Omnidirectional off-road robot

Abstract

The present invention discloses an omnidirectional off-road robot, including a vehicle body and a plurality of motion modules, wherein the motion modules include a wheel set, a rotating assembly and an active suspension assembly, wherein the active suspension assembly includes a mounting plate, a rocker bar and a suspension drive mechanism, wherein two rocker bars are provided, and the two rocker bars are arranged in sequence in the vertical direction and are parallel to each other, wherein one end of the rocker bar is rotatably connected to the mounting plate, and the other end of the rocker bar is rotatably connected to a support, and a suspension drive mechanism is connected to the rocker bar, and the suspension drive mechanism is used to drive the rocker bar to rotate, and the mounting plate is connected to the vehicle body. An active suspension assembly is provided, and the rocker bar is driven to rotate by the suspension drive mechanism, and the wheel set can be actively driven to be lifted or pressed down relative to the ground to adapt to different walking environments. When making a sharp angle turn, the wheel set can be controlled to be pressed against the ground, so that the casters always fit the ground, so as to avoid the casters being suspended in the air during the sharp angle turn, and improve the movement stability.

Description

Technical Field

[0001] The invention relates to the technical field of robots, and in particular to an omnidirectional off-road robot. Background Art

[0002] In the related technology, there is an active split offset caster, which is referred to as ASOC (Active Split Offset Caster) in English. Each ASOC includes two coaxial independently driven casters, a connecting rod connecting the two casters and an offset rod. One end of the offset rod is vertically connected to the connecting rod, and the other end of the offset rod is used to connect to the motion platform. The two casters are driven at different speeds, and the end of the offset rod away from the connecting rod can achieve movement in any direction and at any speed. When the speed of the two casters changes, the end of the offset rod away from the connecting rod can respond in a short time and move quickly in any direction in a short time. The robot using the ASOC module can perform efficient omnidirectional movement and can achieve fast sharp-angle turns, but when turning at sharp angles, the casters will be in the air and the movement stability is poor. Summary of the invention

[0003] The present invention aims to solve at least one of the technical problems existing in the prior art. To this end, the present invention provides an omnidirectional off-road robot, which can prevent casters from being vacated during sharp-angle turns and improve movement stability.

[0004] The omnidirectional off-road robot provided in an embodiment of the present invention comprises a vehicle body and a motion module, wherein the motion modules are provided in plurality, and the motion modules comprise a wheel set, a rotating assembly and an active suspension assembly; wherein the wheel set comprises a caster, a caster driving member and a caster connecting rod, wherein two casters and two caster driving members are provided, the two casters are respectively provided at the two ends of the caster connecting rod, the two casters are coaxial, each of the casters is connected to one caster driving member, and the caster driving member is used to drive the casters to rotate; the rotating assembly comprises a support and a rotating connecting rod, wherein one end of the rotating connecting rod is rotatably connected to the support, and the rotating connecting rod is connected to the support. The swivel link can rotate around the central axis of the swivel link, and the other end of the swivel link is rotatably connected to the caster link, and the axis of the caster link and the central axis of the swivel link are located in different planes; the active suspension component includes a mounting plate, a rocker arm and a suspension drive mechanism, and two rocker arms are provided, and the two rocker arms are arranged in sequence in the vertical direction and parallel to each other, one end of the rocker arm is rotatably connected to the mounting plate, and the other end of the rocker arm is rotatably connected to the support, the suspension drive mechanism is connected to the rocker arm, and the suspension drive mechanism is used to drive the rocker arm to rotate, and the mounting plate is connected to the vehicle body.

[0005] The omnidirectional off-road robot provided by the embodiment of the present invention has at least the following beneficial effects: an active suspension component is provided, and the rocker arm is driven to rotate through the suspension drive mechanism, which can actively drive the wheel group to be lifted or pressed down relative to the ground to adapt to different walking environments. When turning at an acute angle, the wheel group can be controlled to be pressed against the ground so that the casters are always in contact with the ground, so as to avoid the casters being suspended in the air during the acute angle turn, thereby improving the movement stability.

[0006] In some embodiments of the present invention, the suspension drive mechanism includes a linear motor, which includes a main body and an output rod, the output rod is connected to the main body and can move along the axis of the output rod, the main body is rotatably connected to the mounting plate, the output rod is rotatably connected to the rocker arm, and the connection position between the output rod and the rocker arm is located between the two ends of the rocker arm.

[0007] In some embodiments of the present invention, the suspension drive mechanism includes a motor, a driving gear and a driven gear, the driving gear is connected to the output end of the motor, the driven gear is meshed with the driving gear, the driven gear is fixedly connected to the rocker arm, the rotation axis of the driven gear coincides with the rotation axis of the rocker arm relative to the mounting plate, the motor can drive the driving gear to drive the driven gear to rotate, and the driven gear can drive the rocker arm to rotate.

[0008] In some embodiments of the present invention, the driven gear is a sector gear.

[0009] In some embodiments of the present invention, the active suspension assembly also includes a shock absorber, one end of the shock absorber is rotatably connected to the mounting plate, the other end of the shock absorber is rotatably connected to the rocker arm, and the connection position between the shock absorber and the rocker arm is located between the two ends of the rocker arm.

[0010] In some embodiments of the present invention, the caster link has a mounting cavity, and the caster drive member is accommodated inside the mounting cavity.

[0011] In some embodiments of the present invention, the rotating assembly also includes a wheel set shaft, which is connected to one end of the rotating connecting rod, the axis of the wheel set shaft is perpendicular to the axis of the rotating connecting rod, and the caster connecting rod has an axial hole, and the wheel set shaft is inserted into the axial hole.

[0012] In some embodiments of the present invention, the omnidirectional off-road robot further includes a central processing unit, the rotating assembly further includes a conductive slip ring, the conductive slip ring is connected to the support, the caster drive is connected to the conductive slip ring via a cable, and the conductive slip ring is electrically connected to the central processing unit.

[0013] In some embodiments of the present invention, the omnidirectional off-road robot further includes a central processor, the caster drive is connected to the central processor via a CAN bus communication method, and the suspension drive mechanism is connected to the central processor via a CAN bus communication method.

[0014] In some embodiments of the present invention, the omnidirectional off-road robot includes four motion modules, and the four motion modules are connected to the vehicle body in pairs.

[0015] Additional aspects and advantages of the present invention will be given in part in the following description and in part will be obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The present invention will be further described below with reference to the accompanying drawings and embodiments, wherein:

[0017] Figure 1 A three-dimensional schematic diagram of an omnidirectional off-road robot according to some embodiments of the present invention;

[0018] Figure 2 for Figure 1 A three-dimensional schematic diagram of a motion module of the omnidirectional off-road robot shown;

[0019] Figure 3 for Figure 2 The motion schematic diagram of the motion module shown;

[0020] Figure 4 for Figure 2 A three-dimensional schematic diagram of the wheel set of the motion module shown;

[0021] Figure 5 for Figure 4 An exploded schematic diagram of the wheelset shown;

[0022] Figure 6 for Figure 2 A three-dimensional schematic diagram of the rotating assembly of the motion module shown.

[0023] Figure 7 A three-dimensional schematic diagram of an active suspension assembly of a motion module of an omnidirectional off-road robot according to some embodiments of the present invention;

[0024] Figure 8 for Figure 2 A perspective schematic diagram of the active suspension components of the kinematic module shown;

[0025] Fig. 9 for Figure 8 A side view of the active suspension assembly is shown.

[0026] Reference numerals:

[0027] Car body 100, motion module 200, wheel set 210, caster 211, caster driving part 212, caster connecting rod 213, mounting cavity 2131, shaft hole 2132, fourth rotation pair 2133, rotating component 220, support 221, rotating connecting rod 222, third rotation pair 2221, wheel set rotating shaft 223, conductive slip ring 224, active suspension component 230, mounting plate 231, rocker rod 232, first rotation pair 2321, second rotation pair 2322, suspension driving mechanism 233, linear motor 2331, body 23311, output rod 23312, motor 2332, driving gear 2333, driven gear 2334, linkage rod 2335, shock absorber 234. DETAILED DESCRIPTION

[0028] Embodiments of the present invention are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and cannot be understood as limiting the present invention.

[0029] In the description of the present invention, it is necessary to understand that descriptions involving orientation, such as up, down, left, right, etc., the orientations or positional relationships indicated are based on the orientations or positional relationships shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0030] In the description of the present invention, unless otherwise clearly defined, terms such as setting, installing, connecting, etc. should be understood in a broad sense, and technicians in the relevant technical field can reasonably determine the specific meanings of the above terms in the present invention based on the specific content of the technical solution.

[0031] In the description of the present invention, the description with reference to the terms "one embodiment", "some embodiments", etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0032] The omnidirectional off-road robot provided by the embodiment of the present invention includes a vehicle body 100 and a motion module 200, wherein the motion module 200 is provided with a plurality of wheels 210, a rotating assembly 220 and an active suspension assembly 230; wherein the wheel assembly 210 includes a caster 211, a caster driving member 212 and a caster connecting rod 213, wherein the caster 211 and the caster driving member 212 are provided with two, the two casters 211 are respectively provided at the two ends of the caster connecting rod 213, the two casters 211 are coaxial, and each caster 211 is connected to a caster driving member 212, and the caster driving member 212 is used to drive the caster 211 to rotate; the rotating assembly 220 includes a support 221 and a rotating connecting rod 222, and one end of the rotating connecting rod 222 is rotatably connected to the support On the support 221, the rotating link 222 can rotate around the central axis of the rotating link 222, and the other end of the rotating link 222 is rotatably connected to the caster link 213, and the axis of the caster link 213 and the central axis of the rotating link 222 are located in different planes; the active suspension component 230 includes a mounting plate 231, a rocker rod 232 and a suspension drive mechanism 233, two rocker rods 232 are provided, and the two rocker rods 232 are arranged in sequence in the vertical direction and parallel to each other, one end of the rocker rod 232 is rotatably connected to the mounting plate 231, and the other end of the rocker rod 232 is rotatably connected to the support 221, the suspension drive mechanism 233 is connected to the rocker rod 232, and the suspension drive mechanism 233 is used to drive the rocker rod 232 to rotate, and the mounting plate 231 is connected to the vehicle body.

[0033] For example, Figure 1 As shown, the omnidirectional off-road robot includes a vehicle body 100 and a plurality of motion modules 200. Figure 2 and Figure 3 The motion module 200 includes a wheel assembly 210, a rotating assembly 220 and an active suspension assembly 230. Figures 4 to 5 The wheel set 210 includes a caster 211, a caster driving member 212 and a caster connecting rod 213. The casters 211 and the caster driving member 212 are both provided with two casters 211, the two casters 211 are respectively provided at both ends of the caster connecting rod 213, the two casters 211 are coaxial, and each caster 211 is connected to a caster driving member 212, and the caster driving member 212 is used to drive the caster 211 to rotate; refer to Figure 6 The rotating assembly 220 includes a support 221 and a rotating link 222. One end of the rotating link 222 is rotatably connected to the support 221. The rotating link 222 can rotate around the central axis A of the rotating link 222. The other end of the rotating link 222 is rotatably connected to the caster link 213. Figure 2, the axis B of the caster link 213 and the central axis A of the rotating link 222 are located in different planes to achieve the offset of the wheel set 210 and the rotating link 222, and drive the two casters 211 at different speeds, so that the end of the rotating link 222 connected to the caster link 213 can achieve movement in any direction and at any speed. When the speed of the two casters 211 changes, the end of the rotating link 222 connected to the caster link 213 can respond in a short time and move quickly in any direction in a short time; refer to Figures 7 to 9 The active suspension component 230 includes a mounting plate 231, a rocker arm 232 and a suspension driving mechanism 233. Two rocker arms 232 are provided. The two rocker arms 232 are arranged in sequence in the vertical direction and are parallel to each other. One end of the rocker arm 232 is rotatably connected to the mounting plate 231, and the other end of the rocker arm 232 is rotatably connected to the support 221. The suspension driving mechanism 233 is connected to the rocker arm 232. The suspension driving mechanism 233 is used to drive the rocker arm 232 to rotate, and the mounting plate 231 is connected to the vehicle body.

[0034] Reference Figure 2 and Figure 3 The swing rod 232 and the mounting plate 231 form a first rotation pair 2321, the swing rod 232 and the support 221 form a second rotation pair 2322, the mounting plate 231, the two mutually parallel swing rods 232 and the support 221 form a parallelogram, the support 221 can move horizontally in the up and down directions relative to the mounting plate 231, the suspension driving mechanism 233 drives the swing rod 232 to rotate around the first rotation pair 2321, drives the rotating assembly 220 to move in the up and down directions, thereby drives the wheel set 210 to move in the up and down directions; the rotating connecting rod 222 and the support 221 form a parallelogram. The two casters 211 are driven by two caster driving members 212 respectively, and can perform differential rotation, so that the caster link 213 rotates around the third rotation pair 2221 to adjust the moving direction of the wheel set 210; the caster link 213 and the rotating link 222 form a fourth rotation pair 2133, and the caster link 213 can rotate around the fourth rotation pair 2133. When the ground has a certain inclination angle, when the wheel set 210 is pressed against the ground, the two casters 211 can still fit the ground to avoid the casters 211 hanging in the air. The active suspension mechanism 230 can lift or press the wheel set 210 relative to the ground to adapt to different walking environments. When turning at an acute angle, the wheel set 210 can be controlled to press against the ground, so that the casters 211 always fit the ground to avoid the casters 211 hanging in the air during the acute angle turning process, thereby improving the movement stability.

[0035] In some embodiments provided by the present invention, the suspension drive mechanism 233 includes a linear motor 2331, the linear motor 2331 includes a main body 23311 and an output rod 23312, the output rod 23312 is connected to the main body 23311 and can move along the axis of the output rod 23312, the main body 23311 is rotatably connected to the mounting plate 231, the output rod 23312 is rotatably connected to the rocker arm 232, and the connection position between the output rod 23312 and the rocker arm 232 is located between the two ends of the rocker arm 232.

[0036] For example, Figure 7 As shown, the suspension drive mechanism 233 includes a linear motor 2331, and the linear motor 2331 includes a body 23311 and an output rod 23312. The output rod 23312 is connected to the body 23311 and can move along the axis of the output rod 23312. The body 23311 is rotatably connected to the mounting plate 231, and the output rod 23312 is rotatably connected to the swing rod 232. The connection position between the output rod 23312 and the swing rod 232 is located between the two ends of the swing rod 232. The output rod 23312 of the linear motor 2331 can directly provide driving force to the swing rod 232, driving the swing rod 232 to swing upward or downward, so that the wheel set 210 is actively lifted or pressed relative to the ground to adapt to different walking environments and improve movement stability.

[0037] It is understandable that linear motors 2331 of different types and specifications can be selected according to actual usage requirements.

[0038] In some other embodiments provided by the present invention, the suspension drive mechanism 233 includes a motor 2332, a driving gear 2333 and a driven gear 2334, the driving gear 2333 is connected to the output end of the motor 2332, the driven gear 2334 is meshed with the driving gear 2333, the driven gear 2334 is fixedly connected to the rocker arm 232, the rotation axis of the driven gear 2334 coincides with the rotation axis of the rocker arm 232 relative to the mounting plate 231, the motor 2332 can drive the driving gear 2333 to drive the driven gear 2334 to rotate, and the driven gear 2334 can drive the rocker arm 232 to rotate.

[0039] For example, Figures 8 to 9As shown, the suspension drive mechanism 233 includes a motor 2332, a driving gear 2333 and a driven gear 2334. The driving gear 2333 is connected to the output end of the motor 2332, and the driven gear 2334 is meshed with the driving gear 2333. The driven gear 2334 is fixedly connected to the swing rod 232. The rotating shaft of the driven gear 2334 coincides with the rotating shaft of the swing rod 232 rotating relative to the mounting plate 231. The motor 2332 can drive the driving gear 2333 to drive the driven gear 2334 to rotate, and the driven gear 2334 can drive the swing rod 232 to rotate. The torque generated by the motor 2332 acts on the swing rod 232 through the driving gear 2333 and the driven gear 2334, driving the swing rod 232 to swing upward or downward, so that the wheel set 210 is actively lifted or pressed relative to the ground. The torque of the motor 2332 can be adjusted according to the walking environment to adapt to different walking environments, buffer the impact received during movement, and improve the movement stability.

[0040] It is understandable that different types and specifications of motors 2332, driving gears 2333 and driven gears 2334 with different parameters can be selected according to actual use requirements. The method of fixed connection between the driven gear 2334 and the swing rod 232 is not limited, for example, Figure 8 As shown, a linkage rod 2335 may be provided to penetrate the eccentric position of the driven gear 2334 and be connected to the swing rod 232. When the driven gear 2334 rotates, the linkage rod 2335 is driven to rotate, thereby driving the swing rod 232 to rotate.

[0041] It should be noted that the driven gear 2334 is a sector gear.

[0042] For example, Fig. 9 In actual use, the swing range of the swing rod 232 is only located on one side of the mounting plate 231, and the driven gear 2334 only reciprocates within a certain angle, so a sector gear can be used as the driven gear 2334 to reduce space occupation and make the structural layout more reasonable.

[0043] It should be noted that the above-mentioned active suspension component 230 also includes a shock absorber 234, one end of the shock absorber 234 is rotatably connected to the mounting plate 231, and the other end of the shock absorber 234 is rotatably connected to the rocker arm 232, and the connection position between the shock absorber 234 and the rocker arm 232 is located between the two ends of the rocker arm 232.

[0044] For example, Figure 8 and Fig. 9As shown, the active suspension assembly 230 further includes a shock absorber 234, one end of which is rotatably connected to the mounting plate 231, and the other end of which is rotatably connected to the swing rod 232, and the connection position between the shock absorber 234 and the swing rod 232 is located between the two ends of the swing rod 232. The shock absorber 234 can passively follow the rotation of the swing rod 232 and extend and retract to reduce the workload of the motor 2332.

[0045] It is understandable that different types and specifications of shock absorbers 234 can be selected according to actual usage requirements.

[0046] It should be noted that the caster link 213 has a mounting cavity 2131 , and the caster driving component 212 is accommodated inside the mounting cavity 2131 .

[0047] For example, Figure 4 As shown, the caster link 213 has a mounting cavity 2131, referring to Figure 5 The caster drive component 212 is accommodated inside the installation cavity 2131, and the caster connecting rod 213 can not only connect the two casters 211, but also provide protection for the caster drive component 212 to prevent the caster drive component 212 from being damaged by collision during movement, and can make the structure of the wheel set 210 more compact.

[0048] It is understandable that, referring to Figure 5 The caster link 213 can be configured as a detachable housing for easy installation.

[0049] It should be noted that the rotating component 220 also includes a wheel set shaft 223, which is connected to one end of the rotating connecting rod 222, and the axis of the wheel set shaft 223 is perpendicular to the axis of the rotating connecting rod 222. The caster connecting rod 213 has an axis hole 2132, and the wheel set shaft 223 is inserted into the axis hole 2132.

[0050] For example, Figure 6 As shown, the rotating assembly 220 also includes a wheel set shaft 223, which is connected to one end of the rotating link 222, and the axis C of the wheel set shaft 223 is perpendicular to the axis A of the rotating link 222. The caster link 213 has an axial hole 2132, and the wheel set shaft 223 is inserted into the axial hole 2132. The rotation connection between the rotating link 222 and the caster link 213 is realized by the cooperation between the wheel set shaft 223 and the axial hole 2132, and the installation is relatively simple; the axis C of the wheel set shaft 223 is perpendicular to the axis A of the rotating link 222, and when the rotation speed of the two casters 211 of the wheel set 210 changes, the force acting on the rotating link 222 can act vertically on the end of the rotating link 222 connected to the wheel set shaft 223, thereby improving the steering response speed.

[0051] It is understandable that the wheel set shaft 223 and the rotating connecting rod 222 can be integrally formed to improve the reliability of the connection.

[0052] It should be noted that the omnidirectional off-road robot also includes a central processing unit, and the rotating component 220 also includes a conductive slip ring 224, which is connected to the support 221, and the caster drive 212 is connected to the conductive slip ring 224 through a cable, and the conductive slip ring 224 is electrically connected to the central processing unit.

[0053] For example, Figure 6 As shown, the omnidirectional off-road robot also includes a central processor, and the rotating assembly 220 also includes a conductive slip ring 224, which is connected to the support 221. Figure 2 The caster drive 212 is connected to the conductive slip ring 224 through a cable, and the conductive slip ring 224 is electrically connected to the central processing unit. The central processing unit is used to send a control signal to the caster drive 212 to control the rotation of the caster 211. The conductive slip ring 224 can prevent the cable from being entangled during the rotation of the wheel set 210, ensuring that the power and signal can always be stably transmitted during the movement.

[0054] It should be noted that the omnidirectional off-road robot also includes a central processor, the caster drive 212 is connected to the central processor via a CAN bus communication mode, and the suspension drive mechanism 233 is connected to the central processor via a CAN bus communication mode. The central processor is used to send control signals to the caster drive 212 and the suspension drive mechanism 233, so as to control the rotation of the caster 211 and the action of the suspension drive mechanism 233; the CAN bus communication mode can reduce communication delay, that is, can reduce control delay, has high anti-interference ability, and can achieve high-frequency motion control.

[0055] It should be noted that the omnidirectional off-road robot includes four motion modules 200 , and the four motion modules 200 are connected to the vehicle body 100 in pairs.

[0056] For example, Figure 1 As shown, the omnidirectional off-road robot includes four motion modules 200, and the four motion modules 200 are connected to the vehicle body 100 in pairs, which can support the vehicle body 100 more stably, have a higher load-bearing capacity, and better motion stability.

[0057] The embodiments of the present invention are described in detail above in conjunction with the accompanying drawings, but the present invention is not limited to the above embodiments. Various changes can be made within the knowledge of ordinary technicians in the relevant technical field without departing from the purpose of the present invention. In addition, the embodiments of the present invention and the features in the embodiments can be combined with each other without conflict.

Claims

1. An omnidirectional off-road robot, characterized in that: include: Vehicle body; A plurality of motion modules are provided, wherein the motion modules include a wheel set, a rotating assembly and an active suspension assembly; Wherein, the wheel set includes a caster, a caster driving member and a caster connecting rod, the caster and the caster driving member are both provided with two, the two casters are respectively provided at the two ends of the caster connecting rod, the two casters are coaxial, each of the casters is connected with a caster driving member, and the caster driving member is used to drive the caster to rotate; The rotating assembly includes a support and a rotating link, one end of the rotating link is rotatably connected to the support, the rotating link can rotate around the central axis of the rotating link, the other end of the rotating link is rotatably connected to the caster link, and the axis of the caster link and the central axis of the rotating link are located in different planes; The active suspension assembly includes a mounting plate, a rocker arm and a suspension driving mechanism, wherein two rocker arms are provided, and the two rocker arms are arranged in sequence in the vertical direction and are parallel to each other, one end of the rocker arm is rotatably connected to the mounting plate, and the other end of the rocker arm is rotatably connected to the support, the suspension driving mechanism is connected to the rocker arm, and the suspension driving mechanism is used to drive the rocker arm to rotate, and the mounting plate is connected to the vehicle body; the rotating link and the support form a third rotating pair, and the two casters are respectively driven by the two caster driving members, and can perform differential rotation, so that the caster link rotates around the third rotating pair to adjust the moving direction of the wheel set, the caster link and the rotating link form a fourth rotating pair, and the caster link can rotate around the fourth rotating pair, and when the ground has a certain inclination angle, when the wheel set is subjected to a force pressing toward the ground, the two casters can still fit the ground to avoid the casters being suspended in the air.

2. The omnidirectional off-road robot according to claim 1, characterized in that: The suspension drive mechanism includes a linear motor, which includes a main body and an output rod. The output rod is connected to the main body and can move along the axis of the output rod. The main body is rotatably connected to the mounting plate, and the output rod is rotatably connected to the rocker arm. The connection position between the output rod and the rocker arm is located between the two ends of the rocker arm.

3. The omnidirectional off-road robot according to claim 1, characterized in that: The suspension driving mechanism includes a motor, a driving gear and a driven gear, wherein the driving gear is connected to the output end of the motor, the driven gear is meshed with the driving gear, the driven gear is fixedly connected to the swing rod, the rotation axis of the driven gear coincides with the rotation axis of the swing rod rotating relative to the mounting plate, the motor can drive the driving gear to drive the driven gear to rotate, and the driven gear can drive the swing rod to rotate.

4. The omnidirectional off-road robot according to claim 3, characterized in that: The driven gear is a sector gear.

5. The omnidirectional off-road robot according to claim 3, characterized in that: The active suspension assembly also includes a shock absorber, one end of which is rotatably connected to the mounting plate, and the other end of which is rotatably connected to the rocker arm, and the connection position between the shock absorber and the rocker arm is located between the two ends of the rocker arm.

6. The omnidirectional off-road robot according to claim 1, characterized in that: The caster link has a mounting cavity, and the caster driving member is accommodated inside the mounting cavity.

7. The omnidirectional off-road robot according to claim 1, characterized in that: The rotating assembly also includes a wheel set shaft, which is connected to one end of the rotating connecting rod. The axis of the wheel set shaft is perpendicular to the axis of the rotating connecting rod. The caster connecting rod has an axial hole, and the wheel set shaft is inserted into the axial hole.

8. The omnidirectional off-road robot according to claim 1, characterized in that: It also includes a central processing unit, and the rotating component also includes a conductive slip ring, which is connected to the support, and the caster driving component is connected to the conductive slip ring through a cable, and the conductive slip ring is electrically connected to the central processing unit.

9. The omnidirectional off-road robot according to claim 1, characterized in that: It also includes a central processor, the caster drive is connected to the central processor via a CAN bus communication mode, and the suspension drive mechanism is connected to the central processor via a CAN bus communication mode.

10. The omnidirectional off-road robot according to claim 1, characterized in that: The omnidirectional off-road robot comprises four motion modules, and the four motion modules are connected to the vehicle body in pairs.

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