A leaf spring bearing for supporting a leaf spring against a transportation vehicle body having a body-side coupling portion and at least one elastomer portion for compensating displacements transverse to the supporting direction. A centering apparatus for interlockingly engaging with a vehicle-body-side counter-contour is provided on the coupling portion. The centering apparatus on the coupling portion guides the coupling portion of the leaf spring bearing in the event of deviations from a target contact position on the transportation vehicle body transverse to the supporting direction, toward the target contact position. Also disclosed is a transportation vehicle wheel suspension having the disclosed leaf spring bearing and an assembly method.

A joint for mounting an elongate element to a structural element in a vehicle, comprising a first and a second clamping portion, tightening elements configured to tighten the first and second clamping portions towards each other so that when the elongate element is arranged between the first and second clamping portions, the elongate element becomes clamped, a first and a second support portion, wherein the first and second support portions are spaced from each other and extend from the first clamping portion to the second clamping portion, wherein when the elongate element is arranged between the first and second clamping portions and the tightening elements tighten the first and second clamping portions, then at least one of the first and second clamping portions is configured to press at least one of the support portions towards the other one so that the elongate element becomes laterally contacted.

A joint for mounting an elongate element to a structural element in a vehicle, comprising a first and a second clamping portion, tightening elements configured to tighten the first and second clamping portions towards each other so that when the elongate element is arranged between the first and second clamping portions, the elongate element becomes clamped, a first and a second support portion, wherein the first and second support portions are spaced from each other and extend from the first clamping portion to the second clamping portion, wherein when the elongate element is arranged between the first and second clamping portions and the tightening elements tighten the first and second clamping portions, then at least one of the first and second clamping portions is configured to press at least one of the support portions towards the other one so that the elongate element becomes laterally contacted.

A variable rate leaf spring vehicle suspension system includes a vehicle frame. The suspension system also includes a single leaf spring extending from a first end to a second end. The suspension system further includes a tension shackle pivotably coupled to the vehicle frame about an axis, the tension shackle defining a channel, the second end of the leaf spring disposed within the channel of the tension shackle, wherein the axis about which the tension shackle is pivotable is below the second end of the leaf spring.

A variable rate leaf spring vehicle suspension system includes a vehicle frame. The suspension system also includes a single leaf spring extending from a first end to a second end. The suspension system further includes a tension shackle pivotably coupled to the vehicle frame about an axis, the tension shackle defining a channel, the second end of the leaf spring disposed within the channel of the tension shackle, wherein the axis about which the tension shackle is pivotable is below the second end of the leaf spring.

A variable rate leaf spring vehicle suspension system is provided. The system includes a vehicle frame. The system also includes a single leaf spring extending from a first end to a second end. The system further includes a shackle operatively coupled to the vehicle frame and defining a channel, the second end of the leaf spring disposed within the channel of the shackle.

A variable rate leaf spring vehicle suspension system is provided. The system includes a vehicle frame. The system also includes a single leaf spring extending from a first end to a second end. The system further includes a shackle operatively coupled to the vehicle frame and defining a channel, the second end of the leaf spring disposed within the channel of the shackle.

An assembly for a wheel of a robotic vehicle and a method for overcoming an obstacle for said robotic vehicle. The assembly comprises a first arm portion and a second arm portion, the first arm portion being attachable to a chassis of the robotic vehicle at an attachment point and extending forwardly and downwardly relative to the attachment point in a direction of a movement of the robotic vehicle. The second arm portion is pivotably connected with the first arm portion at an arm pivot point and extends forwardly relative to the arm pivot point in the direction of the movement. The wheel is rotatably mounted on one end of the second arm portion opposed to the arm pivot point. A wheel rotation axis being positioned at least as high as the arm pivot point relative to a surface on which the robotic vehicle is positioned.

A leaf spring structure is designed as a single piece to be able to change the spring rates of leaf springs under a load independently from the manufacturing material. The operating mechanism of the leaf spring allows for increasing the spring rates by deactivating the short spring, which remains between the point A and the point B, as a result of the interaction between the short spring and the long spring after a certain amount of vertical displacement in the leaf spring.

A steering wheel suspension structure of an omnidirectional mobile robot includes a steering wheel connecting ring, a plurality of leaf spring connecting beams and a chassis mounting section. The steering wheel suspension structure is an integrated plate structure. The steering wheel connecting ring is connected with a steering wheel, and the chassis mounting section is connected with a robot chassis. The leaf spring connecting beam is connected with the steering wheel connecting ring and the chassis mounting section, and the leaf spring connecting beam is used as the main component of suspension deformation. The suspension structure is simple, easy to install, light in weight, less in space, and highly integrated with the steering wheel assembly. When the suspension is deformed by the force, it weakens the radial force and only has the displacement and force in the vertical direction, thus ensuring the handling performance of the chassis.