An all-terrain mobile robot with double wishbone vibration-damping suspension

Abstract

The present invention relates to the field of mobile robot technology, specifically an all-terrain mobile robot with a double wishbone damping suspension, comprising a truss body module, an adjustable double wishbone damping suspension module; a drive stepping module for switching between the driving state and the neutral coasting state of the mobile robot; a torque self-balancing distribution module, which cooperates with the same group of adjustable double wishbone damping suspension modules on both sides of the truss body module to optimize the distribution of the mobile robot's four-wheel drive torque to suppress the turning body roll; and an underlying motion control system module for realizing the mobile robot's autonomous navigation and smooth walking, as well as the loading and control of external working tools. The present invention improves the damping effect and stability of the vehicle body through the adjustable double wishbone damping suspension module and the drive stepping module, adjusts the wheel camber angle, and isolates the drive and transmission, thereby solving the problem of the mobile robot being difficult to tow when it breaks down outdoors, and the torque self-balancing distribution module can effectively prevent the body roll.

Description

Technical Field

[0001] The present invention relates to the technical field of mobile robots, in particular to an all-terrain mobile robot with a double wishbone type vibration-damping suspension. Background Art

[0002] Four-wheel differential sliding steering all-terrain independent suspension mobile robots have the advantages of simple and reliable structure, flexible and stable operation, wide terrain adaptability, and simple control. Although four-wheel differential all-terrain mobile robots with excellent performance have been developed, there are still some key issues that need to be solved.

[0003] 1. If the all-terrain mobile robot adopts four-wheel differential sliding steering, the steering drive torque is large, and the reduction ratio of the transmission device required is too large;

[0004] 2. It is difficult to drag the machine when it breaks down during outdoor operation, making it difficult to repair;

[0005] 3. Most existing mobile robots have wheels that are rigidly connected to the drive, which is not conducive to drive output and control. Due to the insufficient matching adaptability between the mobile robot's suspension and the body, and the lack of a torque self-balancing distribution mechanism, the output drive torque of the mobile robot's wheels is unbalanced, causing large body vibration, affecting the smoothness of the mobile robot's walking, as well as the sensor measurement accuracy and load capacity.

[0006] For example, the Chinese patent application No. 201711258906.3 proposes a double-triangle suspension wheel-leg all-terrain mobile robot with excellent obstacle crossing, driving smoothness, and active / passive posture adjustment functions. However, it uses hub motors as drive wheels, which have small torque and poor load capacity. The steering uses a steering motor, which increases the weight and energy consumption of the mobile robot and reduces its endurance. At the same time, the number of motors in the mobile robot increases, and the control difficulty increases.

[0007] For example, Chinese patent application number 201811301142.6 proposes an all-terrain mobile robot with an active independent suspension system, which has excellent obstacle crossing performance, active posture adjustment function, differential steering function and excellent dynamic driving smoothness. Its drive is rigidly directly connected to the wheels, lacks a torque distribution mechanism, and uses a hub motor as the drive motor. Although it solves the problem of excessive reduction ratio, its torque output is relatively small.

[0008] For example, the Chinese patent application number 201911096192.X proposes an all-terrain mobile robot with the characteristics of good balance, high mobility efficiency, good flexibility, and a wide range of applications. However, it uses a worm gear motor as a drive motor and is directly connected to the wheels. The motor's working environment is relatively poor, the power transmission efficiency is low, and a single longitudinal arm suspension is used. The suspension method is not well matched with the vehicle body, and the driving smoothness is limited. Summary of the Invention

[0009] In order to solve the above problems, the present invention proposes an all-terrain mobile robot with a double wishbone vibration-damping suspension.

[0010] A double wishbone vibration-damping suspension all-terrain mobile robot, comprising:

[0011] Truss body modules;

[0012] Adjustable double wishbone damping suspension modules are distributed in pairs on both sides of the truss body module to enhance the body strength and stability of the mobile robot and adapt to walking in various terrain conditions;

[0013] The driving and shifting module is installed on the truss body module and can switch its own power to complete the switching of the mobile robot between the driving state and the neutral sliding state;

[0014] a torque self-balancing distribution module, carried on the truss body module and configured to cooperate with the same set of adjustable double wishbone damping suspension modules on both sides of the truss body module to optimize the distribution of the mobile robot's four-wheel drive torque to suppress steering body roll;

[0015] The underlying motion control system module is carried on the truss body module and cooperates with the adjustable double wishbone vibration damping suspension module, the drive gear module, and the torque self-balancing distribution module to realize the autonomous navigation and smooth walking of the mobile robot, and the loading and control of external working tools.

[0016] The truss body module includes a truss body, a shock absorber upper support fixing seat located on the top of the truss body, a shock absorber swing arm mounting plate located on the side of the truss body, and battery guardrails located on both sides of the middle of the truss body.

[0017] The adjustable double wishbone shock-absorbing suspension module includes an upper U-shaped swing arm and a lower U-shaped swing arm. One end of the upper U-shaped swing arm and the lower U-shaped swing arm is hinged to a bearing seat mounting plate. The ends of the upper U-shaped swing arm and the lower U-shaped swing arm away from the bearing seat mounting plate are hinged to the truss body module. A shock absorber lower support is slidably mounted on the upper U-shaped swing arm. A shock absorber is matched with the shock absorber lower support. The end of the shock absorber away from the shock absorber lower support is matched with the truss body module. The upper U-shaped swing arm is provided with a torsion bar joint mounting hinge that matches the torque self-balancing distribution module.

[0018] The drive shifting module includes a hole output reducer, a pulley electromagnetic clutch, a reducer mounting seat and a servo motor respectively connected to the two ends of the hole output reducer, a power module mounting seat cooperating with the reducer mounting seat, a transmission module for realizing drive and transmission isolation, and a wheel module for executing the driving force brought by the transmission module. An upper pulley shaft is provided between the wheel electromagnetic clutch and the hole output reducer.

[0019] The transmission module includes an angular contact ball bearing seat, an outer hub coupling that cooperates with the angular contact ball bearing seat, a universal joint connected to the outer hub coupling, a lower pulley shaft connected to the universal joint, and a deep groove ball bearing seat that cooperates with the lower pulley shaft. Power is transmitted between the lower pulley shaft and the upper pulley shaft through a synchronous belt mechanism.

[0020] The synchronous belt mechanism includes a group of synchronous pulleys respectively installed on the lower pulley shaft and the upper pulley shaft, a synchronous belt is provided between the synchronous pulleys, and a tensioning screw is provided between the reducer mounting seat and the power module mounting seat. The nut on the tensioning screw is adjusted to tighten the synchronous belt.

[0021] The torque self-balancing distribution module includes a controllable hydraulic damper, a torsion bar arranged at both ends of the controllable hydraulic damper, a torsion bar hinge joint connected to one end of the torsion bar and hinged to the corresponding torsion bar joint mounting hinge, a flange bushing slidingly matched with the torsion bar, and a torsion bar pressure block connected to the upper support fixing seat of the shock absorber.

[0022] The underlying motion control system module includes external sensors, an underlying motion controller, a scheduling system installed on the underlying motion controller, a cloud control interface, and a communication interface.

[0023] The external sensors include GPS, gyroscope, laser radar, binocular camera, RFID sensor installed on the outside of the bottom of the truss body, and magnetic navigation sensor.

[0024] The underlying motion controller includes an electronic control mounting board, a control panel, a central processing unit for receiving external signals, a chassis control board connected to the central processing unit, a voltage regulator for powering the central processing unit and the chassis control board, a servo driver connected to the chassis control board and the servo motor, a circuit breaker, and a DC contactor.

[0025] The beneficial effects of the present invention are as follows: the present invention reduces the weight of the vehicle body through the truss body module, improves the vehicle body rigidity, load-bearing performance, and space utilization; the present invention improves the vibration reduction effect and stability of the vehicle body through the adjustable double wishbone vibration-damping suspension module and the drive step module, adjusts the wheel camber angle, isolates the drive and transmission, improves the working environment of the power module, and improves the output torque utilization rate, thus solving the problem that the mobile robot is difficult to tow when it fails outdoors; the torque self-balancing distribution module designed by the present invention effectively prevents vehicle body roll and attenuates vibration caused by road excitation. According to real-time monitoring data of wheel torque, the stiffness of the torque self-balancing distribution module is adjusted by controlling the damping parameters of the controllable hydraulic damper, increasing the thrust of the torsion bar on the vibration-damping swing arm to increase the positive pressure of the wheel on the ground, increasing the friction between the wheel and the ground, while also accelerating the rebound speed of the wheel, reducing the torque difference between the two wheels, optimizing the distribution of the torque of the mobile robot's four-wheel drive, improving the load capacity under steering and self-rotation conditions, effectively suppressing vehicle body roll during steering, suppressing vibration, and enhancing off-road performance; the present invention expands functionality through the underlying motion control system module, reduces user difficulty, and facilitates secondary development. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] The present invention will be further described below with reference to the accompanying drawings and examples.

[0027] Figure 1 It is a schematic diagram of the three-dimensional structure of the present invention;

[0028] Figure 2 This is a schematic diagram of the three-dimensional structure of the present invention after removing the shell;

[0029] Figure 3 For the present invention Figure 2 Schematic diagram of a partially enlarged three-dimensional structure of I;

[0030] Figure 4 For the present invention Figure 2 Schematic diagram of the partially enlarged three-dimensional structure of II;

[0031] Figure 5 For the present invention Figure 2 Schematic diagram of the partially enlarged three-dimensional structure of III;

[0032] Figure 6 It is a bottom view schematic diagram of the overall structure of the present invention;

[0033] Figure 7 This is a cross-sectional view of the drive step module structure in the present invention;

[0034] Figure 8 It is a schematic diagram of the three-dimensional structure of the drive step module in the present invention;

[0035] Figure 9This is a module layout diagram of the bottom-level motion control system in the present invention;

[0036] Figure 10 It is a schematic diagram of the local structure of the bottom-layer motion control system in the present invention;

[0037] Figure 11 It is a schematic diagram of the partial structure of the adjustable double wishbone damping suspension module of the present invention;

[0038] Figure 12 This is a schematic diagram of the local structure of the torque self-balancing distribution module in the present invention;

[0039] Figure 13 This is a schematic diagram of the partial three-dimensional structure of the drive step module in the present invention;

[0040] Figure numerals: 1. Truss body module; 101. Bumper; 102. Truss body; 103. Vibration damping arm mounting plate; 104. Vibration absorber upper support fixing seat; 105. Power module mounting seat; 106. Roof loading rack; 107. Battery guardrail; 2. Adjustable double wishbone vibration damping suspension module; 201. Vibration damping arm lower support; 202. Adjustable swing arm hinge; 203. Torsion bar joint mounting hinge; 204. Lower U-shaped swing arm; 205. Vibration damping arm upper support ; 206, upper U-shaped swing arm; 207, shock absorber lower support; 208, shock absorber; 209, shock absorber upper support; 210, locking electric slide; 3, drive step module; 301, upper pulley shaft; 302, tensioning screw; 303, synchronous pulley; 304, synchronous belt; 305, hole output reducer; 306, servo motor; 307, reducer mounting seat; 308, electromagnetic clutch; 309, universal joint; 310, deep groove ball bearing seat; 311, lower Pulley shaft; 312, outer hub coupling; 313, angular contact ball bearing seat; 314, bearing seat mounting plate; 315, tire; 316, wheel hub; 4, torque self-balancing distribution module; 401, torsion bar hinge joint; 402, torsion bar; 403, flange bushing; 404, torsion bar pressure block; 405, controllable hydraulic damper; 5, bottom motion control system module; 501, electronic control mounting plate; 502, laser radar; 503, GPS protective shell; 504, control Panel; 505, gyroscope support rod; 506, binocular camera; 507, support rod base plate; 508, camera bracket; 509, headlight; 510, magnetic navigation sensor; 511, central processing unit; 512, chassis control board; 513, voltage regulator; 514, servo drive; 515, circuit breaker; 516, headlight bracket; 517, DC contactor; 518, RFID sensor; 519, GPS; 520, gyroscope; 521, battery. DETAILED DESCRIPTION

[0041] In order to make the technical means, creative features, objectives and effects achieved by the present invention easier to understand, the present invention is further described below.

[0042] like Figures 1 to 13 As shown, a double wishbone vibration-damping suspension all-terrain mobile robot comprises:

[0043] Truss body module 1;

[0044] Adjustable double wishbone damping suspension modules 2 are distributed in pairs on both sides of the truss body module 1 to enhance the body strength and stability of the mobile robot and adapt to walking in various terrain conditions;

[0045] The driving and shifting module 3 is installed on the truss body module 1 and can switch its own power to complete the switching between the driving state and the neutral sliding state of the mobile robot;

[0046] a torque self-balancing distribution module 4, carried on the truss body module 1 and configured to cooperate with the same set of adjustable double wishbone damping suspension modules 2 on both sides of the truss body module 1 to optimize the distribution of the mobile robot's four-wheel drive torque to suppress the body roll during steering;

[0047] The underlying motion control system module 5 is carried on the truss body module 1 and cooperates with the adjustable double wishbone vibration damping suspension module 2, the drive shift module 3, and the torque self-balancing distribution module 4 to realize the autonomous navigation and smooth walking of the mobile robot and the loading and control of external working tools.

[0048] The torque self-balancing distribution module 4 is used to optimize the distribution of the torque of the mobile robot's four-wheel drive, effectively suppress the vibration caused by body roll and road excitation during steering, improve the load capacity under steering and rotation conditions, and enhance off-road performance.

[0049] Specifically, in the present invention, the weight of the vehicle body is reduced by the truss vehicle body module 1, and the rigidity, load-bearing performance and space utilization of the vehicle body are improved; the vibration reduction effect and stability of the vehicle body are improved by the adjustable double wishbone damping suspension module 2 and the drive step module 3, the camber angle of the wheel is adjusted, the drive and the transmission can be isolated, the working environment of the power module is improved, the output torque utilization rate is increased, and the problem that the mobile robot is difficult to tow when it fails outdoors is solved; the torque self-balancing distribution module 4 designed by the present invention can effectively prevent the vehicle body from rolling, attenuate the vibration caused by road excitation, and monitor the wheel torque in real time. By controlling the damping parameters of the controllable hydraulic damper, the stiffness of the torque self-balancing distribution module 4 is adjusted, and the thrust of the torsion bar on the shock-absorbing swing arm is increased to increase the positive pressure of the wheel on the ground, thereby increasing the friction between the wheel and the ground. At the same time, the rebound speed of the wheel is accelerated, the torque difference between the two wheels is reduced, the torque distribution of the mobile robot's four-wheel drive is optimized, and the load capacity under steering and self-rotation conditions is improved. The body roll during steering is effectively suppressed, vibration is suppressed, and off-road performance is enhanced. In addition, the functionality is expanded through the underlying motion control system module, which reduces the difficulty of use for users and facilitates secondary development.

[0050] like Figure 2 、 Figure 5 As shown, the truss body module 1 includes a truss body 102, a roof cargo rack 106 located at the middle top of the truss body 102, shock absorber upper support fixing seats 104 arranged at both ends of the roof cargo rack 106 and located at the top of the truss body 102, bumpers 101 located at the front and rear ends of the truss body 102, shock absorber swing arm mounting plates 103 located on the sides of the truss body 102, and battery guardrails 107 located on both sides of the middle of the truss body 102.

[0051] like Figure 2 、 Figure 3 、 Figure 5 、 Figure 11 As shown, the adjustable double wishbone damping suspension module 2 includes a damping swing arm lower support 201, an adjustable swing arm hinge 202 hinged to the damping swing arm lower support 201, an upper U-shaped swing arm 206 threadedly connected to the adjustable swing arm hinge 202, a lower U-shaped swing arm 204, a locking electric slide rail 210 installed on the inner side of the upper U-shaped swing arm 206 and the lower U-shaped swing arm 204, a damping swing arm upper support 205 installed at the U-shaped open end of the upper U-shaped swing arm 206 and the lower U-shaped swing arm 204, a bearing seat mounting plate 314 connected to the damping swing arm lower support 201, a shock absorber lower support 207 installed on the upper U-shaped swing arm 206, and a torsion bar joint mounting hinge 203.

[0052] like Figure 1 、 Figure 2 and Figure 11As shown, one end of the upper U-shaped swing arm 206 and the lower U-shaped swing arm 204 is hinged to the bearing seat mounting plate 314, and one end of the upper U-shaped swing arm 206 and the lower U-shaped swing arm 204 away from the bearing seat mounting plate 314 is hinged to the truss body module 1, the upper U-shaped swing arm 206 is slidably matched with the shock absorber lower support 207, and the shock absorber lower support 207 is matched with the shock absorber 208, and the end of the shock absorber 208 away from the shock absorber lower support 207 is matched with the truss body module 1, and the upper U-shaped swing arm 206 is provided with a torsion bar joint mounting hinge 203 that cooperates with the torque self-balancing distribution module 4.

[0053] The upper U-shaped swing arm 206 and the torque self-balancing distribution module 4 are hingedly matched.

[0054] The U-shaped closed ends of the upper U-shaped swing arm 206 and the lower U-shaped swing arm 204 are threadedly connected to the adjustable swing arm hinge 202 .

[0055] Specifically, in the present invention, the arm lengths of the upper U-shaped swing arm 206 and the lower U-shaped swing arm 204 are adjusted by rotating the adjustable swing arm hinge 202 to adjust the camber angle of the wheel to reduce the steering force of the mobile robot; the swing arm inclination angle is adjusted by adjusting the locking electric slide rail 210 to adjust the working angle of the universal joint 309 to ensure effective utilization of the output power. At the same time, when there is sufficient power, the swing arm inclination angle is increased to increase the ground clearance of the chassis and improve the passability of the mobile robot.

[0056] Based on the above technology, when driving on complex roads, the wheels are excited by the ground, and the force is transmitted to the adjustable double-wishbone vibration-damping suspension module 2 through the wheel module. After passing through the shock absorber 208, the vibration caused by the road excitation will be effectively suppressed, and the force on the truss body module 1 will be reduced, thereby improving the stability of the truss body module 1.

[0057] like Figure 3 As shown, both ends of the shock absorber lower support 207 are respectively connected to the sliders on the locking electric slide rail 210, the shock absorber upper support 209 is installed on the shock absorber upper support fixing seat 104, and the shock absorber 208 is installed on the shock absorber upper support 209 and the shock absorber lower support 207.

[0058] like Figure 2 、 Figure 4 and Figure 8As shown, the drive stepping module 3 includes a hole output reducer 305, a reducer mounting seat 307 respectively connected to both ends of the hole output reducer 305, a servo motor 306, a power module mounting seat 105 connected to one end of the reducer mounting seat 307 and rotatable, a pulley electromagnetic clutch 308 distributed on the outside of the reducer mounting seat 307, batteries 521 installed on both sides of the middle of the truss body 102, a transmission module for realizing drive and transmission isolation, and a wheel module for executing the driving force brought by the transmission module. An upper pulley shaft 301 is provided between the wheel electromagnetic clutch 308 and the hole output reducer 305.

[0059] Specifically, the power is transmitted to the hole output reducer 305 through the servo motor 306, and then to the pulley electromagnetic clutch 308. The pulley electromagnetic clutch 308 transmits the power to the lower pulley shaft 311 through the synchronous belt 304, and then transmits the power to the outer hub coupling 312 through the universal joint 309, and finally transmits it to the wheel; the clutch of the pulley electromagnetic clutch 308 is controlled to disconnect the power output, so as to realize the neutral walking of the mobile robot.

[0060] The batteries 521 are installed on both sides of the middle of the truss body 102 and inside the battery guardrail 107. The batteries 521 are directly connected to the servo motor 306 for power supply.

[0061] like Figure 7 As shown, the transmission module includes an angular contact ball bearing seat 313 installed on a bearing seat mounting plate 314, an outer hub coupling 312 matched with the angular contact ball bearing seat 313, a universal joint 309 connected to the outer hub coupling 312, a lower pulley shaft 311 connected to the universal joint 309 at one end, and a deep groove ball bearing seat 310 matched with the lower pulley shaft 311. Power is transmitted between the lower pulley shaft 311 and the upper pulley shaft 301 through a synchronous belt mechanism; the deep groove ball bearing seat 310 is provided with three groups, the first group is connected to the vibration damping swing arm mounting plate 103, the second group is connected to the reducer mounting seat 307, and the third group is matched with the upper pulley shaft 301.

[0062] The synchronous belt mechanism includes a group of synchronous pulleys 303 respectively installed on the lower pulley shaft 311 and the upper pulley shaft 301, a synchronous belt 304 is provided between the synchronous pulleys 303, the synchronous belt 304 is connected to the pulley electromagnetic clutch 308, and a tensioning screw 302 is provided between the reducer mounting seat 307 and the power module mounting seat 105. The nut on the tensioning screw 302 is adjusted to tighten the synchronous belt 304.

[0063] The wheel module includes a tire 315 and a hub 316 disposed on the tire 315 .

[0064] like Figure 5 and Figure 12As shown, the torque self-balancing distribution module 4 includes a controllable hydraulic damper 405, a torsion bar 402 arranged at both ends of the controllable hydraulic damper 405, a torsion bar hinge joint 401 connected to one end of the torsion bar 402 and hinged to the corresponding torsion bar joint mounting hinge 203, a flange bushing 403 slidingly matched with the torsion bar 402, and a torsion bar pressure block 404 connected to the shock absorber upper support fixing seat 104. The flange bushing 403 is matched with the other end of the shock absorber upper support fixing seat 104.

[0065] Based on the above technology, when the wheel module is subjected to impact force from the ground, the wheel module will bounce up, reducing the pressure between the wheel module and the ground and reducing the friction. At this time, the output current of the servo motor 306 will be displayed on the control panel 504, and the damping speed of the controllable hydraulic damper 405 will increase, which will give the wheel module a downward thrust to increase the friction or make the wheel module rebound quickly, realizing automatic torque distribution while also increasing the controllability of the mobile robot.

[0066] The underlying motion control system module 5 includes an external sensor installed on the top of the truss body 102, an underlying motion controller installed on the bottom of the truss body 102, a scheduling system installed on the underlying motion controller, a cloud control interface, and a communication interface.

[0067] like Figure 2 、 Figure 9 、 Figure 10 As shown, the external sensors include a strut base plate 507 installed at the top front end of the truss body 102, a gyroscope strut 505 installed on the strut base plate 507, a camera bracket 508, a GPS 519 arranged on the gyroscope strut 505, a gyroscope 520, a lidar 502, a binocular camera 506 arranged on the camera bracket 508, a headlight bracket 516 arranged at the front end of the truss body 102, a headlight 509 installed on the headlight bracket 516, an RFID sensor 518 installed on the outside of the bottom of the truss body 102, and a magnetic navigation sensor 510.

[0068] Specifically, the gyroscope 520 is an electronic compass.

[0069] Specifically, the GPS 519 is provided with a GPS protective shell 503 .

[0070] like Figure 9 and 10As shown, the bottom motion controller includes an electric control mounting plate 501 installed on the inner side of the bottom of the truss body 102, a control panel 504 installed above the battery guardrail 107, a central processing unit 511 set on the electric control mounting plate 501 for receiving external signals, a chassis control board 512 connected to the central processing unit 511, a voltage regulator 513 for supplying power to the central processing unit 511 and the chassis control board 512, a servo driver 514 connected to the chassis control board 512 and the servo motor 306, a circuit breaker 515, and a DC contactor 517.

[0071] The central processing unit 511 is used to receive external signals and send instructions to the chassis control board 512. The chassis control board 512 controls the servo driver 514 to operate the servo motor 306 to achieve the purpose of accurately controlling the mobile robot.

[0072] The basic principles, main features, and advantages of the present invention are shown and described above. Those skilled in the art should understand that the present invention is not limited to the foregoing embodiments. The foregoing embodiments and description merely illustrate the principles of the present invention. Various changes and modifications may be made to the present invention without departing from the spirit and scope of the present invention. Such changes and modifications are intended to fall within the scope of the present invention. The scope of protection claimed in the present invention is defined by the appended claims and their equivalents.

Claims

1. An all-terrain mobile robot with a double wishbone vibration-damping suspension, characterized by: include: Truss body module (1); Adjustable double wishbone damping suspension modules (2) are distributed in pairs on both sides of the truss body module (1) to enhance the body strength and stability of the mobile robot and adapt to walking in multiple terrain conditions; A driving and shifting module (3) is installed on the truss body module (1) and can switch its own power on and off to complete the switching between the driving state and the neutral sliding state of the mobile robot; A torque self-balancing distribution module (4) is carried on the truss body module (1) and is configured to cooperate with the same set of adjustable double wishbone damping suspension modules (2) on both sides of the truss body module (1) to optimize the distribution of the mobile robot's four-wheel drive torque to suppress the steering body roll; The bottom motion control system module (5) is carried on the truss body module (1) and cooperates with the adjustable double wishbone damping suspension module (2), the drive step module (3), and the torque self-balancing distribution module (4) to realize the autonomous navigation and smooth walking of the mobile robot and the loading and control of external working tools; The adjustable double wishbone type vibration damping suspension module (2) comprises an upper U-shaped swing arm (206), a lower U-shaped swing arm (204), and a locking electric slide rail (210) installed inside the upper U-shaped swing arm (206) and the lower U-shaped swing arm (204); one end of the upper U-shaped swing arm (206) and the lower U-shaped swing arm (204) is hinged to a bearing seat mounting plate (314); the upper U-shaped swing arm (206) and the lower U-shaped swing arm (204) are away from the bearing seat mounting plate (314). One end of the upper U-shaped swing arm (206) is hinged to the truss body module (1); a shock absorber lower support (207) is slidably mounted on the upper U-shaped swing arm (206); a shock absorber (208) is matched with the shock absorber lower support (207); an end of the shock absorber (208) away from the shock absorber lower support (207) is matched with the truss body module (1); and a torsion bar joint mounting hinge (203) matched with the torque self-balancing distribution module (4) is provided on the upper U-shaped swing arm (206).

2. The double wishbone damping suspension all-terrain mobile robot according to claim 1, characterized in that: The truss body module (1) comprises a truss body (102), a shock absorber upper support fixing seat (104) located at the top of the truss body (102), a shock absorber swing arm mounting plate (103) located at the side of the truss body (102), and battery guardrails (107) located on both sides of the middle of the truss body (102).

3. The double wishbone damping suspension all-terrain mobile robot according to claim 1, characterized in that: The driving and shifting module (3) comprises a hole output reducer (305), a pulley electromagnetic clutch (308), a reducer mounting seat (307) and a servo motor (306) respectively connected to both ends of the hole output reducer (305), a power module mounting seat (105) matched with the reducer mounting seat (307), a transmission module for achieving drive and transmission isolation, and a wheel module for executing the driving force brought by the transmission module. An upper pulley shaft (301) is provided between the wheel electromagnetic clutch (308) and the hole output reducer (305).

4. The double wishbone damping suspension all-terrain mobile robot according to claim 3, characterized in that: The transmission module comprises an angular contact ball bearing seat (313), an outer hub coupling (312) matched with the angular contact ball bearing seat (313), a universal joint (309) connected to the outer hub coupling (312), a lower pulley shaft (311) connected to the universal joint (309), and a deep groove ball bearing seat (310) matched with the lower pulley shaft (311); power is transmitted between the lower pulley shaft (311) and the upper pulley shaft (301) via a synchronous belt mechanism.

5. The double wishbone damping suspension all-terrain mobile robot according to claim 4, characterized in that: The synchronous belt mechanism includes a group of synchronous pulleys (303) respectively mounted on the lower pulley shaft (311) and the upper pulley shaft (301), a synchronous belt (304) is arranged between the synchronous pulleys (303), a tensioning screw (302) is arranged between the reducer mounting seat (307) and the power module mounting seat (105), and a nut on the tensioning screw (302) is adjusted to tension the synchronous belt (304).

6. The double wishbone damping suspension all-terrain mobile robot according to claim 1, characterized in that: The torque self-balancing distribution module (4) comprises a controllable hydraulic damper (405), a torsion bar (402) provided at both ends of the controllable hydraulic damper (405), a torsion bar hinge joint (401) connected to one end of the torsion bar (402) and hinged to a corresponding torsion bar joint mounting hinge (203), a flange bushing (403) slidingly engaged with the torsion bar (402), and a torsion bar pressing block (404) connected to a shock absorber upper support fixing seat (104).

7. The double wishbone damping suspension all-terrain mobile robot according to claim 2, characterized in that: The bottom-level motion control system module (5) includes an external sensor, a bottom-level motion controller, a scheduling system installed on the bottom-level motion controller, a cloud control interface, and a communication interface.

8. The double wishbone damping suspension all-terrain mobile robot according to claim 7, characterized in that: The external sensors include a GPS (519), a gyroscope (520), a laser radar (502), a binocular camera (506), an RFID sensor (518) installed on the outside of the bottom of the truss body (102), and a magnetic navigation sensor (510).

9. The double wishbone damping suspension all-terrain mobile robot according to claim 8, characterized in that: The bottom motion controller comprises an electric control mounting plate (501), a control panel (504), a central processing unit (511) for receiving external signals, a chassis control board (512) connected to the central processing unit (511), a voltage stabilizing source (513) for supplying power to the central processing unit (511) and the chassis control board (512), a servo driver (514) connected to the chassis control board (512) and the servo motor (306), a circuit breaker (515), and a DC contactor (517).

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