CN211335487U

CN211335487U - Suspension structure and unmanned equipment

Info

Publication number: CN211335487U
Application number: CN201922301267.5U
Authority: CN
Inventors: 苏吉贤; 黄耀霖; 翟翔可; 陈星�
Original assignee: Guangzhou Xaircraft Technology Co Ltd
Current assignee: Guangzhou Xaircraft Technology Co Ltd
Priority date: 2019-12-19
Filing date: 2019-12-19
Publication date: 2020-08-25
Anticipated expiration: 2029-12-19

Abstract

The utility model relates to the field of unmanned equipment, in particular to a suspension structure and the unmanned equipment; the utility model discloses a suspension structure comprises a roller, a wheel arm, a shock absorber and a frame, wherein the roller is rotatably connected with the first end of the wheel arm, the second end of the wheel arm is rotatably connected with the frame, and the rotation axis of the roller does not coincide with the rotation axis of the wheel arm relative to the frame; one end of the shock absorber is connected with the second end of the wheel arm, and the other end of the shock absorber is connected with the rack. The utility model discloses a suspension structure can improve unmanned aerial vehicle's ride comfort and trafficability characteristic.

Description

Suspension structure and unmanned equipment

Technical Field

The utility model relates to an unmanned equipment field particularly, relates to suspended structure and unmanned equipment.

Background

With the development of technology, the living standard is increasing, and many jobs tend to be automated, such as automated factories, automated production lines, and automated farming.

In the related art, many agricultural operation modes are also on the trend of automation, such as pesticide spraying, farmland fertilization, farmland sowing and the like. In order to adapt to the working environment with uneven farmland, weed branches and the like spread all over, the smoothness and the trafficability of the unmanned equipment provided by the related art on the ground still need to be improved.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a suspended structure and unmanned aerial vehicle, it can improve unmanned aerial vehicle's ride comfort and trafficability characteristic.

The embodiment of the utility model is realized like this:

in a first aspect, an embodiment provides a suspension structure, including a roller, a wheel arm, a shock absorber and a frame, wherein the roller is rotatably connected to a first end of the wheel arm, a second end of the wheel arm is rotatably connected to the frame, and a rotation axis of the roller does not coincide with an axis of the wheel arm rotating relative to the frame; one end of the shock absorber is connected with the second end of the wheel arm, and the other end of the shock absorber is connected with the rack.

In an alternative embodiment, the roller protrudes from the frame from one side of the frame, and the damper is disposed above the side.

In an optional embodiment, the suspension structure further comprises a swing arm, the swing arm is connected with the second end of the wheel arm, and the swing arm can synchronously rotate along with the wheel arm; the shock absorber is connected with the second end of the wheel arm through the swing arm.

In an alternative embodiment, the second end of the wheel arm and the swing arm are a bayonet fitting.

In an optional embodiment, one of the second end of the wheel arm and the swing arm is provided with a protrusion, the other is provided with a jack, the protrusion is in plug-in fit with the jack, and the protrusion and the jack are not coincident with the rotation axis of the wheel arm.

In an alternative embodiment, the second end of the wheel arm has a first abutment surface and the swing arm has a second abutment surface, the first abutment surface being in abutting engagement with the second abutment surface.

In an optional embodiment, the suspension structure further includes a rotating shaft disposed on the frame, the second end of the wheel arm is provided with a first shaft hole, the swing arm is provided with a second shaft hole, and the rotating shaft simultaneously penetrates through the first shaft hole and the second shaft hole; the wheel arm and the swing arm can rotate around the rotating shaft simultaneously.

In an alternative embodiment, the suspension structure further comprises a bearing assembly disposed on the frame, the wheel arm is rotatably connected with the frame through a rotating shaft, and the rotating shaft is matched with the bearing assembly; the swing arm is located between the wheel arm and the bearing assembly.

In an alternative embodiment, the side of the swing arm facing away from the wheel arm abuts the bearing assembly and forms a gap with the side wall of the frame.

In an alternative embodiment, the bearing assembly comprises a bearing seat and a bearing arranged on the bearing seat, the bearing seat is connected with the frame, and the rotating shaft is matched with the bearing; the bearing block is provided with a first avoiding hole, the wheel arm is used for arranging the motor, and the first avoiding hole is used for penetrating through an electric wire of the motor.

In an optional embodiment, the first avoidance hole is an arc-shaped long hole, and the center of the long hole coincides with the axis of the rotating shaft.

In an alternative embodiment, both ends of the rotating shaft are provided with a limiting member to limit the axial movement of the rotating shaft along the rotating shaft.

In an optional implementation mode, the frame is provided with a second avoiding hole, the wheel arm is used for arranging the motor, and the second avoiding hole is used for penetrating through a wire of the motor.

In an optional embodiment, the first end of the wheel arm is used for arranging a motor, a wire routing cavity is formed inside the wheel arm, a third avoiding hole is formed in the second end of the wheel arm, and the wire routing cavity is communicated with the third avoiding hole, so that a conductive wire of the motor penetrates through the wire routing cavity and extends out of the third avoiding hole.

In a second aspect, embodiments provide an unmanned aerial vehicle comprising a suspension structure of any of the preceding embodiments.

The utility model discloses suspension structure's beneficial effect includes: the embodiment of the utility model provides a suspended structure can be used for unmanned aerial vehicle, for example: unmanned vehicles or dual-purpose unmanned aerial vehicles for air and land; the roller of the suspension structure is rotatably connected with the first end of the wheel arm, and the second end of the wheel arm is rotatably connected with the rack; one end of the shock absorber is connected with the second end of the wheel arm, and the other end of the shock absorber is connected with the rack; when the roller wheel and the first end of the wheel arm rotate around the rotating axis of the second end of the wheel arm relative to the frame, the shock absorber swings along with the second end of the wheel arm; therefore, the shock absorber can be fully utilized to provide a shock absorption effect for the roller arranged on the wheel arm, and the riding smoothness and the passing performance of the unmanned equipment are improved by utilizing the suspension structure.

The utility model discloses unmanned aerial vehicle's beneficial effect includes: the embodiment of the utility model provides an unmanned aerial vehicle includes foretell suspended structure, and it can utilize this suspended structure to improve ride comfort and trafficability characteristic.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention, and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.

Fig. 1 is a schematic structural diagram of an unmanned aerial vehicle at a first viewing angle according to an embodiment of the present invention;

fig. 2 is a schematic structural diagram of a rack in an embodiment of the present invention;

fig. 3 is a schematic structural diagram of a swing arm in an embodiment of the present invention at a first viewing angle;

fig. 4 is a schematic structural diagram of the swing arm in the embodiment of the present invention at a second viewing angle;

fig. 5 is a schematic structural view of a wheel arm and a roller at a first viewing angle according to an embodiment of the present invention;

fig. 6 is a schematic structural diagram of an unmanned aerial vehicle at a second viewing angle according to an embodiment of the present invention;

FIG. 7 is an enlarged view taken at VII in FIG. 6;

FIG. 8 is a cross-sectional view taken at A-A of FIG. 1;

FIG. 9 is an enlarged view taken at IX of FIG. 8;

fig. 10 is a schematic structural view of a bearing seat in an embodiment of the present invention;

fig. 11 is a schematic structural view of a rotating shaft in an embodiment of the present invention;

fig. 12 is a schematic structural diagram of the wheel arm and the roller at the second viewing angle in the embodiment of the present invention.

Icon: 010-unmanned equipment; 020-suspension structure; 100-a roller; 200-wheel arm; 201-a first end; 202-a second end; 203-a bump; 204-a second mounting cavity; 210-a first abutment surface; 211-a first shaft hole; 213-third avoidance hole; 214-avoidance slot; 215-fourth avoidance hole; 216-electrically conductive lines; 300-a shock absorber; 301-second connection hole; 302-third connection hole; 303-a second mounting hole; 304-avoidance ports; 400-a rack; 401-bottom surface; 402-a second avoidance hole; 410-girders; 411-a first side panel; 412-a second side panel; 413-a third side plate; 414-fourth side panel; 415-fifth side panel; 420-a beam; 500-swing arm; 501-jack; 510-a second abutment face; 511-second shaft hole; 512-a second sidewall; 513-a third abutment face; 520-a swing arm body; 530-a connecting part; 531-first plate; 532-a second plate; 533-reinforcing plate; 534-first connection hole; 535-fourth connection hole; 600-a rotating shaft; 601-a stop; 602-a first shaft segment; 603-a second shaft section; 604-a first side wall; 605-spanner surface; 606-a threaded section; 607-a gasket; 610-a bearing assembly; 611-bearing seats; 612-a bearing; 613-first bearing; 614-second bearing; 615 — a first mounting hole; 616-a first mounting cavity; 620-a first avoidance hole; 701-a first bolt; 702-a first nut; 703-a second bolt; 704-a second nut.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. The components of embodiments of the present invention, as generally described and illustrated in the figures herein, may be arranged and designed in a wide variety of different configurations.

Thus, the following detailed description of the embodiments of the present invention, presented in the accompanying drawings, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative efforts belong to the protection scope of the present invention.

It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.

In the description of the present invention, it should be noted that the terms "upper" and "lower" are used for indicating the position or positional relationship based on the position or positional relationship shown in the drawings, or the position or positional relationship which is usually placed when the product of the present invention is used, and are only for convenience of describing the present invention and simplifying the description, but not for indicating or implying that the indicated device or element must have a specific position, be constructed and operated in a specific position, and thus should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and the like are used merely to distinguish one description from another, and are not to be construed as indicating or implying relative importance.

In the description of the present invention, it should also be noted that, unless otherwise explicitly specified or limited, the terms "disposed" and "connected" are to be interpreted broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood in specific cases to those skilled in the art.

Referring to fig. 1, the present embodiment provides an unmanned device 010; specifically, the unmanned device 010 is an unmanned vehicle; the following will be described in detail with respect to the unmanned vehicle.

The above-mentioned unmanned vehicle can be used for the automatic management of agriculture, for example: spraying pesticides, fertilizers, sowing, and the like.

It should be noted that, in other embodiments, the unmanned device 010 may also be an air-road dual-purpose unmanned aerial vehicle.

Referring to fig. 1, the unmanned device 010 of the embodiment includes a suspension structure 020, wherein the suspension structure 020 is rotatably disposed with a roller 100, so that the roller 100 rotates around its own axis to drive the suspension structure 020 to move.

The above-mentioned rollers 100 may refer to wheels, i.e. the suspension structure 020 of the present embodiment is provided with wheels of the unmanned vehicle, so that the unmanned vehicle moves by the wheels rotating around their own axes.

Referring to fig. 1, the suspension structure 020 of the present embodiment includes a roller 100, a wheel arm 200 and a frame 400, the roller 100 is rotatably connected to a first end 201 of the wheel arm 200, a second end 202 of the wheel arm 200 is rotatably connected to the frame 400, and a rotation axis of the roller 100 itself is not coincident with a rotation axis of the wheel arm 200 relative to the frame 400; in this way, the wheel arm 200 can be rotated to rotate the first end 201 of the wheel arm 200 around the second end 202 of the wheel arm 200, so that the roller 100 disposed at the first end 201 of the wheel arm 200 protrudes from the frame 400, so that when the roller 100 contacts the ground, the bottom 401 of the frame 400 is spaced from the ground by a certain distance, that is, the frame 400 of the suspension structure 020 can be lifted by the wheel arm 200, that is, the frame 400 is supported by the wheel arm 200 to increase the spacing distance between the bottom 401 of the frame 400 and the ground. When the roller 100 rotates around its own axis, the rack 400 and other structures of the suspension structure 020 can be driven to move together, and because the rack 400 is lifted by the wheel arm 200, and the distance between the rack 400 and the ground is large, the rack 400 is not easy to contact with the ground and sundries such as weeds and scattered garbage growing on the ground, so that the movement of the unmanned equipment 010 is not interfered, and the impact on the rack 400 can be reduced.

It should be noted that, when the suspension structure 020 is assembled, the first end 201 of the wheel arm 200 may protrude from the bottom 401 of the frame 400, so as to ensure that the bottom 401 of the frame 400 has a sufficiently large distance from the ground under the support of the wheel arm 200, thereby effectively avoiding the frame 400 from interfering with the movement of the unmanned device 010 during operation.

In other embodiments, if the radius of the roller 100 is large enough, for example: the radius of the roller 100 is larger than the thickness of the frame 400 in the vertical direction, and the first end 201 of the arm 200 may not protrude from the bottom 401 of the frame 400, so long as the roller 100 protrudes from the bottom 401 of the frame 400 and the bottom 401 of the frame 400 is spaced from the ground.

It should be noted that the rack 400 may be regarded as a chassis of the unmanned aerial vehicle 010, the rack 400 may further be provided with an engine, a battery, a pesticide spraying device, and other devices, and the devices may be distributed on the upper surface of the rack 400, so as to avoid contact and collision with the ground and various impurities on the ground when the unmanned aerial vehicle 010 operates, and specific structures, working principles, and the like of the devices are similar to those of the related art, and are not described herein again. When the roller 100 rotates around its own axis, the carriage 400 and other devices provided to the carriage 400 can be moved together, so that the robot 010 can perform related operations.

Referring to fig. 2, the frame 400 of the present embodiment includes two girders 410 disposed in parallel and at intervals, and a beam 420 connected between the two girders 410, wherein the wheel arm 200 is disposed on the girders 410; in particular, the wheel arm 200 is located on the side of the longeron 410 facing away from the crossbeam 420.

The number of the beams 420 connected between the two girders 410 can be selected according to requirements, and when the number of the beams 420 is greater than or equal to two, the beams 420 are distributed in parallel and at intervals, and each beam 420 is vertically or approximately vertically connected with the corresponding girder 410 to ensure the stability of the whole frame 400.

The number of the cross beams 420 of the present embodiment is three; in other embodiments, the number of beams 420 may also be two, four, five, etc.

The included angle between the cross beam 420 and the corresponding crossbeam 410 is 90 degrees; in other embodiments, the included angle between the cross beam 420 and the corresponding girder 410 may also be 88 °, 89 °, 92 °, 93 °, or the like.

The connection mode of the cross beam 420 and the girder 410 can be selected according to the requirement. The connection manner of the cross beam 420 and the girder 410 in this embodiment may be welding. In other embodiments, the connection between the cross beam 420 and the girder 410 may be integrally formed or connected by fasteners, such as screws or bolts.

Referring to fig. 2, the girders 410 of the embodiment include a first side plate 411, and a second side plate 412, a third side plate 413, a fourth side plate 414, and a fifth side plate 415 connected to the first side plate 411, the second side plate 412, the third side plate 413, the fourth side plate 414, and the fifth side plate 415 are sequentially connected end to end, and ends of the second side plate 412, the third side plate 413, the fourth side plate 414, and the fifth side plate 415 far from the first side plate 411 all extend to another girder 410; the wheel arm 200 is rotatably connected to the first side plate 411; the cross member 420 may be connected to the second side plate 412 and the fourth side plate 414, or only to the second side plate 412, only to the fourth side plate 414, or to both the second side plate 412, the first side plate 411, and the fourth side plate 414.

The connection manner of the second side plate 412, the third side plate 413, the fourth side plate 414 and the fifth side plate 415 with the first side plate 411 can be selected according to requirements. The second side plate 412, the third side plate 413, the fourth side plate 414, the fifth side plate 415 and the first side plate 411 of the present embodiment are integrally formed. In other embodiments, the second side plate 412, the third side plate 413, the fourth side plate 414, and the fifth side plate 415 may be connected to the first side plate 411 by welding, bonding, or fastening.

The number of the wheel arms 200 and the number of the rollers 100 are the same, and the wheel arms and the rollers are arranged in a one-to-one correspondence manner; the particular number of wheel arms 200 and rollers 100 may be selected as desired. The suspension structure 020 of the present embodiment includes four rollers 100 and four wheel arms 200, the four wheel arms 200 are all connected with the frame 400, specifically, each girder 410 rotatably connects two wheel arms 200; the four rollers 100 are in one-to-one correspondence with the four wheel arms 200 and are rotatably connected; further, four wheel arms 200 of the suspension structure 020 are distributed in a matrix, so that on one hand, the rack 400 can be stably supported, and on the other hand, the rack 400 can be driven by the rollers 100 to move smoothly.

In other embodiments, the number of wheels 100 provided by the drone 010 may also be two, three, five or six, etc., and correspondingly the number of wheel arms 200 of the suspension structure 020 may be two, three, five or six, etc.

Referring to fig. 1, the suspension structure 020 of the present embodiment further includes a shock absorber 300, wherein one end of the shock absorber 300 is connected to the second end 202 of the wheel arm 200, and the other end is connected to the frame 400; the damper 300 can provide a damping effect to the wheel 100 provided to the wheel arm 200. It should be noted that, two ends of the shock absorber 300 are respectively connected to the frame 400 and the second end 202 of the wheel arm 200, and when the first end 201 of the wheel arm 200 rotates relative to the frame 400, the shock absorber 300 swings along with the second end 202 of the wheel arm 200, so as to fully utilize the shock absorber 300 to provide a shock absorbing effect for the roller 100 disposed on the wheel arm 200, and to utilize the suspension structure 020 to improve the ride comfort and the passing performance of the unmanned aerial vehicle 010.

It should be noted that in this embodiment, the number of shock absorbers 300 is the same as the number of wheel arms 200, that is, each wheel arm 200 is connected to one shock absorber 300, so that each shock absorber 300 disposed on each wheel arm 200 can swing independently, thereby improving the smoothness of the drone 010 passing through the rugged terrain. In other embodiments, the shock absorbers 300 may be provided only in a part of the wheel arm 200.

Referring to fig. 1, the roller 100 protrudes out of the frame 400 from one side of the frame 400, and the damper 300 is disposed above the side; that is, the roller 100 protrudes from the bottom 401 of the frame 400 to the frame 400, and the damper 300 is located above the bottom 401 of the frame 400, that is, the damper 300 cannot protrude from the bottom 401 of the frame 400; thus, the occurrence of the situation in which sundries such as branches and weeds on the ground are caught in the damper 300 can be reduced, and the movement of the unmanned aerial vehicle 010 during the operation can be prevented from being interfered by the damper 300, so that the passability of the unmanned aerial vehicle 010 can be improved by the suspension structure 020.

Specifically, one end of the shock absorber 300 is connected with the girder 410 of the frame 400; further, one end of shock absorber 300 is connected with first side plate 411, and shock absorber 300 is located on the side of girder 410 away from beam 420, so as to facilitate installation and maintenance of shock absorber 300.

It should be further noted that, because the frame 400 is supported by the wheel arm 200, the distance from the ground is relatively large, and the shock absorber 300 does not extend from the bottom 401 of the frame 400, the distance between the shock absorber 300 and the ground is also sufficiently large, so as to further reduce the occurrence of the situation that sundries such as branches and weeds on the ground are caught in the shock absorber 300.

Referring to fig. 1, the suspension structure 020 of the present embodiment further includes a swing arm 500, the swing arm 500 is connected to the second end 202 of the wheel arm 200, and the swing arm 500 can rotate synchronously with the wheel arm 200; the shock absorber 300 is connected with the second end 202 of the wheel arm 200 through the swing arm 500; with this arrangement, the difficulty of processing the wheel arm 200 can be reduced, and the damper 300 can be easily attached and detached.

Further, referring to fig. 3 and 4, the swing arm 500 of the present embodiment includes a swing arm body 520 and a connecting portion 530 connected to each other; the swing arm body 520 is connected to the second end 202 of the wheel arm 200, and the connecting portion 530 protrudes from the wheel arm 200 in a direction perpendicular to the rotation axis of the wheel arm 200, and the connecting portion 530 is used for connecting to an end of the shock absorber 300 not connected to the frame 400. So set up, avoid bumper shock absorber 300 to interfere the rotation of wheel arm 200, when unmanned aerial vehicle 010 operation was removed promptly, can hinder gyro wheel 100 because of debris such as weeds, branches on uneven road surface or the road surface for the gyro wheel 100 that receives the hindrance can rotate along with wheel arm 200 one and around wheel arm 200's second end 202, and then various hindrance through ground smoothly.

Still further, referring to fig. 1, the connecting portion 530 extends to a side away from the bottom 401 of the frame 400 to ensure that the damper 300 does not extend from the bottom 401 of the frame 400 to the frame 400, thereby reducing the possibility that sundries on the ground are caught in the damper 300 and ensuring the passability of the unmanned aerial vehicle 010.

When the unmanned aerial vehicle 010 having the suspension structure 020 is traveling during work, the damper 300 can sufficiently exert a damping effect without involving foreign objects regardless of whether the roller 100 is obstructed and rotates around the second end 202 of the wheel arm 200 along with the wheel arm 200, and further ensure the passability of the unmanned aerial vehicle 010.

Referring to fig. 3 and 4, the connecting portion 530 includes a first plate 531 and a second plate 532 connected at an included angle, an end of the first plate 531 away from the second plate 532 is connected to the swing arm body 520, the second plate 532 extends toward a direction away from the bottom 401 of the frame 400, and an end of the shock absorber 300 not connected to the frame 400 is rotatably connected to the second plate 532; with such an arrangement, on the one hand, the shock absorber 300 can be ensured not to interfere the swing arm 500 to rotate around the axis of the shock absorber 300 along with the wheel arm 200, on the other hand, the shock absorber 300 can be ensured not to extend out of the bottom surface 401 of the frame 400, the situation that sundries on the ground are drawn into the shock absorber 300 is reduced, and the trafficability of the unmanned equipment 010 is ensured.

Referring to fig. 3 and 4, the second plate 532 is spaced apart from the swing arm body 520, and an extension surface of the second plate 532 is parallel to an extension surface of the swing arm body 520; specifically, the included angle between the first plate 531 and the second plate 532 is 90 °, and the included angle between the first plate 531 and the swing arm body 520 is 90 °; an end of the second plate 532 remote from the first plate 531 and an end of the swing arm body 520 remote from the first plate 531 extend in opposite directions, respectively. So set up, can guarantee the stable connection of swing arm 500 and the second end 202 of wheel arm 200, and avoid interfering wheel arm 200 and rotate around its own axis after bumper shock absorber 300 is connected with second board 532.

In other embodiments, the angle between the first plate 531 and the second plate 532 may also be 91 °, 92 °, 88 °, or the like, and correspondingly, the angle between the first plate 531 and the swing arm body 520 may also be 91 °, 92 °, 88 °.

The connection mode between the first plate 531, the second plate 532 and the swing arm body 520 of the swing arm 500 can be selected according to the requirement; the swing arm 500 of the present embodiment is integrally formed. In other embodiments, the second plate 532, the swing arm body 520 and the first plate 531 may be connected by welding, bonding, or the like.

Referring to fig. 3 and fig. 4, the swing arm 500 in the present embodiment further includes a reinforcing plate 533, the reinforcing plate 533 is connected between the first plate 531 and the second plate 532, that is, two side edges of the reinforcing plate 533 are respectively connected to the first plate 531 and the second plate 532; so set up, can increase swing arm 500's intensity, reduce the deformation that swing arm 500 atress produced, reduce the damage.

The second end 202 of the wheel arm 200 of the present embodiment is inserted into the swing arm 500 to facilitate the assembly and disassembly of the swing arm 500.

One of the second end 202 of the wheel arm 200 and the swing arm 500 is provided with a protrusion 203, the other is provided with a jack 501, the protrusion 203 is in insertion fit with the jack 501, and the protrusion 203 and the jack 501 are not coincident with the rotation axis of the wheel arm 200; this is provided to ensure that the swing arm 500 can rotate with the wheel arm 200 about the axis of rotation of the wheel arm 200 relative to the frame 400.

Referring to fig. 5, the second end 202 of the wheel arm 200 has a first abutting surface 210, the swing arm 500 has a second abutting surface 510, and the first abutting surface 210 abuts against the second abutting surface 510, so as to ensure the stability of the connection between the swing arm 500 and the wheel arm 200 and the stability of the rotation of the swing arm 500 along with the wheel arm 200 around the axis thereof.

The second abutting surface 510 is located on the swing arm body 520 to prevent the shock absorber 300 from interfering with the matching between the first abutting surface 210 and the second abutting surface 510.

It should be noted that, in this embodiment, referring to fig. 4, the insertion hole 501 is opened on the second abutting surface 510 of the swing arm 500, referring to fig. 5, the protrusion 203 is disposed on the first abutting surface 210 of the second end 202 of the wheel arm 200, so as to ensure stable abutting engagement between the first abutting surface 210 and the second abutting surface 510 when the protrusion 203 is inserted into and engaged with the insertion hole 501.

In other embodiments, the insertion hole 501 is opened on the first abutting surface 210 of the second end 202 of the wheel arm 200, and the protrusion 203 is disposed on the second abutting surface 510 of the swing arm 500.

The connection mode of the shock absorber 300 and the swing arm 500 can be selected as required. Referring to fig. 4, in the present embodiment, the second plate 532 is provided with a first connection hole 534, referring to fig. 6 to 8, one end of the shock absorber 300, which is not connected to the substrate, is provided with a second connection hole 301, the first bolt 701 passes through the first connection hole 534 and the second connection hole 301, the first bolt 701 is provided with a first nut 702, the first nut 702 abuts against one side of the shock absorber 300, which is away from the second plate 532, and the head of the first bolt 701 abuts against one side of the second plate 532, which is away from the shock absorber 300, so as to limit axial movement of the first bolt 701. So set up, when wheel arm 200 rotates around its own axis to drive swing arm 500 synchronous oscillation, drive bumper shock absorber 300 and use first bolt 701 to swing as the articulated shaft, in order to full play bumper shock absorber 300's cushioning effect.

In other embodiments, screws may be further inserted through the first connection hole 534 and the second connection hole 301, or hinge shafts may be inserted through the first connection hole 534 and the second connection hole 301.

Referring to fig. 6 to 8, the connection mode of the shock absorber 300 and the frame 400 can be selected according to the requirement. The third connecting hole 302 is opened in the frame 400 of this embodiment, the fourth connecting hole 535 is opened in the one end of the shock absorber 300 not connected with the swing arm 500, the second bolt 703 passes through the fourth connecting hole 535 and the third connecting hole 302, and the second nut 704 is arranged on the second bolt 703, and the second nut 704 abuts against one side of the frame 400 departing from the shock absorber 300, and the head of the second bolt 703 abuts against one side of the shock absorber 300 departing from the frame 400, so as to limit the axial movement of the second bolt 703. So set up, when wheel arm 200 rotates around its own axis to drive swing arm 500 synchronous oscillation, drive bumper shock absorber 300 and use second bolt 703 to swing as another articulated shaft, in order to further exert the cushioning effect of bumper shock absorber 300, and avoid bumper shock absorber 300 to be damaged.

In other embodiments, screws may be inserted through the third connection hole 302 and the fourth connection hole 535, or hinge shafts may be inserted through the third connection hole 302 and the fourth connection hole 535.

Specifically, the third connection hole 302 is opened to the girder 410 of the frame 400 to facilitate the handling and maintenance of the shock absorber 300. Further, the third connecting hole 302 is opened in the first side plate 411 of the girder 410.

It should be noted that the number of the shock absorbers 300 can be selected according to the requirement, and in a preferred embodiment, one shock absorber 300 is correspondingly arranged on each wheel arm 200; the suspension structure 020 of the present embodiment includes four dampers 300, and the four dampers 300 are disposed in one-to-one correspondence with the four wheel arms 200. In other embodiments, the number of shock absorbers 300 may also be less than the number of wheel arms 200, for example: the damper 300 is provided only in the wheel arm 200 corresponding to the rear wheel, and the damper 300 is not provided in the wheel arm 200 corresponding to the front wheel.

In the installation of the damper 300 of the present embodiment, the damper 300 can be installed without performing pre-pressing, and further, an additional jig is not required to be disposed, thereby simplifying the installation of the damper 300.

In other embodiments, the end of the shock absorber 300 away from the frame 400 is directly connected to the second end 202 of the wheel arm 200, that is, the second end 202 of the wheel arm 200 is not provided with the swing arm 500 for connecting the shock absorber 300, so as to reduce the investment of parts in the suspension structure 020 and reduce the device cost. Further, in this embodiment, the second end 202 of the wheel arm 200 is provided with a connecting portion 530 for connecting an end of the shock absorber 300 not connected to the frame 400, and the connecting portion 530 extends toward a side away from the bottom surface 401 of the frame 400; the connection portion 530 may be connected to the second end 202 of the wheel arm 200 by, for example: integral molding, welding, etc.

Referring to fig. 9, the suspension structure 020 of the embodiment further includes a rotation shaft 600 disposed on the frame 400, referring to fig. 5, the second end 202 of the wheel arm 200 is formed with a first shaft hole 211, referring to fig. 4, the swing arm 500 is formed with a second shaft hole 511, and the rotation shaft 600 simultaneously penetrates through the first shaft hole 211 and the second shaft hole 511; the wheel arm 200 and the swing arm 500 can simultaneously rotate about the rotation shaft 600. When the unmanned device 010 is moved during operation and the roller 100 is obstructed by uneven ground or sundries on the ground, the roller 100 and the first end 201 of the wheel arm 200 rotate together around the rotating shaft 600, the protrusion 203 and the insertion hole 501 are kept in an insertion state to drive the swing to swing together, so that the damping effect of the damper 300 is fully utilized, and the damper 300 is prevented from being damaged.

In this embodiment, referring to fig. 5, the first shaft hole 211 is disposed on the first abutting surface 210, referring to fig. 4, the second shaft hole 511 is disposed on the swing arm body 520, and the first shaft hole 211 and the second shaft hole 511 are through holes, so as to facilitate the assembling and disassembling of the rotating shaft 600.

Referring to fig. 9, the suspension structure 020 of the embodiment further includes a bearing assembly 610 disposed on the frame 400, the wheel arm 200 is rotatably connected to the frame 400 through a rotating shaft 600, and the rotating shaft 600 is matched with the bearing assembly 610; the swing arm 500 is located between the wheel arm 200 and the bearing assembly 610.

Referring to fig. 9, the bearing assembly 610 further includes a bearing seat 611 and a bearing 612 disposed on the bearing seat 611, the bearing seat 611 is connected to the frame 400, and the rotating shaft 600 is matched with the bearing 612 to provide a lubricating effect for the rotation of the rotating shaft 600 by using the bearing 612, so that the rotating shaft 600 rotates more smoothly around its own axis.

The bearing seat 611 is connected with the girder 410 of the frame 400 and is located on one side of the girder 410, which is far away from the wheel arm 200; by such an arrangement, the bearing seat 611 can be prevented from interfering with the connection between the second end 202 of the wheel arm 200 and the girder 410, so that the swing arm 500 and the second end 202 of the wheel arm 200 are closer to the girder 410, thereby improving the stability of the connection between the second end 202 of the wheel arm 200 and the girder 410.

The connection mode of the bearing seat 611 and the girder 410 can be selected according to the requirement. Referring to fig. 10, a first mounting hole 615 is formed in a bearing seat 611 of the present embodiment, referring to fig. 2, a second mounting hole 303 is formed in a girder 410, and a fastener is inserted through the second mounting hole 303 and the first mounting hole 615 to connect the bearing seat 611 and the girder 410. The fasteners include bolts or screws.

Further, the extending direction of the first mounting hole 615 is perpendicular to the axis of the rotating shaft 600; the second mounting hole 303 is opened in the second side plate 412 and/or the fourth side plate 414, so that a fastener is inserted into the first mounting hole 615 and the second mounting hole 303, thereby connecting the bearing seat 611 with the girder 410.

The first mounting holes 615 and the second mounting holes 303 are consistent in number and correspond to one another. In this embodiment, two first mounting holes 615 are respectively formed in two opposite side walls of the bearing seat 611, and two second mounting holes 303 are respectively formed in the second side plate 412 and the fourth side plate 414 of the girder 410, so that the bearing seat 611 can be stably connected with the girder 410 through the second side plate 412 and the fourth side plate 414. In other embodiments, the total number of first mounting holes 615 and second mounting holes 303 may also be one, two, three, etc., respectively.

In other embodiments, only one side wall of the bearing seat 611 is provided with the first mounting hole 615, and the second mounting hole 303 is provided only on the second side plate 412 or the fourth side plate 414.

In other embodiments, the extending direction of the first mounting hole 615 is parallel to the axis of the rotating shaft 600, and the second mounting hole 303 is opened in the first side plate 411.

It should be noted that, in other embodiments, the number of the first mounting holes 615 and the second mounting holes 303 may also be different.

Referring to fig. 10, the bearing seat 611 of the present embodiment is provided with a first mounting cavity 616 having openings at two ends, and the bearing 612 is embedded in the first mounting cavity 616; further, referring to fig. 9, the bearing assembly 610 of the present embodiment specifically includes a first bearing 613 and a second bearing 614, the first bearing 613 and the second bearing 614 are coaxially embedded in the first mounting cavity 616, and a flange of the first bearing 613 and a flange of the second bearing 614 respectively extend out of openings at two ends of the first mounting cavity 616.

Referring to fig. 2, the first side plate 411 of the girder 410 is further provided with an avoiding opening 304, and the flange of the first bearing 613 can be further embedded in the avoiding opening 304, so that the rotating shaft 600 passes through the avoiding opening 304 to be matched with the inner hole of the first bearing 613 and the inner hole of the second bearing 614.

The rotating shaft 600 extends into the inner holes of the first bearing 613 and the second bearing 614 to provide lubrication by the inner holes of the first bearing 613 and the second bearing 614, so as to ensure smooth rotation of the rotating shaft 600.

Referring to fig. 11, the rotating shaft 600 of the present embodiment includes a first shaft section 602 and a second shaft section 603 that are coaxially connected. The first shaft section 602 is matched with the second shaft hole 511, so that the rotating shaft 600 can rotate along with the swing arm 500; by such an arrangement, the stability of the connection between the swing arm 500 and the second end 202 of the wheel arm 200 can be improved, and the swing arm 500 can rotate around the rotating shaft 600 along with the wheel arm 200.

Referring to fig. 11, the first shaft section 602 includes two opposite and parallel first sidewalls 604, referring to fig. 4, the second shaft hole 511 has two opposite and parallel second sidewalls 512, when the first shaft section 602 is inserted into the second shaft hole 511, the two first sidewalls 604 and the two second sidewalls 512 are in one-to-one correspondence and abut against each other, so that when the rotating shaft 600 rotates around its own axis, the swing arm 500 can rotate synchronously with the rotating shaft 600.

Further, the second shaft hole 511 of the present embodiment is a long-strip waist-shaped hole; in other embodiments, the second shaft hole 511 may also be a through hole with a rectangular cross section; and is not particularly limited herein.

The second shaft segment 603 mates with the inner bores of the first bearing 613 and the second bearing 614. Further, the diameter of the second shaft section 603 is larger than that of the first shaft section 602, so that a worker can conveniently hold the thicker second shaft section 603 to assemble and disassemble the rotating shaft 600, and can conveniently distinguish the first shaft section 602 from the second shaft section 603 to correctly assemble the rotating shaft 600; in other embodiments, the diameters of the first shaft segment 602 and the second shaft segment 603 may be the same.

Still further, referring to fig. 11, a wrench surface 605 is disposed on the circumferential surface of the second shaft section 603, and the wrench surface 605 is a plane for facilitating the operation and force application when the rotating shaft 600 is assembled and disassembled.

The number of the wrench faces 605 provided on the second shaft section 603 can be selected according to the requirement, and may be, for example, one, two, or three faces; when the number of the wrench faces 605 is equal to or greater than two, a plurality of the wrench faces 605 are distributed at intervals around the circumference of the second shaft section 603.

One side of the swing arm 500 departing from the wheel arm 200 is attached to the bearing assembly 610, and a gap is formed between the side wall of the swing arm and the side wall of the frame 400; by so doing, it is possible to avoid the friction between the swing arm 500 and the chassis 400 from being too large to ensure the passability of the robot 010.

The side of the swing arm 500 facing away from the wheel arm 200 may refer to: one side of the swing arm body 520 facing away from the second abutting surface 510; and one side of the swing arm 500 departing from the wheel arm 200 is specifically attached to the flange of the first bearing 613, so as to improve the position stability of the swing arm 500.

Further, referring to fig. 4, the swing arm body 520 further includes a third abutting surface 513, and the third abutting surface 513 is attached to the flange surface of the first bearing 613.

When the drone 010 of this embodiment turns during traveling, the lateral force is transmitted to the frame 400 through the bearing 612 of the bearing assembly 610, and the lateral force received by the damper 300 can be reduced.

Referring to fig. 9, the two ends of the rotating shaft 600 are further provided with a limiting member 601 to limit the axial movement of the rotating shaft 600 along itself, so as to limit the degree of freedom of the wheel arm 200 and the swing arm 500 in the axial direction of the rotating shaft 600, and improve the stability of the wheel arm 200 and the swing arm 500.

Referring to fig. 11, the rotating shaft 600 further includes two threaded sections 606, the two threaded sections 606 are respectively connected to an end of the first shaft section 602 away from the second shaft section 603 and an end of the second shaft section 603 away from the first shaft section 602, and the two threaded sections 606 are coaxially disposed with the first shaft section 602 and the second shaft section 603; the two threaded sections 606 are respectively matched with the corresponding limiting members 601, that is, each threaded section 606 is provided with one limiting member 601 to limit the movement of the rotating shaft 600 in the axial direction thereof.

The limiting member 601 of the present embodiment is a nut; in other embodiments, the limiting member 601 may also be another connecting block with internal threads.

Further, referring to fig. 9, the limiting member 601 disposed on one of the threaded sections 606 abuts against a side of the wheel arm 200 away from the girder 410, and the limiting member 601 disposed on the other threaded section 606 abuts against a flange of the second bearing 614 through the gasket 607, so as to sufficiently improve the stability of the rotating shaft 600 and prevent the rotating shaft 600 from moving along its own axial direction.

Still further, referring to fig. 12, an avoiding groove 214 is disposed on a side of the second end 202 of the wheel arm 200 away from the first abutting surface 210, and a limiting member 601 disposed on one of the threaded segments 606 is embedded in the avoiding groove 214 and abuts against the wheel arm 200, so as to improve stability of the limiting member 601 and reduce collision of the limiting member 601.

The threaded section 606 has a smaller diameter than the first shaft section 602 so that a stop 601 of suitable size is provided in the threaded section 606. In other embodiments, the threaded section 606 may have a diameter greater than or equal to the first shaft section 602.

The connection between the first shaft section 602, the second shaft section 603 and the two threaded sections 606 can be selected as desired. In this embodiment, each portion of the rotating shaft 600 is integrally formed, that is, the first shaft section 602, the second shaft section 603 and the two threaded sections 606 are integrally formed. In other embodiments, the connection between the first shaft section 602, the second shaft section 603 and the two threaded sections 606 may also be welding, bonding, etc.

The flange of the first bearing 613 can provide lubrication to the swing arm body 520, and the flange of the second bearing 614 can provide lubrication to the stopper 601 in contact therewith; thus, the friction force generated during the swing of the swing arm 500 is reduced, thereby ensuring smooth rotation of the wheel arm 200 about the rotation shaft 600.

Each wheel arm 200 of the unmanned device 010 of the present embodiment is provided with a motor for driving the roller 100 provided on the corresponding wheel arm 200 to rotate. The output shaft of the motor is in transmission connection with the corresponding roller 100, so that the motor is used for driving the corresponding roller 100 to rotate.

Referring to fig. 10, the bearing seat 611 is provided with a first avoiding hole 620, and the first avoiding hole 620 is used for penetrating an electric wire of the motor; so that the electric wires of the motor can be electrically connected to the control device provided on the housing 400.

It should be noted that the number of the first avoiding holes 620 formed in the bearing seat 611 may be selected as needed. The bearing seat 611 of the present embodiment is provided with two first avoiding holes 620, and the two first avoiding holes 620 are distributed around the axis of the rotating shaft 600 at intervals, so that a suitable first avoiding hole 620 is selected to penetrate through the conductive wire 216 of the motor. In other embodiments, the number of the first avoiding holes 620 formed in the bearing seat 611 may also be one, three, or four.

Referring to fig. 2, the frame 400 of the present embodiment is provided with a second avoiding hole 402, the second avoiding hole 402 is used for passing through the electric wire of the motor, that is, the conductive wire 216 of the motor disposed on the wheel arm 200 can sequentially pass through the second avoiding hole 402 of the frame 400 and the first avoiding hole 620 of the bearing seat 611 to be electrically connected to the control device.

Further, the second avoiding hole 402 is opened in the first side plate 411 to facilitate the assembly of the electric wire of the motor.

Referring to fig. 5, a first end 201 of the wheel arm 200 is provided with a second mounting cavity 204, a routing cavity (not shown) is provided inside the wheel arm 200, a second end 202 of the wheel arm 200 is provided with a third avoiding hole 213, and two ends of the routing cavity are respectively communicated with the second mounting cavity 204 and the third avoiding hole 213; the second mounting cavity 204 is used for arranging a motor, and a conducting wire 216 of the motor can enter the wiring cavity from the second mounting cavity 204 and penetrate through the wiring cavity to extend out of the third avoidance hole 213; further, the conductive wire 216 of the motor is prevented from being exposed, and the damage to the conductive wire 216 is reduced.

Further, referring to fig. 4, the swing arm body 520 of the swing arm 500 is provided with a fourth avoiding hole 215, and the conductive wire 216 extending from the third avoiding hole 213 can penetrate through the fourth avoiding hole 215; therefore, the position stability of the conductive line 216 can be improved, so as to avoid the random shaking of the conductive line 216 and improve the connection stability between the conductive line 216 and the control device.

It should be noted that the guide line extending from the third avoiding hole 213 passes through the fourth avoiding hole 215, the second avoiding hole 402, and the first avoiding hole 620 in sequence to be electrically connected to the control device.

The shapes of the first avoiding hole 620 and the second avoiding hole 402 may be set according to a motion trajectory of the conductive line 216 when the wheel arm 200 swings, so as to prevent the conductive line 216 from being pinched off.

In this embodiment, the first avoidance hole 620 and the second avoidance hole 402 are both arc-shaped strip holes, and the center of the strip hole coincides with the axis of the rotating shaft 600; in this way, when the wheel arm 200 swings, the conductive line 216 of the motor can move along the arc extending direction of the first avoidance hole 620 and the second avoidance hole 402 to prevent the conductive line 216 from being pinched off.

It should be noted that, in other embodiments, it may not be necessary to provide each wheel 100 with a motor, and a motor may be provided only at the rear wheel of the drone 010 or only at the front wheel of the drone 010.

When the unmanned device 010 of the embodiment is used, the roller 100 rotatably disposed on the rack 400 drives the unmanned device 010 to move integrally; when the robot 010 moves on an uneven road surface or a road surface with sundries such as weeds, the roller 100 may be obstructed by the uneven road surface or by the sundries, so that the roller 100 and the wheel arm 200 swing together about the rotation shaft 600; since the two ends of the damper 300 are respectively connected to the frame 400 and the second end 202 of the wheel arm 200, the damper 300 can provide sufficient damping effect, and thus the smoothness and the passing performance of the unmanned device 010 can be ensured.

To sum up, the embodiment of the present invention provides a suspension structure 020 can be used for unmanned aerial vehicle 010, for example: unmanned vehicles or dual-purpose unmanned aerial vehicles for air and land; the roller 100 of the suspension structure 020 is rotatably connected with the first end 201 of the wheel arm 200, and the second end 202 of the wheel arm 200 is rotatably connected with the frame 400; one end of the shock absorber 300 is connected with the second end 202 of the wheel arm 200, and the other end is connected with the frame 400; when the roller 100, the first end 201 of the wheel arm 200 and the rotation axis of the second end 202 of the wheel arm 200 rotate relative to the frame 400, the shock absorber 300 swings with the second end 202 of the wheel arm 200; thus, the damper 300 can be fully utilized to provide a damping effect to the roller 100 disposed on the wheel arm 200, so as to improve the ride comfort and the passing performance of the unmanned aerial vehicle 010 by using the suspension structure 020.

The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A suspension structure is characterized by comprising a roller, a wheel arm, a shock absorber and a frame, wherein the roller is rotatably connected with a first end of the wheel arm, a second end of the wheel arm is rotatably connected with the frame, and the rotation axis of the roller is not coincident with the rotation axis of the wheel arm relative to the frame; one end of the shock absorber is connected with the second end of the wheel arm, and the other end of the shock absorber is connected with the rack.

2. The suspension structure according to claim 1, wherein the roller protrudes from a side surface of the frame, and the damper is disposed above the side surface.

3. The suspension structure of claim 1, further comprising a swing arm connected to the second end of the wheel arm, the swing arm being rotatable synchronously with the wheel arm; the shock absorber is connected with the second end of the wheel arm through the swing arm.

4. A suspension arrangement according to claim 3, wherein the second end of the wheel arm and the swing arm are a bayonet fitting.

5. The suspension structure according to claim 4, wherein the second end of the wheel arm and the swing arm are provided with a protrusion, one of the second end and the swing arm is provided with a socket, the protrusion is in plug fit with the socket, and the protrusion and the socket are not coincident with the rotation axis of the wheel arm.

6. A suspension arrangement according to claim 3, wherein the second end of the wheel arm has a first abutment surface and the swing arm has a second abutment surface, the first abutment surface being in abutting engagement with the second abutment surface.

7. The suspension structure according to claim 3, further comprising a rotating shaft disposed on the frame, wherein a first shaft hole is formed at a second end of the wheel arm, a second shaft hole is formed in the swing arm, and the rotating shaft penetrates through the first shaft hole and the second shaft hole; the wheel arm and the swing arm can rotate around the rotating shaft simultaneously.

8. The suspension structure of claim 3, further comprising a bearing assembly disposed at the frame, the wheel arm rotatably coupled to the frame by a shaft, the shaft engaging the bearing assembly; the swing arm is located between the wheel arm and the bearing assembly.

9. A suspension arrangement according to claim 8, wherein the side of the swing arm facing away from the wheel arm abuts the bearing assembly and forms a gap with the side wall of the frame.

10. The suspension structure of claim 8, wherein the bearing assembly comprises a bearing seat and a bearing arranged on the bearing seat, the bearing seat is connected with the frame, and the rotating shaft is matched with the bearing; the bearing seat is provided with a first avoiding hole, the wheel arm is used for arranging a motor, and the first avoiding hole is used for penetrating through an electric wire of the motor.

11. The suspension structure according to claim 10, wherein the first avoidance hole is an arc-shaped elongated hole, and a center of the elongated hole coincides with an axis of the rotating shaft.

12. A suspension structure according to any one of claims 7-11, wherein the shaft is provided with a stopper at each end thereof to restrict axial movement of the shaft along itself.

13. The suspension structure according to claim 1, wherein the frame is provided with a second avoiding hole, the wheel arm is used for arranging a motor, and the second avoiding hole is used for penetrating a wire of the motor.

14. The suspension structure according to claim 1, wherein the first end of the wheel arm is used for disposing a motor, the wheel arm has a wiring cavity inside, the second end of the wheel arm has a third avoiding hole opened therein, and the wiring cavity is communicated with the third avoiding hole, so that the conductive wire of the motor passes through the wiring cavity and extends out of the third avoiding hole.

15. An unmanned aerial device comprising a suspension structure according to any one of claims 1 to 14.