Double-column single swing arm suspension mobile platform based on double shock absorber

Abstract

The present invention discloses a dual-shock absorber, a dual-column single swing arm suspension system and a dual-column single swing arm suspension mobile platform based on the dual-shock absorber, aiming to solve the problems existing in the prior art, such as poor chassis vibration reduction effect, poor vertical obstacle crossing ability, instability and easy toppling, and too high space occupancy. The dual-shock absorber of the present invention connects two shock absorbers into one body through an upper fixed seat and a lower fixed seat to form a rectangular structure; it not only improves its vibration reduction effect, but also increases its torsional rigidity. The dual-column single swing arm suspension system of the present invention adopts a single wishbone suspension method similar to the McPherson suspension, and the dual-shock absorber also serves as a steering support structure while reducing vibration; the mobile platform of the present invention connects the frame to the roller through the dual-shock absorber, and the dual-shock absorber and the frame are hinged, which satisfies the degree of freedom required for the up and down movement of the wheels and steering, and improves its vertical obstacle crossing ability.

Description

Technical Field

[0001] The invention relates to a mobile platform, in particular to a double-column single-swing-arm suspension type mobile platform based on a double-connected shock absorber. Background Art

[0002] At present, most wheeled mobile robots use a differential drive chassis system. There is an independent drive wheel on each side of the chassis, and there is no mechanical transmission device connecting them. If the drive wheels on both sides of the chassis rotate at the same speed in the same direction, the chassis can travel in a straight line. If the two drive wheels rotate at different speeds, turning can be achieved. If the two drive wheels rotate in opposite directions, turning on the spot can be achieved. This chassis structure and control are relatively simple, and it is the most widely used chassis solution for wheeled mobile robots. In actual use, this differential drive can be used in combination with multiple universal wheels. The most common is two differential drive wheels with two universal wheels (or four universal wheels); it is also possible to use synchronous control or transmission mechanisms to drive all the wheels on both sides of the chassis at the same speed, turning into a multi-wheel (such as four-wheel) differential drive chassis.

[0003] The chassis with two differential drive wheels and two universal wheels (or four universal wheels) is mainly used in service robots. It is suitable for applications in narrow indoor areas, but the universal wheels are generally very small in diameter and are passive wheels, so they have poor ability to cross bumps and obstacles, so they have high requirements for road surfaces. In order to prevent the drive wheels from slipping when suspended, a slightly more complex service robot chassis also adds a shock absorber structure to the universal wheels, while the drive wheels are directly rigidly connected to the vehicle body. This configuration is prone to causing the vehicle to lean back when starting and nod when braking, and the vibration reduction effect is not good.

[0004] The four-wheel differential (or multi-wheel differential) chassis also has the characteristic of zero turning radius. Usually all four wheels have driving force. This chassis is often used in more complex outdoor terrain, and the chassis usually needs to add a suspension damping system. After the suspension damping system is adopted, there is a severe lateral friction between the driving tires on both sides and the ground when turning, which causes severe vibration, and the chassis even shakes and bounces. The vibration generated is not parallel to the damping direction of the shock absorber, so this part of the vibration cannot be absorbed by the shock absorber. Especially when the robot is tall or heavy, this vibration will be more intense, seriously affecting the normal walking and work of the robot. Moreover, when the multi-wheel differential chassis turns, a part of the driving wheels form sliding friction with the ground, and the friction is large. In order to overcome the steering resistance, a larger power motor must be selected, which causes the robot chassis weight and volume to increase, power consumption to increase, and cruising range to decrease.

[0005] In addition, there are a small number of mobile robots that use omnidirectional mobile chassis. There are mainly three forms: one uses omnidirectional wheels or Mecanum wheels, and uses the lateral or oblique rolling of the rollers on the circumference of the wheels to enable the chassis to move vectorially on a plane. However, due to the complex wheel structure, high cost, small load, and the rollers are easily stuck with foreign objects, causing poor walking, the application of this type of chassis is relatively limited. Another omnidirectional chassis structure uses four independent drive wheels, each with an independent vertical support rod and shock-absorbing spring, and an independent steering servo. This chassis generally has no forward tilt angle setting, cannot automatically return to the center after turning, and is not easy to walk in a straight line, and often has oblique travel. Moreover, it is not stable on bumpy roads and can only be used for low-speed robot chassis. There is also an independent steering independent suspension robot chassis that uses a double wishbone independent suspension, which has a very complex structure, and the range of motion occupies a large area of ​​the chassis space. The cabin can only be raised, resulting in an increase in the center of gravity, which in turn makes the robot's high-speed stability poor. Summary of the invention

[0006] The purpose of the present invention is to solve the problems existing in the prior art, such as poor chassis vibration reduction effect, poor vertical obstacle crossing ability, instability and easy tipping, too high space occupancy, short cruising range and high cost, and to provide a double-column single swing arm suspension system based on a double shock absorber and a double-column single swing arm suspension mobile platform based on a double shock absorber.

[0007] In order to achieve the above object, the present invention provides a double shock absorber, which is special in that:

[0008] It includes two shock absorbers arranged side by side, an upper fixing seat for connecting two shock absorber pistons, a lower fixing seat for connecting two shock absorber cylinders, a drive shaft fixed at the middle part above the upper fixing seat, and a drive shaft sleeve sleeved on the drive shaft;

[0009] The driving shaft can rotate in the driving shaft sleeve under the action of external force.

[0010] Furthermore, two mutually symmetrical connecting shafts are provided on the outer wall of the driving shaft sleeve;

[0011] The connecting shaft is provided with a connecting shaft sleeve for connecting with an external vehicle frame.

[0012] Based on the above-mentioned double shock absorber, the present invention also provides a double-column single swing arm suspension system, which is special in that:

[0013] It includes a vehicle frame, at least two pairs of rollers, lower control arms equal to the number of rollers, and dual shock absorbers equal to the number of rollers;

[0014] The dual shock absorbers are evenly distributed on both sides of the frame;

[0015] The double shock absorber comprises two shock absorbers arranged side by side, an upper fixing seat for connecting two shock absorber pistons, a lower fixing seat for connecting two shock absorber cylinders, a driving shaft fixed at the middle part above the upper fixing seat, and a driving shaft sleeve sleeved on the driving shaft;

[0016] The drive shaft can rotate in the drive shaft sleeve under the action of external force;

[0017] One end of the lower control arm is hinged to the lower part of the frame, and the other end thereof is respectively connected to the lower part of the cylinder of the corresponding double shock absorber by a ball joint;

[0018] The axles of the rollers are respectively fixedly connected to the cylinders of the corresponding double shock absorbers or the middle of the lower fixing seats;

[0019] The driving shaft sleeves of the four double shock absorbers are respectively hinged to the vehicle frame.

[0020] Based on the above-mentioned double shock absorber and double-column single swing arm suspension system, the present invention also provides a double-column single swing arm suspension type mobile platform based on the double shock absorber, which is special in that:

[0021] It includes a vehicle frame, a steering servo, at least two pairs of rollers, and lower control arms and dual shock absorbers whose number is equal to the number of rollers;

[0022] The dual shock absorbers are evenly distributed on both sides of the frame;

[0023] The double shock absorber comprises two shock absorbers arranged side by side, an upper fixing seat for connecting two shock absorber pistons, a lower fixing seat for connecting two shock absorber cylinders, a driving shaft fixed at the middle part above the upper fixing seat, and a driving shaft sleeve sleeved on the driving shaft;

[0024] One end of the lower control arm is hinged to the lower part of the frame, and the other end thereof is respectively connected to the lower part of the cylinder of the corresponding double shock absorber by a ball joint;

[0025] The axles of the rollers are respectively fixedly connected to the cylinders of the corresponding double shock absorbers or the middle of the lower fixing seats;

[0026] The driving shaft sleeve of the double shock absorber is hinged to the frame;

[0027] The number of the steering servos is equal to or less than the number of the rollers. The steering servos are arranged on the vehicle frame and drive the corresponding drive shaft to rotate in the drive shaft sleeve.

[0028] Furthermore, it also includes U-shaped anti-roll bars whose number is equal to the number of roller pairs;

[0029] The middle part of the U-shaped anti-roll bar is hinged to the lower part of the frame, and the two ends of the U-shaped anti-roll bar are respectively hinged to the lower control arms on the corresponding left and right sides.

[0030] Further, a steering damper is included;

[0031] One end of the steering damper is hinged to the lower part of the vehicle frame, and the other end is connected to the cylinder body or the lower fixed seat of the corresponding double shock absorber by a ball joint.

[0032] The present invention also provides another double-column single-swing arm suspension type mobile platform based on a double-shock absorber, which is special in that:

[0033] It includes a vehicle frame, two or three pairs of rollers, lower control arms equal to the number of rollers, and twin shock absorbers equal to the number of rollers;

[0034] The dual shock absorbers are evenly distributed on both sides of the frame;

[0035] The double shock absorber comprises two shock absorbers arranged side by side, an upper fixing seat for connecting two shock absorber pistons, a lower fixing seat for connecting two shock absorber cylinders, a driving shaft fixed at the middle part above the upper fixing seat, and a driving shaft sleeve sleeved on the driving shaft;

[0036] One end of the lower control arm is hinged to the lower part of the frame, and the other end is connected to the lower part of the cylinder of the corresponding double shock absorber by a ball joint;

[0037] The axle of the roller is fixedly connected to the cylinder body or the middle part of the lower fixing seat of the corresponding double shock absorber;

[0038] The driving sleeves of the double shock absorbers are respectively hinged to the vehicle frame;

[0039] A steering servo is provided at the midpoint between the foremost double shock absorber and the rearmost double shock absorber on the same side of the frame;

[0040] The steering servo is installed on the vehicle frame. The steering servo drives the driving shafts of the two front and rear double shock absorbers on the corresponding side to rotate in the driving shaft sleeves by driving the steering mechanism, and the two adjacent driving shafts on the same side rotate in opposite directions.

[0041] Furthermore, it includes U-shaped anti-roll bars whose number is equal to the number of roller pairs, and four steering dampers corresponding to the two frontmost double shock absorbers and the two rearmost double shock absorbers;

[0042] The middle part of the U-shaped anti-roll bar is hinged to the lower part of the frame, and the two ends thereof are respectively hinged to the lower control arms on the corresponding left and right sides;

[0043] One ends of the four steering dampers are respectively hinged to the lower part of the frame, and the other ends are respectively connected to the cylinder bodies of the corresponding double shock absorbers with ball joints.

[0044] Further, the driving steering mechanism comprises a connecting rod, two steering tie rods and two rotating rods;

[0045] The middle part of the connecting rod is vertically fixed to the output end of the steering servo;

[0046] The two ends of the connecting rod are respectively hinged to one end of the two steering rods;

[0047] The other ends of the two steering tie rods are respectively hinged to one end of the corresponding rotating rod;

[0048] The two rotating rods are respectively and vertically fixedly connected with the driving shafts of the corresponding double shock absorbers.

[0049] Furthermore, the driving steering mechanism includes a driving gear sleeved on the steering servo output shaft, and two racks respectively arranged on both sides of the driving gear and one end of which is meshed with the driving gear; the other end of the rack is respectively hinged to one end of the corresponding steering rod, and the other end of the steering rod is hinged to one end of the rotating rod; the rotating rod is vertically fixed to the driving shaft of the corresponding double shock absorber.

[0050] The beneficial effects of the present invention are:

[0051] 1. A double shock absorber of the present invention connects two shock absorbers into one body through an upper fixing seat and a lower fixing seat, and forms a rectangular structure between the two shock absorbers, the upper fixing seat and the lower fixing seat; thereby, while improving its vibration reduction effect, its torsional rigidity is also increased.

[0052] 2. A double-column single-swing arm suspension system of the present invention adopts a single wishbone suspension similar to the McPherson suspension. The double shock absorber not only reduces vibration but also serves as a steering support structure. Compared with the double wishbone suspension, the double-column single-swing arm suspension system has a more compact structure and occupies less area on the mobile platform, which can greatly improve the space utilization of the mobile platform and enable more other functional modules to be installed on the mobile platform.

[0053] 3. A double-column single-swing-arm suspended mobile platform based on a double shock absorber of the present invention connects a frame to a roller through a double shock absorber, and a hinge is arranged between the double shock absorber and the frame, which satisfies the degree of freedom required for the up and down movement and turning of the wheels, improves its vertical obstacle surmounting capability, and is less impacted by the ground when walking or turning on complex outdoor terrain, and can better protect the components on the mobile platform; a lower control arm is arranged between the double shock absorber and the frame, so that the mobile platform is not easy to tip over and is more stable.

[0054] 4. The double-column single-swing-arm suspended mobile platform based on a double shock absorber of the present invention improves its stability while greatly reducing the contact area between its rollers and the ground compared to the existing multi-wheel differential chassis. As a result, the resistance to be overcome during steering is reduced, thus avoiding energy waste and using the saved energy for the endurance of the mobile platform, thereby increasing its endurance mileage.

[0055] 5. The present invention also provides a U-shaped anti-roll bar between the vehicle frame and the lower control arm, which connects the rollers on the left and right sides, so that the rollers on both sides have a certain correlation. When one side roller is lifted or lowered, the U-shaped anti-roll bar will exert a force in the same direction of movement on the other side roller, so that the entire mobile platform will not have a large left and right shaking, which greatly improves the overall stability of the mobile platform when walking on uneven roads and turning.

[0056] 6. The present invention also provides a steering damper between the vehicle frame and the double shock absorber. When the roller is impacted and causes rapid rotation, the rapid rotation of the roller prompts the steering damper to absorb the energy of the impact and generate a reverse resistance to prevent the wheel from rotating rapidly, thereby protecting the mobile platform.

[0057] 7. Another double-column single-swing-arm suspended mobile platform based on a double shock absorber of the present invention adopts a design in which the steering servo is centrally placed and an equal triangular connecting rod structure is used. Through the connecting rod, the steering tie rod and the rotating rod, the two driving shafts located in the front and rear of the frame are turned in opposite directions, thereby achieving on-the-spot turning with a generally small turning radius. Therefore, it has very good adaptability and has low control requirements. It also reduces the number of steering servos and saves costs.

[0058] 8. Another double-column single-swing-arm suspended mobile platform based on a double shock absorber of the present invention has a simple and ingenious structure, and the rollers are not easily stuck with foreign objects, and the platform moves smoothly. BRIEF DESCRIPTION OF THE DRAWINGS

[0059] Figure 1 It is a structural schematic diagram of a double shock absorber of the present invention;

[0060] Figure 2 This is a structural principle diagram of a double-column single-swing-arm suspension type mobile platform based on a double-shock absorber of the present invention;

[0061] Figure 3 It is a structural schematic diagram of a double-column single-swing-arm suspension type mobile platform based on a double-shock absorber of the present invention (one of the rollers is removed);

[0062] Figure 4 This is another perspective view of a double-column single-swing-arm suspension type mobile platform based on a double-shock absorber of the present invention;

[0063] Figure 5 yes Figure 4 The structural principle diagram of

[0064] Figure 6 It is a structural principle diagram of a steering servo driving the driving shafts of two double shock absorbers to rotate in the present invention;

[0065] Figure 7This is a straight-moving state diagram of a double-column single-swing-arm suspension type mobile platform based on a double-shock absorber of the present invention;

[0066] Figure 8 It is a schematic diagram of an oblique movement state of a double-column single-swing-arm suspension type mobile platform based on a double-shock absorber of the present invention;

[0067] Fig. 9 It is a schematic diagram of a general turning state of a double-column single swing arm suspension type mobile platform based on a double shock absorber of the present invention;

[0068] Fig.10 It is a schematic diagram of an in-situ turning state of a double-column single swing arm suspension type mobile platform based on a double shock absorber of the present invention;

[0069] Fig.11 It is a structural schematic diagram of a driving steering mechanism in the present invention;

[0070] Fig.12 Is with Fig.11 Schematic diagram of the mobile platform structure of the mid-drive steering mechanism.

[0071] Reference numerals:

[0072] 1- shock absorber, 11- piston, 12- upper fixing seat, 14- lower fixing seat, 15- driving shaft, 16- driving shaft sleeve, 161- connecting shaft, 162- connecting shaft sleeve;

[0073] 2-Frame;

[0074] 3-Lower control arm;

[0075] 4-roller, 41-axle;

[0076] 5-steering servo, 51-connecting rod, 52-steering rod, 53-rotating rod, 54-driving gear, 55-rack;

[0077] 6-U-type anti-roll bar;

[0078] 7- Steering damper. DETAILED DESCRIPTION

[0079] In order to make the purpose, advantages and features of the present invention clearer, the following is a further detailed description of a double-column single-swing-arm suspended mobile platform based on a double shock absorber proposed by the present invention in combination with the accompanying drawings and specific embodiments. According to the following specific implementation methods, the advantages and features of the present invention will be clearer. It should be noted that: the drawings are all in a very simplified form and use non-precise proportions, which are only used to conveniently and clearly assist in explaining the purpose of the embodiments of the present invention; secondly, the structure shown in the drawings is often part of the actual structure.

[0080] The present invention is described in detail below with reference to the accompanying drawings and specific embodiments.

[0081] Embodiment 1:

[0082] like Figure 1 As shown, this embodiment is a double shock absorber, comprising two shock absorbers 1 arranged side by side, an upper fixing seat 12 for connecting the pistons 11 of the two shock absorbers 1, a lower fixing seat 14 for connecting the cylinders of the two shock absorbers 1, a drive shaft 15 fixed to the middle part above the upper fixing seat 12, and a drive shaft sleeve 16 sleeved on the drive shaft 15; thereby, a rectangular structure is formed between the two shock absorbers 1, the upper fixing seat 12 and the lower fixing seat 14; thereby, the vibration reduction effect is improved and the torsional rigidity is increased.

[0083] It should be noted that:

[0084] 1. The positions of the shock absorber piston 11 and the shock absorber cylinder can be interchanged;

[0085] Second, the lower fixing seat 14 can also be directly configured as two cylinder bodies, which can save more materials.

[0086] In order to facilitate its installation, two symmetrical connecting shafts 161 are provided on the outer wall of the driving shaft sleeve 16, and a connecting shaft sleeve 162 for connecting to the external frame is provided on the connecting shaft 161. The driving shaft sleeve 16 is hinged with the external frame through the action of the connecting shaft 161 and the connecting shaft sleeve 162.

[0087] Embodiment 2:

[0088] like Figure 2 As shown, this embodiment is a double-post single swing arm suspension system, which includes a frame 2, four lower control arms 3, four double shock absorbers as in embodiment 1, and four rollers 4;

[0089] One end of the four lower control arms 3 is hinged to the lower part of the frame 2, and the other end thereof is respectively connected to the ball joint of the lower part of the cylinder body of the corresponding double shock absorber; the wheel axles 41 of the four rollers 4 are respectively fixedly connected to the middle part of the two cylinder bodies of the corresponding double shock absorber or the middle part of the lower fixed seat 14; the drive sleeves 16 of the four double shock absorbers are respectively hinged through the connecting shaft 161 on the outer wall of the drive sleeve 16 and the connecting drive sleeve 162 arranged on the frame 2.

[0090] The double-column single-wishbone suspension system adopts a single wishbone suspension similar to the McPherson suspension. The double shock absorber not only reduces vibration but also serves as a steering support structure. Compared with the double wishbone suspension, the double-column single-wishbone suspension system has a more compact structure and occupies less area on the mobile platform, which can greatly improve the space utilization of the mobile platform and allow more other functional modules to be installed on the mobile platform.

[0091] Embodiment 3:

[0092] like Figure 2 As shown, this embodiment is a double-column single swing arm suspension mobile platform based on a double shock absorber, comprising a frame 2, four lower control arms 3, four double shock absorbers as in Embodiment 1, four rollers 4, four steering servos 5, a U-shaped anti-roll bar 6 and four steering dampers 7;

[0093] One end of the four lower control arms 3 is hinged to the lower part of the frame 2, and the other end thereof is respectively connected to the lower part of the cylinder of the corresponding double shock absorber with a ball joint, thereby satisfying the degree of freedom required for the up and down movement of the roller and the steering.

[0094] The wheel axles 41 of the four rollers 4 are respectively fixedly connected to the middle of the two cylinders of the corresponding double shock absorbers or the middle of the lower fixing seat 14; the driving sleeves 16 of the four double shock absorbers are respectively hinged to the frame 2;

[0095] Four steering servos 5 are arranged on the vehicle frame 2 to drive the corresponding drive shafts 15 to rotate in the drive shaft sleeves 16; the number of the steering servos 5 can also be one, two or three, that is, only some of the rollers 4 need to be driven.

[0096] The U-shaped anti-roll bar 6 is an elastic torsion bar. The middle part of the U-shaped anti-roll bar 6 is hinged to the lower part of the frame 2, and the two ends of the U-shaped anti-roll bar 6 are respectively hinged to the corresponding left and right lower control arms 3. The function of the U-shaped anti-roll bar 6 is to connect the left and right rollers 4 so that the two rollers 4 have a certain relationship. When the roller 4 on one side is raised or lowered, the U-shaped anti-roll bar 6 will apply a force in the same direction of movement to the other side roller 4, so that the mobile platform will not have a large left and right shaking, which greatly improves the overall stability of the mobile platform when walking on uneven roads and turning.

[0097] One end of the four steering dampers 7 is hinged to the lower part of the frame 2, and the other end thereof is connected to the cylinder ball joint of the corresponding double shock absorber; the steering damper 7 does not work during normal steering. When the roller 4 is impacted and rotates rapidly, the rapid rotation of the roller 4 prompts the steering damper 7 to absorb the energy of the impact and generate a reverse resistance, thereby preventing the roller 4 from rotating rapidly and protecting the overall structure.

[0098] The double shock absorber 4 is inclined toward the center of the frame 2, so that the activity direction of the double shock absorber forms a certain angle with the wheel hub motor, which is called the inclination angle. The existence of the inclination angle will generate a return torque during the turning process of the roller 4, prompting the roller 4 to return to a position parallel to the forward direction; that is, Figure 7 In the straight-ahead state shown, the existence of the inclination angle and the self-aligning torque is beneficial to improving the stability of straight-ahead walking.

[0099] Each roller 4 of the mobile platform uses an independent steering servo to drive the steering, which can achieve Figures 7 to 10 Four states provide greater flexibility.

[0100] In summary, the U-shaped anti-roll bar can improve walking stability, the inclination angle can improve straight-line walking stability, the steering damper can absorb impact and protect the chassis, and of course the number of rollers 4 can be increased in pairs.

[0101] Embodiment 4:

[0102] Combination Figures 3 to 6 As shown, this embodiment is another double-column single swing arm suspension type mobile platform based on a double shock absorber, and its structure is basically the same as that of embodiment 3, except that it only includes two steering servos 5;

[0103] The two steering servos 5 are respectively arranged at the middle of the left and right sides of the frame 2. The two steering servos 5 drive the driving shafts 15 of the two front and rear double shock absorbers on the corresponding sides to rotate in the driving shaft sleeve 16 through the connecting rod 51, the steering rod 52 and the rotating rod 53 in turn. The connecting rod 51 is installed on the output end of the steering servo 5; the rotating rod 53 is fixedly connected to the driving shaft 15; the two ends of the steering rod 52 are respectively connected to the connecting rod 51 and the rotating rod 53 with ball joints, thereby making the two driving shafts 15 on the same side turn in opposite directions.

[0104] The driving steering mechanism also has a setting mode, such as Fig.11 , 12 As shown, the driving steering mechanism includes a driving gear 54 sleeved on the output shaft of the steering servo 5, two racks 55 respectively arranged on both sides of the driving gear 54 and one end of which is meshed with the driving gear 54; the other end of the rack 55 is respectively hinged to one end of the corresponding steering tie rod 52, and the other end of the steering tie rod 52 is hinged to one end of the rotating rod 53; the rotating rod 53 is vertically fixedly connected to the driving shaft 15 of the corresponding double shock absorber. Therefore, through the rotation of the driving gear 54, the two racks 55 are driven to move in the opposite direction, so that the two driving shafts 15 on the same side turn in opposite directions.

[0105] The frame 2 is the main structural part of the mobile platform and the skeleton of the entire mobile platform, used to install all other structures. The hinge points of the two lower control arms 3 corresponding to the left and right sides of the frame and the frame 2 are as far apart as possible to better withstand the lateral force generated during walking and ensure the certainty of movement. At the same time, the two hinge points where the lower control arms 3 are connected to the frame 2 use a rubber bushing structure to eliminate gaps and play a certain buffering role.

[0106] Due to the use of an equal triangular connecting rod structure, the two rollers 4 on the same side can be ensured to perform mirror steering. Compared with the solution of directly using an independent steering servo in embodiment 3, two steering servos are omitted. Figure 7 The straight line shown and Fig. 9 In addition to the general steering shown, the following can be achieved Fig.10 As shown, the vehicle can turn on the spot; therefore, it has very good adaptability.

Claims

1. A double-column single-swing arm suspension mobile platform based on a double shock absorber, characterized in that: It comprises a vehicle frame (2), a steering servo (5), at least two pairs of rollers (4), lower control arms (3) and double shock absorbers, the number of which is equal to the number of the rollers (4); and U-shaped anti-roll bars (6) are also equal to the number of pairs of rollers (4). The dual shock absorbers are evenly distributed on both sides of the vehicle frame (2); The double shock absorber comprises two shock absorbers (1) arranged side by side, an upper fixing seat (12) for connecting the pistons (11) of the two shock absorbers (1), a lower fixing seat (14) for connecting the cylinders of the two shock absorbers (1), a drive shaft (15) fixed to the middle part above the upper fixing seat (12), and a drive shaft sleeve (16) sleeved on the drive shaft (15); One end of the lower control arm (3) is hinged to the lower part of the vehicle frame (2), and the other end thereof is respectively connected to a ball joint at the lower part of the cylinder body of the corresponding double shock absorber; The wheel axle (41) of the roller (4) is respectively fixedly connected to the cylinder body or the middle part of the lower fixing seat (14) of the corresponding double shock absorber; The driving shaft sleeve (16) of the double shock absorber is hinged to the vehicle frame (2); The number of the steering servos (5) is equal to or less than the number of the rollers (4); the steering servos (5) are arranged on the vehicle frame (2) and drive the corresponding drive shaft (15) to rotate in the drive shaft sleeve (16); The drive shaft (15) can rotate inside the drive shaft sleeve (16) under the action of external force; Two mutually symmetrical connecting shafts (161) are provided on the outer wall of the driving shaft sleeve (16); The connecting shaft (161) is provided with a connecting shaft sleeve (162) for connecting to an external vehicle frame; The middle portion of the U-shaped anti-roll bar (6) is hinged to the lower portion of the vehicle frame (2), and the two ends thereof are respectively hinged to the lower control arms (3) on the corresponding left and right sides.

2. The double-column single-swing-arm suspension mobile platform based on double shock absorbers according to claim 1 is characterized in that: Also included is a steering damper (7); One end of the steering damper (7) is hinged to the lower part of the vehicle frame (2), and the other end is connected to the cylinder body or the lower fixing seat (14) of the corresponding double shock absorber by a ball joint.

3. A double-column single-swing arm suspension mobile platform based on a double-shock absorber, characterized in that: It comprises a vehicle frame (2), two or three pairs of rollers (4), and lower control arms (3) equal in number to the number of rollers (4) and double shock absorbers equal in number to the number of rollers (4); it also comprises U-shaped anti-roll bars (6) equal in number to the number of pairs of rollers (4); The dual shock absorbers are evenly distributed on both sides of the vehicle frame (2); The double shock absorber comprises two shock absorbers (1) arranged side by side, an upper fixing seat (12) for connecting the pistons (11) of the two shock absorbers (1), a lower fixing seat (14) for connecting the cylinders of the two shock absorbers (1), a drive shaft (15) fixed to the middle part above the upper fixing seat (12), and a drive shaft sleeve (16) sleeved on the drive shaft (15); The drive shaft (15) can rotate inside the drive shaft sleeve (16) under the action of external force; Two mutually symmetrical connecting shafts (161) are provided on the outer wall of the driving shaft sleeve (16); The connecting shaft (161) is provided with a connecting shaft sleeve (162) for connecting to an external vehicle frame; One end of the lower control arm (3) is hinged to the lower part of the vehicle frame (2), and the other end is connected to the lower part of the cylinder of the corresponding double shock absorber by a ball joint; The wheel axle (41) of the roller (4) is fixedly connected to the cylinder body or the middle part of the lower fixing seat (14) of the corresponding double shock absorber; The driving shaft sleeves (16) of the dual shock absorbers are respectively hinged to the vehicle frame (2); A steering servo (5) is provided at the midpoint between the frontmost double shock absorber and the rearmost double shock absorber on the same side of the vehicle frame (2); The steering servo (5) is mounted on the vehicle frame (2), and the steering servo (5) drives the driving shafts (15) of the two front and rear double shock absorbers on the corresponding side to rotate in the driving shaft sleeve (16) by driving the steering mechanism, and the two adjacent driving shafts (15) on the same side rotate in opposite directions; The middle portion of the U-shaped anti-roll bar (6) is hinged to the lower portion of the vehicle frame (2), and the two ends thereof are respectively hinged to the lower control arms (3) on the corresponding left and right sides.

4. The double-column single-swing-arm suspension mobile platform based on double shock absorbers according to claim 3 is characterized in that: Also included are four steering dampers (7) corresponding to the two forward-most twin shock absorbers and the two rearward-most twin shock absorbers; One end of the four steering dampers (7) is respectively hinged to the lower part of the vehicle frame (2), and the other end thereof is respectively connected to the cylinder body ball joint of the corresponding double shock absorber.

5. The double-column single-swing-arm suspension mobile platform based on double shock absorbers according to claim 3 is characterized in that: The driving steering mechanism comprises a connecting rod (51), two steering tie rods (52) and two rotating rods (53); The middle portion of the connecting rod (51) is vertically fixed to the output end of the steering servo (5); The two ends of the connecting rod (51) are respectively hinged to one end of two steering tie rods (52); The other ends of the two steering rods (52) are respectively hinged to one end of a corresponding rotating rod (53); The two rotating rods (53) are respectively and vertically fixedly connected to the driving shafts (15) of the corresponding double shock absorbers.

6. The double-column single-swing-arm suspension mobile platform based on double shock absorbers according to claim 3 is characterized in that: The driving steering mechanism comprises a driving gear (54) sleeved on an output shaft of a steering servo (5), and two racks (55) respectively arranged on both sides of the driving gear (54) and one end of which is meshed with the driving gear (54); The other end of the rack (55) is hinged to one end of the corresponding steering tie rod (52), and the other end of the steering tie rod (52) is hinged to one end of a rotating rod (53); the rotating rod (53) is vertically fixed to the drive shaft (15) of the corresponding double shock absorber.

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