in the vertical direction when subjected to an external force. This external force is generally caused by the vehicle turning or traversing an uneven road. For example, when the vehicle travels from a flat road to a raised road, the pair of wheels 200 are squeezed by the road surface. This squeezing force is then fed back to the upper fork arm 426. To resist or eliminate this squeezing force, the upper fork arm 426 is appropriately moved up to minimize the squeezing force transmitted to the vehicle body 100. The vertical floating of the lower fork arm 428 is generally manifested as the lower fork arm 428 moving up or down in the vertical direction when subjected to an external force. This external force is generally caused by the vehicle turning or traversing an uneven road. For example, when the vehicle travels from a flat road to a raised road, the pair of wheels 200 will be squeezed by the road surface. At this time, this squeezing force can be fed back to the lower wishbone 428. To resist or eliminate this squeezing force, the lower wishbone 428 will move upward appropriately to minimize the squeezing force transmitted to the vehicle body 100. The above-mentioned actions of the upper wishbone 426 and the lower wishbone 428 can perform the functions of the suspension system.

[0067] To achieve floating of the upper fork arm 426 and the lower fork arm 428 , the upper fork arm 426 and the lower fork arm 428 may be connected to the base 422 and the pair of wheel bases 424 in a variety of ways.

[0068] In some embodiments, the upper fork arm 426 and the lower fork arm 428 can be integrally formed, thereby connecting the pair of wheels 200 together and allowing their movements to affect each other. In this case, the suspension system 400 is a non-independent suspension system. In this case, the connection point between the upper fork arm 426 and the base 422 can be located midway between the connection point between the upper fork arm 426 and the first wheel base 424-1 and the connection point between the upper fork arm 426 and the second wheel base 424-2, so that the vehicle can maintain balance.

[0069] In the above embodiment in which the upper fork arm 426 and the lower fork arm 428 are integral, in order to cooperate with the installation of the upper fork arm 426 and the lower fork arm 428, the base 422 is provided with a third mounting portion, which is located at the axial center position of the base 422. The center positions of the upper fork arm 426 and the lower fork arm are connected to the third mounting portion, and each forms a first connection point. One end of the upper fork arm 426 is connected to one of the pair of wheel bases 424, and the other end of the upper fork arm 426 is connected to the other of the pair of wheel bases 424, forming two second connection points. One end of the lower fork arm 428 is also connected to one of the pair of wheel bases 424, and the other end of the lower fork arm 428 is connected to the other of the pair of wheel bases 424, also forming two second connection points. On the basis of the above-mentioned installation relationship, in order to simultaneously realize the floating of the upper fork arm 426 and the lower fork arm 428, the first connection point is a hinge connection point, and the second connection point can be a hinge point or a movable connection point. The hinge connection point here can be understood as a rotating connection. At this time, the upper fork arm 426 and the lower fork arm 428 are hinged on the third mounting part. Specifically, the following design scheme can be adopted: the upper fork arm 426 and the lower fork arm 428 both adopt a two-section structure, one end of the two-section structure is hinged together and forms a hinge hole, which is located in the middle position of the two-section structure. The third mounting part is a boss that can be hinged to the hinge hole. The two-section structure also has two ends, which are correspondingly hinged to a pair of wheel bases 424, or the two ends are correspondingly mounted to a pair of wheel bases 424 through a movable pin.

[0070] In some embodiments, the suspension system 400 may be an independent suspension system. In this case, the upper fork arm 426 may include a first upper fork arm 426-1 and a second upper fork arm 426-2. The first upper fork arm 426-1 may have two ends rotatably connected to the base 422 and the first wheel base 424-1, respectively, about the second direction. The second upper fork arm 426-2 may have two ends rotatably connected to the base 422 and the second wheel base 424-2, respectively, about the second direction. The first upper fork arm 426-1 and the second upper fork arm 426-2 may be symmetrically arranged. The lower fork arm 428 may include a first lower fork arm 428-1 and a second lower fork arm 428-2. The first lower fork arm 428-1 may have two ends rotatably connected to the base 422 and the first wheel base 424-1, respectively, about the second direction. The second lower fork arm 428-2 may have two ends rotatably connected to the base 422 and the second wheel base 424-2, respectively, about the second direction. The first lower fork arm 428-1 and the second lower fork arm 428-2 may be symmetrically arranged. The first upper fork arm 426-1 and the first lower fork arm 428-1 are arranged in parallel. The second upper fork arm 426-2 and the second lower fork arm 428-2 are arranged in parallel.

[0071] In the embodiment in which the above-mentioned suspension system 400 is an independent suspension system, the first upper fork arm 426-1 and the second upper fork arm 426-2 are two completely independent components. To cooperate with the installation of the first upper fork arm 426-1 and the second upper fork arm 426-2, the base 422 is provided with a first mounting portion 422-1 and a second mounting portion 422-2. The first upper fork arm 426-1 is connected between the first mounting portion 422-1 and the first wheel base 424-1, and the second upper fork arm 426-2 is connected between the second mounting portion 422-2 and the second wheel base 424-2; the first lower fork arm 428-1 and the second lower fork arm 428-2 are also two completely independent components. The first lower fork arm 428-1 is connected between the first mounting portion 422-1 and the first wheel base 424-1, and the second lower fork arm 428-2 is connected between the second mounting portion 422-2 and the second wheel base 424-2. In order to achieve the floating of the upper fork arm 426 and the lower fork arm 428, in addition to the above-mentioned method of both ends being connected in a rotational manner around the second direction, a method of one end being connected in a rotational manner and the other end being connected in a movable manner can also be adopted. Specifically, one end of the first upper fork arm 426-1 is connected in a rotational manner to the base 422, and the other end is connected in a movable manner to the first wheel base 424-1. The movable connection can be achieved by a movable latch 429, so that the end connected to the first wheel base 424-1 can move along the axial direction of the movable latch 429; one end of the second upper fork arm 426-2 is connected in a rotational manner to the base 422, and the other end is connected in a movable manner to the second wheel base 424-2. The movable connection can be achieved by a movable latch 429. The first lower fork arm 428-1 is rotatably connected to the base 422, and the other end is movably connected to the first wheel base 424-1. The movable connection can be achieved through a movable latch 429, so that the end connected to the first wheel base 424-1 can move along the axial direction of the movable latch. The second lower fork arm 428-2 is rotatably connected to the base 422, and the other end is movably connected to the second wheel base 424-2. The movable connection can be achieved through a movable latch 429, so that the end connected to the second wheel base 424-2 can move along the axial direction of the movable latch. It should be noted that in the above description, the rotational connection method and the connection method of the movable latch 429 are both a type of movable connection. In other embodiments, the movable connection can also be achieved through a concave-convex structure, a sliding groove structure, or other structures.

[0072] It can be understood that when a pair of wheels 200 are subjected to external force, the first to react are the first lower fork arm 428-1 and the second lower fork arm 428-2. In other words, the first lower fork arm 428-1 and the second lower fork arm 428-2 are subjected to a larger impact force. Considering the different magnitudes of the impact forces, in order to ensure that the force transmitted to the base 422 is sufficiently balanced, this manual also designs the connection points between the first upper fork arm 426-1, the second upper fork arm 426-2, the first lower fork arm 428-1 and the second lower fork arm 428-2 and the base 422.

[0073] For example, in some embodiments, a first rotating connection portion 422-11 is provided at a position of the first mounting portion 422-1 corresponding to the first upper fork arm 426-1, two second rotating connection portions 422-12 are provided at a position of the first mounting portion 422-1 corresponding to the first lower fork arm 428-1, and the two second rotating connection portions 422-12 are spaced apart in the vertical direction, a first rotating connection portion is provided at a position of the second mounting portion 422-2 corresponding to the second upper fork arm 426-2, and the second rotating connection portion 422-2 is provided at a position of the second mounting portion 422-2 corresponding to the second Two second rotational connections are provided at the lower fork arm position, and the two second rotational connections are spaced apart in the vertical direction. The first upper fork arm 426-1 is connected to the first mounting portion 422-1 via the first rotational connection portion 422-11, and the second upper fork arm 426-2 is connected to the second mounting portion 422-2 via the first rotational connection portion. The first lower fork arm 428-1 is connected to the first mounting portion 422-1 via two second rotational connections 422-12, and the second lower fork arm 428-2 is connected to the second mounting portion 422-2 via two second rotational connections. Therefore, it can be seen that the first lower fork arm 428-1 and the second lower fork arm 428-2 are both connected to the base 422 via two connection points, which not only ensures a more secure connection relationship, but also improves the force transmission effect, making the force transmitted from the first lower fork arm 428-1 and the second lower fork arm 428-2 to the base 422 more balanced. Of course, in other embodiments, other connection points may be designed, for example, the first lower fork arm 428-1 and the second lower fork arm 428-2 may use three connection points, and the first upper fork arm 426-1 and the second upper fork arm 426-2 may use two connection points.

[0074] From the foregoing description, it can be known that the first upper fork arm 426-1, the second upper fork arm 426-2, the first lower fork arm 428-1 and the second lower fork arm 428-2 are all rotatably connected to the base 422. This specification does not limit the specific structure. For example, in order to achieve rotation, a hole-axis matching method can generally be adopted. Through holes can be opened on the first upper fork arm 426-1, the second upper fork arm 426-2, the first lower fork arm 428-1, the second lower fork arm 428-2 and the base 422, and then a rotating shaft can be passed through the through holes.

[0075] In some embodiments, the upper fork arm 426 and the lower fork arm 428 can be arranged in parallel, so that the four-bar linkage constitutes a parallelogram linkage. This allows the pair of wheel bases 424 and the pair of wheels 200 to remain parallel to the vehicle body, thereby improving vehicle stability. In some embodiments, the first upper fork arm 426-1 and the first lower fork arm 428-1 are arranged in parallel, and the second upper fork arm 426-2 and the second lower fork arm 428-2 are arranged in parallel, so that the four-bar linkage constitutes a parallelogram linkage. This allows the pair of wheel bases 424 and the pair of wheels 200 to remain parallel to the vehicle body, thereby improving vehicle stability.

[0076] In other embodiments, the upper fork arm 426 and the lower fork arm 428 may also be non-parallel, for example, the upper fork arm 426 has a larger inclination angle; in other embodiments, the first upper fork arm 426-1 and the first lower fork arm 428-1 may also be non-parallel, and the second upper fork arm 426-2 and the second lower fork arm 428-2 may also be non-parallel, for example, the first upper fork arm 426-1 has a larger inclination angle than the first lower fork arm 428-1, and the second upper fork arm 426-2 has a larger inclination angle than the second lower fork arm 428-2.

[0077] In some embodiments, as shown in Figure 2, the first upper fork arm 426-1, the second upper fork arm 426-2, the first lower fork arm 428-1 and the second lower fork arm 428-2 all adopt a hollow design, thereby reducing the weight of the first upper fork arm 426-1, the second upper fork arm 426-2, the first lower fork arm 428-1 and the second lower fork arm 428-2, making the four-bar linkage lighter, and improving the sensitivity of the four-bar linkage to external forces, thereby improving the floating performance of the four-bar linkage.

[0078] In some embodiments, the hollow design of the first upper fork arm 426-1, the second upper fork arm 426-2, the first lower fork arm 428-1 and the second lower fork arm 428-2 adopts a method of gradually expanding outward toward the base 422, so that the first upper fork arm 426-1, the second upper fork arm 426-2, the first lower fork arm 428-1 and the second lower fork arm 428-2 can transmit external forces more quickly and rapidly. For example, the hollow design adopts a trapezoidal structure. Taking the first upper fork arm 426-1 as an example, the trapezoidal structure has two bottom sides, the shorter bottom side is close to the first wheel base 424-1, and the longer bottom side is close to the base 422, so that when the first wheel 210 is impacted, the impact force can be quickly transmitted to the base 422 via the first upper fork arm 426-1, thereby guiding the return device 440 to respond quickly. The hollow design concept of the second upper fork arm 426 - 2 , the first lower fork arm 428 - 1 and the second lower fork arm 428 - 2 will not be further described.

[0079] It should be noted that other structural forms of the multi-link mechanism 420 are also within the protection scope of this specification.

[0080] The return device 440 may include a pair of actuators distributed on both sides of the vehicle body 100. In some embodiments, the pair of actuators may be symmetrically distributed on both sides of the vehicle body 100. When in operation, the return device 440 may be connected to the vehicle body 100 and the pair of wheels 200 respectively to provide a force so that the vehicle body 100 is in a balanced position under the resultant force of the forces. When the vehicle body 100 deviates from the balanced position, the resultant force drives the vehicle body to return to the balanced position. When the vehicle body 100 is in the balanced position, the pair of actuators provide a force of equal magnitude and opposite direction in the tilt direction of the vehicle body 100 to maintain the vehicle body 100 in the balanced position. When the vehicle body 100 deviates from the balanced position, the resultant force provides the vehicle body 100 with a force opposite to the tilt direction in the tilt direction of the vehicle body 100, driving the vehicle body 100 to return to the balanced position. The tilt direction may be a first direction.

[0081] One of the pair of actuators connects the vehicle body 100 and the first wheel 210 when in operation, while the other of the pair of actuators connects the vehicle body 100 and the second wheel 210 when in operation. The pair of actuators is used to provide a force that maintains the vehicle body 100 in a balanced position under the combined force. In conjunction with the above embodiments, to achieve a more centralized and compact suspension system structure, the pair of actuators can be integrated into a multi-link mechanism. For example, as described above, the pair of actuators can be connected between the base 422 and the upper fork arm 426 or the lower fork arm 428.

[0082] The force applied by the actuator to the vehicle body 100 can be either a tensile force or a compressive force. The tensile force can be an attractive force, i.e., a force that forces the vehicle body 100 and the wheel 200 toward each other. The compressive force can be a repulsive force, i.e., a force that forces the vehicle body 100 and the wheel 200 away from each other. In some embodiments, when the vehicle body 100 is in a balanced position, each actuator in a pair of actuators is in a compressed state, thereby applying a compressive force between the vehicle body 100 and the wheel 200. In some embodiments, when the vehicle body 100 is in a balanced position, each actuator in a pair of actuators is in a tensile state, thereby applying a tensile force between the vehicle body 100 and the wheel 200. To enable the vehicle 001 to overcome centrifugal force when turning, i.e., to allow the vehicle body 100 to tilt toward the center of the turn, the force applied by the actuator to the vehicle body 100 can be a compressive force, i.e., each actuator in a pair of actuators is in a compressed state when the vehicle body 100 is in a balanced position. For ease of description, the following description uses the example of each actuator in a pair of actuators being in a compressed state when the vehicle body 100 is in a balanced position.

[0083] The pair of actuators may include a first actuator 441 and a second actuator 442. One end of the first actuator 441 may be rotatably connected to the base 422, and the other end may be rotatably connected to the upper fork arm 426 or the lower fork arm 428. One end of the second actuator 442 may be rotatably connected to the base 422, and the other end may be rotatably connected to the upper fork arm 426 or the lower fork arm 428. Specifically, one end of the first actuator 441 may be rotatably connected to the base 422, and the other end may be rotatably connected to the first upper fork arm 426-1 or the first lower fork arm 428-1. One end of the second actuator 442 may be rotatably connected to the base 422, and the other end may be rotatably connected to the second upper fork arm 426-2 or the second lower fork arm 428-2.

[0084] When the vehicle body 100 is in a balanced position, the first actuator 441 and the second actuator 442 apply forces of equal magnitude and opposite directions to the vehicle body 100 in a first direction. The combined force of these two forces maintains the vehicle body 100 in a balanced position. For example, the first actuator 441 applies a force away from the first actuator 441, while the second actuator 442 applies a force away from the second actuator 442. These two forces are equal in magnitude and opposite in direction.

[0085] When the vehicle body 100 is disturbed by an external force and deviates from its equilibrium position, the first actuator 441 and the second actuator 442 exert forces of different magnitudes and opposite directions on the vehicle body 100 in a first direction. The resulting forces cause the vehicle body 100 to move toward its equilibrium position. For example, when the vehicle body 100 tilts toward the first actuator 441, the first actuator 441 is compressed, increasing the force. At the same time, the second actuator 442 is stretched, decreasing the force. Consequently, the force exerted on the vehicle body 100 by the first actuator 441 is greater than the force exerted on the vehicle body 100 by the second actuator 442. As a result, the resulting force points away from the first actuator 441, driving the vehicle body 100 away from the first actuator 441 and restoring it to its equilibrium position. Conversely, when the vehicle body 100 tilts toward the second actuator 442, the effects are reversed, and this description will not be repeated here.

[0086] To adapt to the installation of the first actuator 441 and the second actuator 442, as shown in Figures 2 and 6, the base 422 is further provided with a third rotating connection portion 422-13 on the first mounting portion 422-1 and the second mounting portion 422-2. The third rotating connection portion 422-13 is located above the first rotating connection portion 422-11 in the vertical direction. One end of the first actuator 441 is rotationally connected to the third rotating connection portion 422-13 on the first mounting portion 422-1, and the other end is rotationally connected to the first upper fork arm 426-1. One end of the second actuator 442 is rotationally connected to the third rotating connection portion on the second mounting portion, and the other end is rotationally connected to the second upper fork arm 426-2.

[0087] In some embodiments, the pair of actuators may be damping actuators or stiffness actuators, and may include at least one of a hydraulic actuator, a pneumatic actuator, and an elastic device.

[0088] In some embodiments, the suspension system 400 may further include a steering mechanism 460. The steering mechanism 460 may have two ends rotatably connected to the vehicle body 100 and the pair of wheels 200, respectively, to drive the pair of wheels 200 to steer relative to the vehicle body 100. As shown in Figures 2 to 6, the steering mechanism 460 may include a steering rocker arm 462, a steering link 464, and a steering connector 466. The steering rocker arm 462 may have two ends rotatably connected to the base 422 and the steering connector 466, respectively, about a third axis. One end of the steering link 464 is rotatably connected to the steering connector 466 about a second direction, and the other end is rotatably connected to the pair of wheel bases 424 about a third direction. When the steering rocker arm 462 rotates relative to the base 422, it pulls the first wheel base 424 to steer. The hinged connection between the steering link 464 and the steering connector 466 allows the pair of wheel bases 424 to move in the third direction, enabling the multi-link mechanism 420 to function properly.

[0089] In order to enable a pair of wheel bases 424 to rotate in the second direction relative to the upper fork arm 426 and the lower fork arm 428, and to rotate in the third direction relative to the steering link 464, the articulation between the pair of wheel bases 424 and the upper fork arm 426 and the lower fork arm 428 as well as the steering link 464 can be achieved by a ball joint.

[0090] In some embodiments, the steering mechanism 460 may further include a drive device 468. The drive device 468 may be mounted on the base 422. The output shaft of the drive device 468 may be connected to the steering rocker arm 462 for rotation about a third direction to drive the steering rocker arm 462 to rotate relative to the base 422. The drive device 468 may include a motor or a combination of a motor and a reducer. In some embodiments, the drive device may be communicatively connected to a controller (not shown in Figures 1 to 6) and operate based on a control signal sent by the controller. In some embodiments, the controller may be communicatively connected to a remote computing device to receive a control signal from a remote control device, thereby achieving automatic driving of the vehicle 001. In some embodiments, the input end of the drive device 468 may also be connected to the handlebar riser of the vehicle 001, so that the user can steer the vehicle 001 by operating the handlebars.

[0091] In some embodiments, in order to smoothly perform the function of the steering mechanism 460, as shown in Figures 4 and 5, one end of the steering mechanism 460 connected to a pair of wheel bases 424 is roughly located between the upper fork arm 426 and the lower fork arm 428 in the vertical direction, thereby ensuring uniform force transmission and making steering easy.

[0092] In some embodiments, the suspension system 400 may further include a shock absorbing device 480. The shock absorbing device 480 may be rotatably connected to the pair of wheels 200 and the vehicle body 100, respectively, to achieve force buffering. Specifically, the two ends of the shock absorbing device 480 may be hinged to the base 422 and the upper fork arm 426 or the lower fork arm 428, respectively. The shock absorbing device 480 may be a damper, a stiffness actuator, or a combination of a damper and a stiffness actuator. The shock absorbing device 480 may be an active shock absorbing device, a semi-active shock absorbing device, or a passive shock absorbing device.

[0093] It should be noted that implementations in which the suspension system 400 does not include the steering mechanism 460 or the shock absorbing device 480 are also within the scope of protection of this specification.

[0094] It should be noted that for details of the suspension system 400 of the vehicle 001 that are not disclosed in the device embodiment of this specification, please refer to the drawings provided in this specification, and no further details will be given here.

[0095] So far, this specification has fully described the overall structure of the suspension system 400 and its possible combinations. To more clearly understand the features and advantages of the suspension system 400, an embodiment in this specification will be used to sort them out.

[0096] 2 , 3 , and 6 , suspension system 400 includes a four-bar linkage, a self-centering device 440, and a steering mechanism 460. The four-bar linkage includes a base 422, a first upper fork arm 426-1, a second upper fork arm 426-2, a first lower fork arm 428-1, a second lower fork arm 428-1, a first wheel base 424-1, and a second wheel base 424-2. The first upper fork arm 426-1, the second upper fork arm 426-2, the first lower fork arm 428-1, and the second lower fork arm 428-1 all employ a hollow design, each of which is trapezoidal in shape. The first upper fork arm 426-1, the second upper fork arm 426-2, the first lower fork arm 428-1, and the second lower fork arm 428-1 are connected to the base 422 in a rotational connection. The first upper fork arm 426-1, the second upper fork arm 426-2, the first lower fork arm 428-1, and the second lower fork arm 428-1 are connected to the pair of wheel bases 424 in a movable connection, which is achieved by a movable latch 429. The base 422 is provided with a first mounting portion 421 and a second mounting portion 422. The first upper fork arm 426-1 is connected to the first mounting portion 422-1 via a connection point, the second upper fork arm 426-2 is connected to the second mounting portion 422-2 via a connection point, the first lower fork arm 428-1 is connected to the first mounting portion 422-1 via two connection points, and the second lower fork arm 428-8 is connected to the second mounting portion 422-2 via two connection points. The return device 440 includes a first actuator 441 and a second actuator 442, located on either side of the vehicle body 100. One end of the first actuator 441 is pivotally connected to the first mounting portion 422-1, and the other end is pivotally connected to the first upper fork arm 426-1. The second actuator 442 has one end pivotally connected to the second mounting portion 422-2, and the other end pivotally connected to the second upper fork arm 426-2. The steering mechanism 460 includes a steering rocker arm 462, a steering link 464, a steering connector 466, and a drive device 468. The end of the steering link 464, connected to the pair of wheel bases 424, is vertically positioned approximately between the upper fork arm 426 and the lower fork arm 428.

[0097] In summary, the suspension system 400 of the vehicle 001 provided in this specification provides a force to the vehicle body 100 by setting an actuator 440 on both sides of the vehicle body 100, so that the vehicle body 100 is in a balanced position. When the vehicle body 100 deviates from the balanced position, the two actuators 440 generate forces of different sizes, so that the vehicle body 100 returns to the balanced position. The suspension system 400 of the vehicle 001 provided in this specification can overcome the problem that the vehicle body is easy to shake and difficult to balance due to the high degree of freedom of the wheels in the suspension system connected by the connecting rod mechanism. The suspension system 400 of the vehicle 001 provided in this specification can also achieve steering through the steering mechanism 460, and can achieve automatic steering through the drive device, which broadens the use scenario of the vehicle 001 and allows the vehicle 001 to travel in an unmanned state.

[0098] The foregoing description describes specific embodiments of the present application. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recited in the claims may be performed in an order different from that described in the embodiments and still achieve the desired results. Furthermore, the processes depicted in the accompanying drawings do not necessarily require a specific or sequential order to achieve the desired results. In certain embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0099] In summary, after reading this detailed disclosure, those skilled in the art will appreciate that the foregoing detailed disclosure may be presented by way of example only and may not be limiting. Although not expressly stated herein, those skilled in the art will understand that the present application requires various reasonable changes, improvements, and modifications to the embodiments. Such changes, improvements, and modifications are intended to be proposed by the present application and are within the spirit and scope of the exemplary embodiments of the present application.

[0100] In addition, certain terms in this application have been used to describe embodiments of the application. For example, "one embodiment," "an embodiment," and / or "some embodiments" mean that a particular feature, structure, or characteristic described in conjunction with that embodiment may be included in at least one embodiment of the application. Therefore, it is emphasized and should be understood that two or more references to "an embodiment," "one embodiment," or "an alternative embodiment" in various sections of this application do not necessarily refer to the same embodiment. Furthermore, particular features, structures, or characteristics may be appropriately combined in one or more embodiments of the application.

[0101] It should be understood that in the foregoing description of the embodiments of this application, in order to facilitate understanding of a feature and to simplify this application, this application combines various features into a single embodiment, figure, or description thereof. However, this does not mean that the combination of these features is required. When reading this application, it is entirely possible for a person skilled in the art to mark out some of the devices and understand them as separate embodiments. In other words, the embodiments of this application can also be understood as the integration of multiple secondary embodiments. This also applies when the content of each secondary embodiment is less than all the features of a single aforementioned disclosed embodiment.

[0102] Each patent, patent application, patent application publication, and other materials, such as articles, books, specifications, publications, documents, articles, and the like, cited herein, except any historical prosecution documents to which it relates, any equivalent that may be inconsistent or conflicting with this document, or any equivalent historical prosecution documents that may have a limiting effect on the broadest scope of the claims, is hereby incorporated by reference for all purposes now or hereafter connected with this document. In addition, in the event of any inconsistency or conflict between the descriptions, definitions, and / or use of terms associated with any incorporated material and the terminology, descriptions, definitions, and / or use associated with this document, the terminology in this document shall control.

[0103] Finally, it should be understood that the embodiments of the application disclosed herein are illustrations of the principles of the embodiments of the present application. Other modified embodiments are also within the scope of the present application. Therefore, the embodiments disclosed in the present application are merely examples and not limitations. Those skilled in the art can adopt alternative configurations based on the embodiments in the present application to implement the applications in the present application. Therefore, the embodiments of the present application are not limited to the embodiments precisely described in the application.

Claims

1. A suspension system for a vehicle, used to connect a pair of wheels of the vehicle and a body of the vehicle, characterized in that: The pair of wheels includes a first wheel and a second wheel, which are respectively located on both sides of the vehicle body, and the suspension system includes: A multi-link mechanism, which connects the vehicle body and the pair of wheels when in operation; The return device includes a pair of actuators distributed on both sides of the vehicle body, one of the pair of actuators is connected to the vehicle body and the first wheel when in operation, and the other of the pair of actuators is connected to the vehicle body and the second wheel when in operation, and the pair of actuators are used to provide a force so that the vehicle body is in a balanced position under the combined force of the forces. When the vehicle body deviates from the equilibrium position, the resultant force of the acting forces drives the vehicle body to return to the equilibrium position.

2. The vehicle suspension system according to claim 1, characterized in that: The pair of actuators are symmetrically distributed on both sides of the vehicle body. When the vehicle body is located at the equilibrium position, the pair of actuators provide forces of equal magnitude and opposite directions in the tilting direction of the vehicle body to maintain the vehicle body in the equilibrium position. When the vehicle body deviates from the equilibrium position, the resultant force of the forces provides the vehicle body with a force in the tilting direction opposite to the tilting direction, driving the vehicle body to return to the equilibrium position.

3. The vehicle suspension system according to claim 2, characterized in that: When the vehicle body is located at the equilibrium position, each of the pair of actuators is in a compressed state.

4. The vehicle suspension system according to any one of claims 1 to 3, characterized in that: The pair of wheels are the front wheels of the vehicle, and the vehicle further includes a rear wheel, or the pair of wheels are the rear wheels of the vehicle, and the vehicle further includes a front wheel, The vehicle body connects the front wheels and the rear wheels.

5. The vehicle suspension system according to any one of claims 1 to 4, characterized in that: The multi-link mechanism is a four-link mechanism, so that the pair of wheels can move in a vertical direction relative to the vehicle body.

6. The vehicle suspension system according to claim 5, characterized in that: The four-bar linkage comprises: A base, fixedly connected to the vehicle body during operation; A pair of wheel bases, which are respectively connected to the pair of wheels for rotation around a first direction during operation to achieve the driving of the vehicle, wherein the first direction is the axial direction of the pair of wheels; an upper fork arm connected to the base and the pair of wheel bases respectively in a manner capable of floating along the vertical direction; The lower fork arms are respectively connected to the base and the pair of wheel bases in a manner capable of floating along the vertical direction.

7. The vehicle suspension system according to claim 6, characterized in that: The pair of wheel bases include a first wheel base and a second wheel base. The first wheel base is rotationally connected to the first wheel when in operation, and the second wheel base is rotationally connected to the second wheel when in operation.

8. The vehicle suspension system according to claim 7, characterized in that: The upper fork arm comprises: A first upper fork arm, one end of which is rotatably connected to the base, and the other end of which is movably connected to the first wheel base; and The second upper fork arm has one end rotatably connected to the base and the other end movably connected to the second wheel base.

9. The vehicle suspension system according to claim 8, characterized in that: The two ends of the first upper fork arm are respectively connected to the base and the first wheel base for rotation around the second direction, and the two ends of the second upper fork arm are respectively connected to the base and the second wheel base for rotation around the second direction. Wherein, the second direction includes the longitudinal direction of the vehicle body.

10. The vehicle suspension system according to claim 9, characterized in that: The lower fork arm comprises: A first lower fork arm, one end of which is rotatably connected to the base and the other end of which is movably connected to the first wheel base; and A second lower fork arm has one end rotatably connected to the base and the other end movably connected to the second wheel base. Wherein, the first upper fork arm and the first lower fork arm are arranged in parallel, and the second upper fork arm and the second lower fork arm are arranged in parallel.

11. The vehicle suspension system according to claim 10, characterized in that: Two ends of the first lower fork arm are respectively connected to the base and the first wheel base for rotation around the second direction, and two ends of the second lower fork arm are respectively connected to the base and the second wheel base for rotation around the second direction.

12. The vehicle suspension system according to claim 11, characterized in that: The base comprises: A first mounting portion, disposed opposite to the first wheel base; and A second mounting portion is arranged opposite to the second wheel base, Wherein, the first upper fork arm is connected between the first mounting portion and the first wheel base, the second upper fork arm is connected between the second mounting portion and the second wheel base, the first lower fork arm is connected between the first mounting portion and the first wheel base, and the second lower fork arm is connected between the second mounting portion and the second wheel base.

13. The vehicle suspension system according to claim 12, characterized in that: A first rotating connection portion is provided at a position of the first mounting portion corresponding to the first upper fork arm, and two second rotating connection portions are provided at a position of the first mounting portion corresponding to the first lower fork arm, and the two second rotating connection portions are arranged at intervals in a vertical direction; a first rotating connection portion is provided at a position of the second mounting portion corresponding to the second upper fork arm, and two second rotating connection portions are provided at a position of the second mounting portion corresponding to the second lower fork arm, and the two second rotating connection portions are arranged at intervals in a vertical direction, the first upper fork arm is connected to the first mounting portion through the first rotating connection portion, the second upper fork arm is connected to the second mounting portion through the first rotating connection portion, the first lower fork arm is connected to the first mounting portion through the two second rotating connections, and the second lower fork arm is connected to the second mounting portion through the two second rotating connections.

14. The vehicle suspension system according to claim 13, characterized in that: The first mounting portion and the second mounting portion are each provided with a third rotating connecting portion, and the third rotating connecting portion is located above the first rotating connecting portion in the vertical direction; The pair of actuators include a first actuator and a second actuator, one end of the first actuator is rotatably connected to the third rotating connection portion on the first mounting portion, and the other end is rotatably connected to the first upper fork arm, and one end of the second actuator is rotatably connected to the third rotating connection portion on the second mounting portion, and the other end is rotatably connected to the second upper fork arm.

15. The vehicle suspension system according to any one of claims 6 to 14, characterized in that: The pair of actuators includes a first actuator and a second actuator, one end of the first actuator is rotatably connected to the base, and the other end is rotatably connected to the upper fork arm or the lower fork arm, and one end of the second actuator is rotatably connected to the base, and the other end is rotatably connected to the upper fork arm or the lower fork arm.

16. The vehicle suspension system according to any one of claims 6 to 15, characterized in that: Also includes: The steering mechanism is rotatably connected to the vehicle body and the pair of wheels respectively to drive the pair of wheels to steer.

17. The vehicle suspension system according to claim 16, characterized in that: The steering mechanism comprises a steering rocker arm, a steering link and a steering connection seat, wherein two ends of the steering rocker arm are respectively connected to the base and the steering connection seat for rotation around the third direction, one end of the steering link is connected to the steering connection seat for rotation around the second direction, and the other end is connected to the pair of wheel bases for rotation around the third direction, wherein the third direction is the vertical direction of the vehicle body, When the steering rocker arm rotates relative to the base, it pulls the first wheel base to steer.

18. The vehicle suspension system according to claim 17, characterized in that: The steering mechanism also includes: A driving device is installed on the base and is connected to the steering rocker arm for rotation around the third direction to drive the steering rocker arm to rotate relative to the base.

19. The vehicle suspension system according to any one of claims 1 to 18, characterized in that: The pair of actuators include at least one of a hydraulic actuator, a pneumatic actuator and an elastic device.

20. The vehicle suspension system according to any one of claims 1 to 19, characterized in that: Also includes: The shock absorbing device is rotatably connected to the pair of wheels and the vehicle body respectively.

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