An active legged robot with suspension damping function

Abstract

The application relates to an active action wheel-foot robot with a suspension damping function, which comprises a body frame, a flexible spine and a wheel-leg structure, the flexible spine is installed in the body frame and on the wheel-leg structure, and the wheel-leg structure is installed on the two sides of the body frame; the flexible spine comprises spring dampers, synchronous transmission shafts and hydraulic damping actuators, the synchronous transmission shafts pass through the leg supporting blocks at the front end and the rear end of the frame; the hydraulic damping actuators comprise hydraulic driving parts and damping parts; one end of the spring dampers is fixed to the synchronous transmission shafts, the other ends of the two spring dampers are connected with the hydraulic driving parts of the hydraulic damping actuators respectively, and the damping parts of the hydraulic damping actuators are fixed to supporting plates. Compared with the prior art, the application improves the adaptability of the robot to various terrains, solves the under-damping problem of the hydraulic valve control cylinder system, realizes the suspension damping function, effectively reduces the body vibration, and improves the system stability during rapid movement.

Description

Technical Field

[0001] This invention belongs to the field of robotics technology and relates to an active, wheeled, legged robot with suspension and vibration reduction functions. Background Technology

[0002] Wheel-legged robots replace the legs of legged robots with wheel hubs, allowing the robot to move by rolling on the ground while retaining the mechanical leg moving parts. This structure not only leverages the advantages of legged robots—discrete footholds for adapting to complex and rugged terrain—but also combines the advantages of wheeled robots—high speed and efficiency for rapid movement on flat surfaces. This expands the application scenarios and operational range of robots, and has become a research hotspot for robotics scholars both domestically and internationally in recent years. However, wheel-legged robots consist entirely of rigid structural components from the wheel hubs to the body, lacking the necessary suspension and shock absorption systems of wheeled robots. Therefore, if a wheel-legged robot adopts a wheeled locomotion mode, at higher speeds on uneven surfaces or when falling from a certain height, the vibrations from the wheels to the ground will be directly transmitted to the body through the leg structure, causing significant vibrations. This can severely impact the lifespan of body components and even lead to tipping over, affecting the overall stability of movement.

[0003] Patent CN110667724A discloses an all-terrain mobile robot, including a robot skeleton and one or more mechanical leg assemblies mounted on the robot skeleton. The mechanical leg assembly includes a hip joint assembly, a thigh assembly, a lower leg assembly, and a movement assembly. The thigh assembly is connected to the robot skeleton via the hip joint assembly. One end of the lower leg assembly is connected to the thigh assembly, and the other end is connected to the movement assembly. Although this patent uses a wheel-leg combination to improve terrain adaptability, the leg drive joints are driven by motors, reducing the robot's load capacity and limiting its application under heavy load conditions. Furthermore, the leg joints in this patent lack shock absorption; if traveling at high speed in wheeled mode, uneven surfaces will cause significant vibrations to the robot body, affecting not only the robot's motion control accuracy but also reducing the lifespan of various components.

[0004] Patent CN220302625U discloses a hydraulic leg based on a variable-channel magnetorheological damper, mainly comprising hydraulic damping actuators for the thigh and calf, a thigh guard plate, and a calf. The hydraulic damping actuators for the thigh and calf are respectively connected in series by a hydraulic actuator and a magnetorheological damper through a shared end cap and piston rod. The hydraulic actuator drives the movement of the hydraulic leg, and the magnetorheological damper reduces displacement errors caused by vibration and impact during movement. The magnetorheological damper includes a variable-damping piston, a piston rod, and a damping sleeve. The variable-damping piston consists of a multi-stage flow channel damping ring and a variable damping structure. The damping adjustment function after current flow or current cut-off is achieved by changing the gap between the inner wall of the damping sleeve and the damping piston. The variable damping structure consists of a return spring and a compressible rubber ring. However, this patent does not use a wheel structure and lacks rapid movement capability. At the same time, the damping part of this patent is a single-rod structure, so the volume of the left and right cavities of the damping piston cannot be balanced during movement, which seriously affects the displacement control accuracy of the drive joint. Summary of the Invention

[0005] The purpose of this invention is to overcome at least one of the defects of the prior art and provide an active wheeled robot with suspension and vibration reduction function. This invention improves the robot's ability to adapt to various terrains, solves the underdamping problem of the hydraulic valve control cylinder system, and realizes the suspension and vibration reduction function, effectively reducing body vibration and improving system stability during rapid movement.

[0006] The objective of this invention can be achieved through the following technical solutions:

[0007] One of the technical solutions of the present invention is to provide an active wheeled robot with suspension and vibration reduction function. The wheeled robot includes a body frame, a flexible spine and wheel leg structures. The flexible spine is installed inside the body frame and on the wheel leg structures. The wheel leg structures are installed on both sides of the body frame for supporting the entire body structure.

[0008] The fuselage frame includes a main frame and leg support blocks fixed at the four corners of the frame. The leg support blocks at the front and rear ends of the frame are connected by sub-tube frames to reinforce the fuselage frame. Support plates are provided between the sub-tube frames.

[0009] The flexible spine includes a spring shock absorber, a synchronous drive shaft, and a hydraulic damping actuator, with the synchronous drive shaft passing through the leg support blocks at the front and rear ends of the frame;

[0010] The hydraulic damping actuator includes a hydraulic drive part and a damping part. The hydraulic drive part realizes the extension and retraction movement of the piston rod, and the damping part realizes the resistance to the movement of the piston rod.

[0011] One end of the spring damper is fixed to the synchronous transmission shaft, and the other ends of the two spring dampers are respectively connected to the hydraulic drive part of the hydraulic damping actuator. The extension / retraction of the hydraulic drive part will drive the extension / retraction of the spring damper. The damping part of the hydraulic damping actuator is vertically fixed to the support plate.

[0012] The wheel-leg structure includes a leg structure and a wheel structure, with the wheel structure mounted at the end of the leg structure.

[0013] As a preferred technical solution, the framework of the main structure adopts a square frame.

[0014] As a preferred technical solution, the main tube frame is made of square tube, and the secondary tube frame is made of round tube.

[0015] As a preferred technical solution, the leg support blocks at the front and rear ends of the frame are provided with through holes, through which the synchronous transmission shaft passes and can rotate freely.

[0016] As a preferred technical solution, one end of the spring damper is vertically fixed to the middle of the synchronous transmission shaft, and the other end is provided with a through hole, which is parallel to the axis of the synchronous transmission shaft.

[0017] The hydraulic drive part of the hydraulic damping actuator is connected to two spring shock absorbers via hinges. The hinges are installed in the through holes of the spring shock absorbers. The damping part of the hydraulic damping actuator is vertically fixed to the support plate.

[0018] As a preferred technical solution, the wheel structure includes a hub motor bracket and a hub motor. The hub motor bracket is installed at the end of the lower leg, the stator of the hub motor is installed on the hub bracket, the rotor rotates freely around the stator, and a tire is nested on the outside of the rotor.

[0019] Furthermore, the wheel-leg structure also includes a hydraulic damping actuator;

[0020] The leg structure includes a thigh and a lower leg. The thigh is connected to the fuselage frame via a flange at the hip joint, and the lower leg is connected to the thigh via a knee joint.

[0021] A hydraulic damping actuator is provided between the thigh and the calf. The hydraulic drive part of the hydraulic damping actuator is connected to the calf to drive the knee joint to generate rotational movement, and the damping part is connected to the thigh to play a buffering role to resist the contact force between the foot and the ground.

[0022] Furthermore, the wheel-leg structure also includes a hydraulic swing cylinder, and a hydraulic swing lever is provided at the hip joint;

[0023] Flanges are installed at both ends of the synchronous drive shaft, on the outside of the leg support block. The flanges rotate together with the synchronous drive shaft, and the hydraulic swing cylinder is fixed to the outside of the flanges.

[0024] As a preferred technical solution, the hydraulic swing cylinder is fixed to the outside of the flange by nuts and bolts.

[0025] As a preferred technical solution, when the hydraulic damping actuator retracts, the spring shock absorber retracts through the hinge and drives the synchronous transmission shaft to rotate around the through hole axis of the leg support block by a certain angle. Then, the synchronous transmission shaft drives the mechanical leg to rotate by a certain angle through the flange.

[0026] When the hydraulic damping actuator extends, the spring shock absorber extends through the hinge and drives the synchronous transmission shaft to rotate around the through hole axis of the leg support block by a certain angle. Then, the synchronous transmission shaft drives the mechanical leg to rotate by a certain angle through the flange.

[0027] As a preferred technical solution, when the wheel-legged robot performs a jumping or running gait, the hip and knee joints of the rear mechanical leg move in coordination, causing the mechanical leg to swing backward. By adjusting the piston rod of the hydraulic damping actuator in the body frame to retract, and driving the spring damper to retract through the hinge, the synchronous transmission shaft and flange rotate in the same direction as the swing direction of the mechanical leg, thereby accelerating the swing speed of the mechanical leg. At the same time, the retracted spring damper has greater stiffness, which improves the jumping speed when performing a jumping or running gait. After the piston rod moves rapidly, in order to suppress the elastic jitter between the spring damper and the hydraulic damping actuator, the movement of the damping piston is suppressed, thereby suppressing the movement of the piston rod, reducing the mechanical leg jitter caused by elastic jitter when the wheel-legged robot is in the air after jumping.

[0028] When the wheel-legged robot lands, the hip and knee joints of the front half of the mechanical leg coordinate to swing backward, while the hip and knee joints of the rear half of the mechanical leg coordinate to swing forward. At this time, the piston rod of the hydraulic damping actuator in the rapid adjustment frame extends, and drives the spring shock absorber to extend through the hinge. This causes the synchronous transmission shaft and flange to rotate in the same direction as the swinging direction of the mechanical leg, thereby accelerating the swinging speed of the mechanical leg. At the same time, the extended spring shock absorber has low stiffness, which improves the overall flexibility of the wheel-legged robot after landing. After the piston rod moves rapidly, in order to suppress the elastic vibration between the spring shock absorber and the hydraulic damping actuator, the movement of the damping piston is suppressed, thereby suppressing the movement of the piston rod and reducing the mechanical leg shaking caused by elastic vibration after the wheel-legged robot lands.

[0029] As a preferred technical solution, the hydraulic drive part of the hydraulic swing cylinder and the hydraulic damping actuator on the wheel leg structure mainly enables the leg structure to drive the robot body over rugged and complex terrain, and realize complex gaits such as running and jumping; the hub motor enables the robot to walk quickly on the road through rotational motion, and realizes the steering function through the differential speed of the left and right wheels, reducing the side swing joint; the damping part of the hydraulic damping actuator mainly suppresses the shaking of the hydraulic drive part when it is working through the generated damping force, and can also play a buffering role when the robot lands.

[0030] As a preferred technical solution, the suppression of vibration in the hydraulic drive section means that when the wheel-legged robot walks in a hydraulically driven gait, the contact force between the foot and the bottom surface is transmitted to the piston rod through the thigh and calf structures, which in turn causes the piston rod to vibrate; the damping section generates the required damping force, which suppresses the displacement of the damping piston and thus suppresses the vibration of the piston rod.

[0031] As a preferred technical solution, the buffering effect refers to the following: when the wheel-legged robot is driven by a hub motor, if it falls on a rough or bumpy road or from a certain height, the hydraulic damping actuator on the wheel-leg structure acts as a suspension shock absorber. The hydraulic drive part adapts to the impact force received by the leg structure, giving the robot body a certain degree of compliance, thereby buffering the robot body; the damping part generates a certain damping force, which consumes the inertia of the robot body during vibration and reduces system vibration.

[0032] Furthermore, the hydraulic drive part includes a piston rod, an end cap, a cylinder barrel, and a piston. The cylinder barrel is open at one end and closed at the other end. The piston rod extends through the closed end of the cylinder barrel, and the end cap is embedded in the open end of the cylinder barrel.

[0033] The piston is sleeved on the piston rod and disposed inside the cylinder.

[0034] As a preferred technical solution, the closed end of the cylinder barrel is provided with a through hole in the axial direction, and the piston rod extends through the through hole.

[0035] As a preferred technical solution, the piston and piston rod are an integral structure, the piston rods at both ends of the piston have the same diameter, and the oil ports of the hydraulic drive part are located on the sides of both ends of the cylinder.

[0036] Furthermore, the damping part is disposed at the closed end of the cylinder barrel and includes a damping cylinder barrel, a guide rod, a damping end cap and a damping piston, wherein the damping cylinder barrel is nested on the cylinder barrel;

[0037] The damping piston and the hydraulic cylinder piston share a single piston rod;

[0038] One end of the damping end cap is nested on the damping cylinder;

[0039] The guide rod is connected to the damping piston and extends through the damping end cap.

[0040] As a preferred technical solution, the damping end cap surface is provided with through holes and bolt holes;

[0041] One end of the double-ended bolt is connected to the cylinder barrel, and the other end passes through the bolt hole of the damping end cap and is tightened by a nut;

[0042] The guide rod extends through the through hole of the damping end cap, and the end of the guide rod does not coincide with the through hole of the support base.

[0043] As a preferred technical solution, the guide rod is disposed at one end of the second end cover of the damping piston and is fixed to the outer side of the axis of the second end cover of the damping piston by threads.

[0044] Furthermore, the damping part also includes a balance bar, which passes through the damping piston and is nested inside the piston rod, and can move freely inside the piston rod. The other end of the balance bar is fixed to the damping end cap.

[0045] The sum of the cross-sectional areas of the balance bar and the guide bar is equal to the cross-sectional area of ​​the piston rod including the internal cavity, thus achieving volume balance between the left and right cavities of the damping piston.

[0046] As a preferred technical solution, the other end of the balance bar is fixed to the damping end cap by a threaded connection.

[0047] As a preferred technical solution, the balance bar can be replaced with an LVDT linear displacement sensor according to control requirements, making the hydraulic damping actuator structure more compact.

[0048] Furthermore, a fisheye bearing is provided as a connecting end at the end of the piston rod that extends through the end cover;

[0049] One end of the damping end cap is provided with a support base as a connection end.

[0050] As a preferred technical solution, the end cap has a through hole, and the end of the piston rod that extends through the through hole is provided with a fisheye bearing as a connecting end. The fisheye bearing has a through hole, and the axis of the through hole is parallel to the end cap surface.

[0051] As a preferred technical solution, the support base is provided with a through hole, the axis of which is parallel to the end cover surface.

[0052] Furthermore, the damping piston is disposed inside the damping cylinder and includes a first end cap of the damping piston, a magnetic shielding sleeve, a second end cap of the damping piston, a coil support, a magnetic shielding ring, and a magnetic guide ring. The first end cap and the second end cap of the damping piston are disposed at both ends of the coil support, and the first end cap and the second end cap of the damping piston are sealed together by the magnetic shielding sleeve. A magnetic guide ring and a magnetic shielding ring are disposed between the coil support and the magnetic shielding sleeve.

[0053] The coil support is wound with a coil winding. After current is applied, the coil winding generates a magnetic field in the magnetorheological fluid channel, which in turn causes the magnetorheological fluid to produce a magnetorheological effect, thereby hindering the flow of the magnetorheological fluid at both ends of the damping piston inside the damping piston; the force that hinders the movement of the damping piston is called the damping force.

[0054] Magnetorheological fluids exhibit magnetorheological effects, transforming from a fluid state to a solid-like state under the influence of a magnetic field. This transformation is rapid, reversible, and controllable. Therefore, magnetorheological dampers made from magnetorheological fluids can exhibit superior performance even with relatively small excitation currents, and they have already found wide applications in aerospace, civil engineering, and vehicle suspension systems. Extending the application of magnetorheological dampers to the hydraulic systems of wheeled robots to achieve compliant motion holds significant potential value.

[0055] As a preferred technical solution, the connection between the first end cap and the second end cap of the damping piston and the magnetic shielding sleeve and coil support is sealed by a sealing ring.

[0056] As a preferred technical solution, both the magnetic ring and the coil support are made of magnetically conductive materials, forming a closed magnetic field when the coil winding is energized.

[0057] Furthermore, the first end cap and the second end cap of the damping piston are provided with annular holes, and the magnetic guide ring and the magnetic isolation ring are provided with inner and outer layers. The gap between the inner and outer layers and the annular holes of the first end cap and the second end cap of the damping piston together form a magnetorheological fluid flow channel.

[0058] As a preferred technical solution, the inner and outer layers of the magnetic conductive ring and the magnetic insulating ring are both arranged on the same axis.

[0059] Furthermore, the alternating distribution of the magnetic conductive ring and the magnetic insulating ring creates an S-shaped meandering magnetic field within the magnetorheological fluid flow channel, thereby improving the magnetic field utilization rate.

[0060] One of the technical solutions of the present invention is to provide a working mode for an active wheeled robot with suspension and vibration reduction function, including the following conditions:

[0061] First, adjust the piston rod extension position of the hydraulic damping actuator in the body frame according to the required application conditions, and then adjust the spring damper to the optimal stiffness under the conditions; then, adjust the multi-degree-of-freedom mechanical legs to put the wheel-legged robot in a supported state.

[0062] The wheel-legged robot uses a hydraulically driven gait: When the wheel-legged robot performs a jumping or running gait, the hip and knee joint actuators of the rear mechanical leg coordinate their movements, causing the mechanical leg to swing backward. At this time, the hydraulic control system is quickly adjusted to allow high-pressure oil to enter the upper port of the hydraulic damping actuator in the robot frame, and the lower port is connected to the oil tank. The high-pressure oil pushes the piston downward, which in turn causes the piston rod to retract. This retraction, through the hinge, causes the spring damper to retract, causing the synchronous drive shaft and flange to rotate in the same direction as the swinging direction of the mechanical leg, thus accelerating the swinging speed of the mechanical leg. After the piston rod moves rapidly, the inertia of the mechanical leg causes the spring to... Elastic vibration exists between the shock absorber and the hydraulic damping actuator, causing the piston rod to move up and down, which in turn drives the damping piston. This causes the magnetorheological fluid inside the damping cylinder to flow from one end of the damping piston to the other. At this time, based on the vibration error of the piston rod, the controller supplies the required current to the coil winding, thereby forming a closed-loop magnetic field in the magnetorheological fluid channel. When the magnetic field acts inside the channel, the magnetorheological fluid inside the channel changes from a liquid state to a near-solid state, hindering the flow of the magnetorheological fluid from one end of the damping piston to the other, thus hindering the movement of the damping piston and ultimately suppressing the vibration of the piston rod. When the vibration becomes apparent, the controller disconnects the coil winding, and the variable damping control ends.

[0063] When the wheel-legged robot lands, the hip and knee joint actuators of the front half of the mechanical leg coordinate to move, causing the mechanical leg to swing backward. The hip and knee joint actuators of the rear half of the mechanical leg coordinate to move, causing the mechanical leg to swing forward. At this time, the hydraulic control system is quickly adjusted to extend the piston rod of the hydraulic damping actuator in the body frame. This extends the spring damper through the hinge, causing the synchronous drive shaft and flange to rotate in the same direction as the swinging direction of the mechanical leg, thereby accelerating the swinging speed of the mechanical leg. At the same time, the retracted spring damper has low stiffness, which improves the overall flexibility of the wheel-legged robot after landing. After the piston rod moves quickly, in order to suppress the elastic jitter between the spring damper and the hydraulic damping actuator, current needs to be simultaneously supplied to the coil winding through the controller. This suppresses the movement of the damping piston and thus the movement of the piston rod, reducing the mechanical leg jitter caused by elastic jitter after the wheel-legged robot lands. When the jitter disappears, the controller disconnects the current inside the coil winding, and the variable damping control ends.

[0064] Upon landing, the impact force from the foot acts on the hydraulic damping actuator on the wheel-leg structure through the leg joints. This causes a displacement difference in the piston rods of each joint, which in turn moves the damping piston. This causes the magnetorheological fluid in one chamber of the damping piston to flow into the other chamber through the magnetorheological fluid channel. At this time, the controller inputs the required current into the coil winding based on the magnitude of the displacement difference. A magnetic field is generated inside the magnetorheological fluid channel. Under the influence of the magnetic field, the magnetorheological fluid undergoes a magnetorheological effect and becomes almost solid, further hindering its flow within the channel. This resistance creates a pressure difference across the damping piston, further impeding its movement and thus counteracting the impact force on the piston rod, suppressing piston rod vibration. When the impact force disappears, the controller disconnects the current input, the magnetic field in the magnetorheological fluid channel disappears, and the magnetorheological fluid returns to a fluid state. The magnetorheological fluid in the high-pressure chamber flows into the low-pressure chamber through the magnetorheological fluid channel, restoring the pressure difference across the damping piston to equilibrium. The damping force then disappears, and the hydraulic actuator continues to move.

[0065] The wheel-legged robot is driven by hub motors. When it lands on rough or bumpy surfaces or falls from a certain height, the impact force when the ground contacts the wheels is transmitted through the leg joints to the hydraulic damping actuators on the wheel-leg structure. At this time, the flexible spine works on the same principle as when jumping and landing. The hydraulic drive part of the hydraulic damping actuator will follow the direction of the impact force, that is, the piston rod displacement direction is the same as the direction of the impact force, thereby improving the compliance of the robot body. The controller sends the required current into the coil winding according to the magnitude of the collected displacement. A magnetic field is generated inside the magnetorheological fluid channel. Under the action of the magnetic field, the magnetorheological fluid undergoes a magnetorheological effect and becomes a near-solid state, further hindering the flow of the magnetorheological fluid in the channel. This hindering effect will create a corresponding pressure difference at both ends of the damping piston to impede the movement of the damping piston, thereby consuming the inertial energy during the vibration and reducing the vibration amplitude. While exhibiting good compliance, the robot body stability is rapidly improved. When the vibration disappears or the robot body has finished falling, the controller disconnects the current input, and the robot body returns to balance.

[0066] Compared with the prior art, the present invention has the following beneficial effects:

[0067] (1) This invention applies a wheeled structure to a legged robot. While ensuring that the legged robot has the advantages of high power-to-weight ratio and strong adaptability to complex terrain, it also draws on the faster movement speed and running stability of the wheeled structure on flat roads. This combination improves the robot's movement speed in various terrains and broadens the robot's application scenarios and operating range.

[0068] (2) In order to improve the underdamping characteristics of the hydraulic valve control cylinder system in the leg structure, the present invention introduces a magnetorheological damper into the hydraulically driven wheeled robot, which can effectively suppress the foot shaking phenomenon caused by foot impact during gait control, and improve the impact resistance of the leg structure and the gait control accuracy of the foot.

[0069] (3) In the wheeled motion mode, the present invention can be used in conjunction with the hydraulic system to achieve the suspension and shock absorption function through the leg structure, effectively reducing the vibration of the machine body and improving the system stability during rapid movement;

[0070] (4) The present invention connects the front and rear legs in pairs through synchronous transmission shafts and forms a flexible spine together with spring shock absorbers, so that the leg joints have a certain degree of flexibility. This structure ensures that the large parts of the fuselage have less inertia during movement, thereby reducing the complexity of motion control.

[0071] (5) The present invention uses a hydraulic damping actuator for flexible spine design. The hydraulic drive part can actively change the extension and retraction of the spring damper, thereby changing the stiffness of the body, so that the legged robot can adapt to various complex working conditions. The damping part can suppress the vibration caused by the change of stiffness, consume the inertial energy during the movement of the body, and improve the movement stability of the body.

[0072] (6) The present invention applies the hydraulic swing bar to the hip joint, which can effectively reduce the design complexity of the machine body. At the same time, through the adjustment of variable stiffness and variable damping, the flexible spine can provide a certain protection for the hydraulic swing bar, making it have a certain degree of flexibility and reducing the pressure fluctuation inside the hydraulic swing cylinder during the impact of the foot.

[0073] (7) The present invention connects the damping part and the hydraulic drive part by sharing a piston rod, which improves the compactness of the hydraulic damping actuator structure. The design of the balance rod and the guide rod not only allows the coil winding wire to be led out from the damping cavity, but also achieves the balance of the left and right cavity volumes at both ends of the damping piston, thereby improving the control accuracy of the hydraulic damping actuator. Attached Figure Description

[0074] Figure 1 This is a schematic diagram of the overall structure of the active wheeled robot with suspension and vibration reduction function in an embodiment of the present invention;

[0075] Figure 2 This is a schematic diagram illustrating the interaction between the wheel-leg structure and the flexible spine in an embodiment of the present invention;

[0076] Figure 3 This is a schematic diagram of the front view of the flexible spine in an embodiment of the present invention;

[0077] Figure 4This is a top view of the flexible spine in an embodiment of the present invention;

[0078] Figure 5 This is a cross-sectional view of the hydraulic damping actuator in an embodiment of the present invention;

[0079] Figure 6 This is a schematic diagram of the main structure of the hydraulic damping actuator in an embodiment of the present invention;

[0080] Figure 7 This is a cross-sectional view of the damping piston in an embodiment of the present invention.

[0081] Explanation of markings in the diagram:

[0082] 1—Fuselage frame, 1-1—Main tube frame, 1-2—Leg support block, 1-3—Sub-tube frame;

[0083] 2—Support plate, 3—Spring shock absorber, 4—Synchronous drive shaft, 5—Flange, 6—Hydraulic swing bar, 7—Thigh;

[0084] 8—Hydraulic damping actuator, 8-1—Piston rod, 8-2—End cap, 8-3—Cylinder barrel, 8-4—Piston, 8-5—Damping cylinder barrel, 8-6—Double-ended bolt, 8-7—Guide rod, 8-8—Balance bar, 8-9—Damping end cap, 8-10—Spherical bearing;

[0085] 9—Damping piston, 9-1—First end cap of damping piston, 9-2—Magnetic shielding sleeve, 9-3—Magnetorheological fluid flow channel, 9-4—Second end cap of damping piston, 9-5—Coil winding, 9-6—Coil support, 9-7—Sealing ring, 9-8—Magnetic shielding ring, 9-9—Magnetic guide ring;

[0086] 10—Lower leg, 11—Wheel structure, 12—Nut, 13—Bolt. Detailed Implementation

[0087] The present invention will now be described in detail with reference to specific embodiments. These embodiments are based on the technical solution of the present invention and provide detailed implementation methods and specific operating procedures. However, the scope of protection of the present invention is not limited to the following embodiments.

[0088] In the description of this invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this invention and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention. Furthermore, the terms "first," "second," "third," etc., used to describe a common object only indicate different instances of the same object, and do not imply that the objects described in this way must be in a given order, whether temporally, spatially, sequentially, or in any other way.

[0089] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0090] Example:

[0091] A type of active-actuated wheeled robot with suspension and vibration damping function, such as Figure 1 As shown, it includes a fuselage frame 1, a flexible spine and wheel-leg structures. The flexible spine is installed inside the fuselage frame 1 and on the wheel-leg structures. The wheel-leg structures are installed on both sides of the fuselage frame 1 to support the entire fuselage structure.

[0092] The fuselage frame 1 includes a square frame consisting of a main tube frame 1-1 and leg support blocks 1-2 fixed at the four corners of the square frame. The leg support blocks 1-2 at the front and rear ends of the square frame are connected by double-row auxiliary tube frames 1-3 to reinforce the fuselage frame 1. A support plate 2 is provided between the double-row auxiliary tube frames 1-3.

[0093] In this embodiment, the main tube frame 1-1 is made of square tube, and the secondary tube frame 1-3 is made of round tube;

[0094] The wheel-leg structure includes a hydraulic swing cylinder 6, a leg structure, a hydraulic damping actuator 8, and a wheel structure 11;

[0095] The leg structure includes a thigh 7 and a lower leg 10. The thigh 7 is connected to the fuselage support 1 via a flange 5 at the hip joint, and the lower leg 10 is connected to the thigh 7 via a knee joint.

[0096] A hydraulic swing bar 6 is provided at the hip joint, and a hydraulic damping actuator 8 is provided between the thigh 7 and the lower leg 10. The hydraulic drive part is connected to the lower leg 10 to drive the knee joint to generate rotational movement, and the damping part is connected to the thigh 7 to play a buffering role to resist the contact force between the foot and the ground.

[0097] The wheel structure 11 includes a hub motor bracket and a hub motor. The hub motor bracket is installed at the end of the lower leg 10. The stator of the hub motor is installed on the hub bracket, and its rotor can rotate freely around the stator. A tire is nested on the outside of the rotor.

[0098] like Figures 2 to 4 As shown, the flexible spine includes a spring shock absorber 3, a synchronous drive shaft 4, and a hydraulic damping actuator 8. The leg support blocks 1-2 at the front and rear ends of the square frame have through holes. The two synchronous drive shafts 4 pass through the through holes and can rotate freely within the through holes.

[0099] Flanges 5 are installed at both ends of the synchronous drive shaft 4, i.e. on the outside of the leg support blocks 1-2. The flanges 5 rotate together with the synchronous drive shaft 4. The hydraulic swing cylinder 6 is fixed to the outside of the flanges 5 by nuts 12 and bolts 13.

[0100] One end of the spring shock absorber 3 is vertically fixed to the middle of the synchronous transmission shaft 4, and the other end has a through hole, which is parallel to the axis of the synchronous transmission shaft 4.

[0101] The hydraulic drive part of the hydraulic damping actuator 8 is connected to two spring dampers 3 respectively through hinges. The hinges are installed in the through holes of the spring dampers 3. The extension / retraction of the hydraulic drive part will drive the extension / retraction of the spring dampers 3. The damping part of the hydraulic damping actuator 8 is vertically fixed on the support plate 2.

[0102] When the hydraulic damping actuator 8 retracts, it causes the spring shock absorber 3 to retract via the hinge and drives the synchronous transmission shaft 4 to rotate around the through hole axis of the leg support block 1-2 by a certain angle. Then, the synchronous transmission shaft 4 drives the mechanical leg to rotate by a certain angle via the flange 5.

[0103] When the hydraulic damping actuator 8 extends, it causes the spring shock absorber 3 to extend through the hinge and drive the synchronous transmission shaft 4 to rotate around the through hole axis of the leg support block 1-2 by a certain angle. Then, the synchronous transmission shaft 4 drives the mechanical leg to rotate by a certain angle through the flange 5.

[0104] When the wheel-legged robot performs a jumping or running gait, the hip and knee joints of the rear mechanical leg move in coordination, causing the mechanical leg to swing backward. By adjusting the piston rod 8-1 of the hydraulic damping actuator 8 in the frame 1, the piston rod 8-1 retracts, and the spring damper 3 retracts through the hinge. This causes the synchronous transmission shaft 4 and the flange 5 to rotate in the same direction as the swinging direction of the mechanical leg, thereby accelerating the swinging speed of the mechanical leg. At the same time, the retracted spring damper has greater stiffness, which improves the jumping speed when performing a jumping or running gait. After the piston rod 8-1 moves quickly, in order to suppress the elastic jitter between the spring damper 3 and the hydraulic damping actuator 8, the movement of the damping piston 9 is suppressed, thereby suppressing the movement of the piston rod 8-1. This reduces the mechanical leg jitter caused by elastic jitter when the wheel-legged robot is in the air after jumping.

[0105] When the wheel-legged robot lands, the hip and knee joints of the front half of the mechanical leg coordinate to swing backward, while the hip and knee joints of the rear half of the mechanical leg coordinate to swing forward. At this time, the piston rod 8-1 of the hydraulic damping actuator 8 in the frame 1 extends rapidly, and drives the spring damper 3 to extend through the hinge, causing the synchronous transmission shaft 4 and the flange 5 to rotate in the same direction as the swinging direction of the mechanical leg, thereby accelerating the swinging speed of the mechanical leg. At the same time, the extended spring damper 3 has low stiffness, which improves the overall flexibility of the wheel-legged robot after landing. After the piston rod 8-1 moves rapidly, in order to suppress the elastic vibration between the spring damper 3 and the hydraulic damping actuator 8, the movement of the damping piston 9 is suppressed, thereby suppressing the movement of the piston rod 8-1, reducing the mechanical leg shaking phenomenon caused by elastic vibration after the wheel-legged robot lands.

[0106] The hydraulic drive components of the hydraulic swing cylinder 6 and the hydraulic damping actuator 8 on the wheel-leg structure mainly enable the leg structure to propel the robot over rugged and complex terrain, and realize complex gaits such as running and jumping. The hub motor enables the robot to walk quickly on the road through rotational motion, and realizes the steering function through the differential speed of the left and right wheels, reducing the side swing joint. The damping component of the hydraulic damping actuator 8 mainly suppresses the shaking of the hydraulic drive component during operation through the generated damping force, and can also play a buffering role when the robot lands.

[0107] Suppressing vibration of the hydraulically driven part means that when the wheel-legged robot walks in a hydraulically driven gait, the contact force between the foot and the bottom surface is transmitted to the piston rod 8-1 through the thigh 7 and lower leg 10 structure, which causes the piston rod 8-1 to vibrate; the damping part generates the required damping force, which suppresses the displacement of the damping piston 9 and thus suppresses the vibration of the piston rod 8-1.

[0108] The buffering effect refers to the following: When the wheel-legged robot is driven by a hub motor, if it falls on a rough or bumpy road or from a certain height, the hydraulic damping actuator 8 on the wheel-leg structure acts as a suspension shock absorber. The hydraulic drive part adapts to the impact force on the leg structure, giving the robot a certain degree of compliance, thereby buffering the robot body; the damping part generates a certain damping force, which consumes the inertia of the robot body during vibration and reduces the vibration of the system.

[0109] like Figures 5 to 7 As shown, the hydraulic damping actuator 8 includes a hydraulic drive part and a damping part. The hydraulic drive part realizes the extension and retraction movement of the piston rod 8-1, and the damping part realizes the resistance to the movement of the piston rod 8-1.

[0110] The hydraulic drive part includes a piston rod 8-1, an end cap 8-2, a cylinder 8-3 and a piston 8-4. The cylinder 8-3 is open at one end and closed at the other end. The closed end has an axial through hole. The piston rod 8-1 extends through the through hole. The end cap 8-2 is fitted into the open end of the cylinder 8-3.

[0111] The end cap 8-2 has a through hole, and the piston rod 8-1 extends through the through hole and is provided with a fisheye bearing 8-10 as a connecting end. The fisheye bearing 8-10 has a through hole, and the axis of the through hole is parallel to the end cap surface.

[0112] Piston 8-4 is sleeved on piston rod 8-1 and installed inside cylinder 8-3;

[0113] The piston 8-4 and piston rod 8-1 are an integral structure. The piston rods 8-1 at both ends of the piston 8-4 have the same diameter. The oil ports of the hydraulic drive part are located on the sides of both ends of the cylinder 8-3.

[0114] The damping part is located at the closed end of the cylinder 8-3, including the damping cylinder 8-5, the guide rod 8-7, the balance bar 8-8, the damping end cap 8-9 and the damping piston 9. The damping cylinder 8-5 is nested on the cylinder 8-3.

[0115] The damping piston 9 and the cylinder piston 8-4 share a piston rod 8-1. The balance bar 8-8 passes through the damping piston 9 and is nested inside the piston rod 8-1, and can move freely inside the piston rod 8-1.

[0116] The sum of the cross-sectional areas of the balance bar 8-8 and the guide bar 8-7 is equal to the cross-sectional area of ​​the piston rod 8-1 including the internal cavity, thus achieving volume balance between the left and right cavities of the damping piston 9.

[0117] The damping end cap 8-9 has through holes and bolt holes, and one end of it is nested on the damping cylinder 8-5;

[0118] One end of the damping end cap 8-9 is provided with a support base as a connection end, and a through hole is provided on the support base, with the axis of the through hole parallel to the end cap surface;

[0119] One end of the double-ended bolt 8-6 is connected to the cylinder barrel 8-5, and the other end passes through the bolt hole of the damping end cap 8-9 and is tightened by a nut;

[0120] The guide rod 8-7 is set at one end of the second end cover 9-4 of the damping piston and is fixed to the outside of the axis of the second end cover 9-4 of the damping piston by threads;

[0121] The guide rod 8-7 extends through the through hole of the damping end cap 8-9, and its end does not coincide with the through hole of the support base;

[0122] The damping piston 9 is disposed inside the damping cylinder 8-5 and includes a first end cap 9-1, a magnetic shielding sleeve 9-2, a second end cap 9-4, a coil support 9-6, a magnetic shielding ring 9-8, and a magnetic guide ring 9-9. The first end cap 9-1 and the second end cap 9-4 are disposed at both ends of the coil support 9-6 and have annular holes. The first end cap 9-1 and the second end cap 9-4 are sealed by the magnetic shielding sleeve 9-2. The magnetic guide ring 9-9 and the magnetic shielding ring 9-8 are disposed between the coil support 9-6 and the magnetic shielding sleeve 9-2.

[0123] The connection between the first end cap 9-1 and the second end cap 9-4 of the damping piston and the magnetic shielding sleeve 9-2 and the coil bracket 9-6 can be sealed by the sealing ring 9-7.

[0124] The magnetic conducting ring 9-9 and the magnetic isolation ring 9-8 are distributed alternately. Both the magnetic conducting ring 9-9 and the magnetic isolation ring 9-8 are provided with inner and outer layers. The inner and outer layers are both located on the same axis. The gap between them, together with the annular holes of the first end cap 9-1 and the second end cap 9-4 of the damping piston, form the magnetorheological fluid flow channel 9-3.

[0125] A coil winding 9-5 is wound on the coil support 9-6. After current is applied, the coil winding 9-5 can generate a magnetic field in the magnetorheological fluid flow channel 9-3, thereby causing the magnetorheological fluid to produce a magnetorheological effect, which hinders the flow of the magnetorheological fluid at both ends of the damping piston 9 inside the damping piston 9; the force that hinders the movement of the damping piston 9 is called the damping force.

[0126] In this embodiment, the other end of the balance bar 8-8 is fixed to the damping end cap 8-9 by a threaded connection. The balance bar 8-8 can be replaced with an LVDT linear displacement sensor according to control needs to improve the compactness of the hydraulic damping actuator structure.

[0127] In this embodiment, both the magnetic ring 9-9 and the coil support 9-6 are made of magnetic materials, forming a closed magnetic field when the coil winding 9-5 is energized;

[0128] The alternating distribution of the magnetic conducting ring 9-9 and the magnetic shielding ring 9-8 creates an S-shaped meandering magnetic field within the magnetorheological fluid flow channel 9-3, thereby improving the utilization rate of the magnetic field.

[0129] The working principle of the aforementioned actively driven wheeled robot with suspension and vibration damping function is as follows:

[0130] First, according to the required application conditions, adjust the extension position of the piston rod 8-1 of the hydraulic damping actuator 8 in the body frame 1, and then adjust the spring damper 3 to the optimal stiffness under the conditions; then, adjust the multi-degree-of-freedom mechanical legs to put the wheel-legged robot in a supported state.

[0131] The wheel-legged robot uses a hydraulically driven gait: When the wheel-legged robot performs a jumping or running gait, the hip and knee joint actuators of the rear mechanical leg coordinate their movements, causing the mechanical leg to swing backward. At this time, the hydraulic control system is quickly adjusted to allow high-pressure oil to enter the upper port of the hydraulic damping actuator 8 in the body frame 1, and the lower port is connected to the oil tank. The high-pressure oil pushes the piston 8-4 downward, which in turn causes the piston rod 8-1 to retract, and through the hinge, it causes the spring damper 3 to retract, causing the synchronous transmission shaft 4 and flange 5 to rotate in the same direction as the swinging direction of the mechanical leg, thus accelerating the swinging speed of the mechanical leg. After the piston rod 8-1 moves quickly, due to the inertia of the mechanical leg, the spring damper 3 and the hydraulic damper 8-4 will retract. There is elastic jitter between the damping actuators 8, which causes the piston rod 8-1 to move up and down, and also drives the movement of the damping piston 9. This causes the magnetorheological fluid inside the damping cylinder 8-5 to flow from one end to the other through the damping piston 9. At this time, according to the jitter error of the piston rod 8-1, the controller sends the required current into the coil winding 9-5, thereby forming a closed-loop magnetic field in the magnetorheological fluid flow channel 9-3. When there is a magnetic field inside the flow channel, the magnetorheological fluid inside the flow channel changes from a liquid state to a near-solid state, which hinders the flow of the magnetorheological fluid from one end of the damping piston 9 to the other end, and thus hinders the movement of the damping piston 9, ultimately suppressing the jitter of the piston rod 8-1. When the jitter is detected, the controller disconnects the coil winding 9-5, and the variable damping control ends.

[0132] When the wheel-legged robot lands, the hip and knee joint actuators of the front half of the mechanical leg coordinate their movements, causing the mechanical leg to swing backward. The hip and knee joint actuators of the rear half of the mechanical leg coordinate their movements, causing the mechanical leg to swing forward. At this time, the hydraulic control system is rapidly adjusted, causing the piston rod 8-1 of the hydraulic damping actuator 8 within the frame 1 to extend. This extends the spring damper 3 via a hinge, causing the synchronous transmission shaft 4 and flange 5 to rotate in the same direction as the swinging direction of the mechanical leg, thus accelerating the swinging speed of the mechanical leg. Simultaneously, the robot retracts... The compressed spring damper 3 has low stiffness, which improves the overall flexibility of the wheeled robot after landing. After the piston rod 8-1 moves quickly, in order to suppress the elastic vibration between the spring damper 3 and the hydraulic damping actuator 8, current needs to be supplied to the coil winding 9-5 through the controller. This suppresses the movement of the damping piston 9 and thus the movement of the piston rod 8-1, reducing the mechanical leg shaking caused by elastic vibration after the wheeled robot lands. When the shaking disappears, the controller disconnects the current inside the coil winding 9-5, and the variable damping control ends.

[0133] Upon landing, the impact force from the foot acts on the hydraulic damping actuator 8 on the wheel-leg structure through the leg joints. This, in turn, pushes the piston rods 8-1 of each joint to create a certain displacement difference. The piston rods 8-1 drive the damping piston 9 to move, causing the magnetorheological fluid in one chamber of the damping piston 9 to flow into another chamber through the magnetorheological fluid channel 9-3. At this time, the controller supplies the required current to the coil winding 9-5 according to the magnitude of the collected displacement difference. A magnetic field is generated inside the magnetorheological fluid channel 9-3. Under the influence of the magnetic field, the magnetorheological fluid undergoes a magnetorheological effect and becomes a near-solid state. The flow of magnetorheological fluid in channel 9-3 is impeded. This impediment creates a pressure difference across the damping piston 9, which in turn hinders its continued movement, thus counteracting the impact force on piston rod 8-1 and suppressing its vibration. Once the impact force disappears, the controller disconnects the current input, the magnetic field in channel 9-3 disappears, and the magnetorheological fluid returns to a fluid state. The magnetorheological fluid in the high-pressure chamber flows into the low-pressure chamber through channel 9-3, restoring the pressure difference across the damping piston 9 to equilibrium. The damping force then disappears, and the hydraulic actuator continues to move.

[0134] The wheel-legged robot is driven by a hub motor. When it falls on a rough or bumpy road or from a certain height, the impact force when the ground contacts the wheels will act on the hydraulic damping actuator 8 on the wheel-leg structure through the leg joints. At this time, the working principle of the flexible spine is the same as when jumping and landing. The hydraulic drive part of the hydraulic damping actuator 8 will follow the direction of the impact force, that is, the displacement direction of the piston rod 8-1 is the same as the direction of the impact force, thereby improving the compliance of the robot body. The controller sends the required current into the coil winding 9-5 according to the magnitude of the collected displacement. A magnetic field is generated inside the magnetorheological fluid channel 9-3. Under the action of the magnetic field, the magnetorheological fluid undergoes a magnetorheological effect and becomes a near-solid state, further hindering the flow of the magnetorheological fluid in the channel 9-3. This hindering effect will cause a corresponding pressure difference to be generated at both ends of the damping piston 9 to hinder the movement of the damping piston 9, thereby consuming the inertial energy during the vibration and reducing the vibration amplitude. While exhibiting good compliance, the robot body stability is rapidly improved. When the vibration disappears or the robot body drops completely, the controller disconnects the current input, and the robot body returns to balance.

[0135] The above description of the embodiments is provided to enable those skilled in the art to understand and use the invention. It will be apparent to those skilled in the art that various modifications can be made to these embodiments, and the general principles described herein can be applied to other embodiments without inventive effort. Therefore, the present invention is not limited to the above embodiments, and any improvements and modifications made by those skilled in the art based on the disclosure of the present invention without departing from the scope of the invention should be within the protection scope of the present invention.

Claims

1. A powered, wheeled, legged robot with suspension and vibration damping function, characterized in that, The wheeled robot includes a frame (1), a flexible spine, and wheel leg structures. The flexible spine is installed inside the frame (1) and on the wheel leg structures, and the wheel leg structures are installed on both sides of the frame (1). The fuselage frame (1) includes a frame consisting of a main tube frame (1-1) and leg support blocks (1-2) fixed at the four corners of the frame. The leg support blocks (1-2) at the front and rear ends of the frame are connected by a secondary tube frame (1-3). A support plate (2) is provided between the secondary tube frames (1-3). The flexible spine includes a spring damper (3), a synchronous drive shaft (4) and a hydraulic damping actuator (8), the synchronous drive shaft (4) passing through the leg support blocks (1-2) at the front and rear ends of the frame. The hydraulic damping actuator (8) includes a hydraulic drive part and a damping part; One end of the spring damper (3) is fixed to the synchronous transmission shaft (4), and the other ends of the two spring dampers (3) are respectively connected to the hydraulic drive part of the hydraulic damping actuator (8). The damping part of the hydraulic damping actuator (8) is fixed on the support plate (2). The wheel-leg structure includes a leg structure and a wheel structure (11), wherein the wheel structure (11) is mounted at the end of the leg structure; The hydraulic drive unit includes a piston rod (8-1), an end cap (8-2), a cylinder (8-3), and a piston (8-4). The cylinder (8-3) is open at one end and closed at the other end. The piston rod (8-1) extends through the closed end of the cylinder (8-3), and the end cap (8-2) is fitted into the open end of the cylinder (8-3). The piston (8-4) is sleeved on the piston rod (8-1) and disposed inside the cylinder (8-3); The damping part is located at the closed end of the cylinder (8-3) and includes a damping cylinder (8-5), a guide rod (8-7), a damping end cap (8-9), and a damping piston (9). The damping cylinder (8-5) is nested on the cylinder (8-3). The damping piston (9) and the cylinder piston (8-4) share a piston rod (8-1). One end of the damping end cap (8-9) is nested on the damping cylinder (8-5); The guide rod (8-7) is connected to the damping piston (9) and extends through the damping end cap (8-9); The damping part also includes a balance bar (8-8), which passes through the damping piston (9) and is nested inside the piston rod (8-1). The other end of the balance bar (8-8) is fixed to the damping end cap (8-9). The sum of the cross-sectional areas of the balance bar (8-8) and the guide bar (8-7) is equal to the cross-sectional area of ​​the piston rod (8-1) including the internal cavity; The damping piston (9) is disposed inside the damping cylinder (8-5) and includes a first end cap (9-1) of the damping piston, a magnetic shielding sleeve (9-2), a second end cap (9-4) of the damping piston, a coil support (9-6), a magnetic shielding ring (9-8) and a magnetic guide ring (9-9). The first end cap (9-1) and the second end cap (9-4) of the damping piston are disposed at both ends of the coil support (9-6). The first end cap (9-1) and the second end cap (9-4) of the damping piston are sealed together by the magnetic shielding sleeve (9-2). A magnetic guide ring (9-9) and a magnetic shielding ring (9-8) are disposed between the coil support (9-6) and the magnetic shielding sleeve (9-2). The coil support (9-6) is wound with a coil winding (9-5). The first end cap (9-1) and the second end cap (9-4) of the damping piston are provided with annular holes. The magnetic guide ring (9-9) and the magnetic isolation ring (9-8) are provided with inner and outer layers. The gap between the inner and outer layers and the annular holes of the first end cap (9-1) and the second end cap (9-4) of the damping piston together form the magnetorheological fluid flow channel (9-3).

2. The active, wheeled, legged robot with suspension and vibration damping function according to claim 1, characterized in that, The wheel leg structure also includes a hydraulic damping actuator (8); The leg structure includes a thigh (7) and a lower leg (10). The thigh (7) is connected to the fuselage frame (1) via a flange (5) at the hip joint, and the lower leg (10) is connected to the thigh (7) via a knee joint. A hydraulic damping actuator (8) is provided between the thigh (7) and the lower leg (10). The hydraulic drive part of the hydraulic damping actuator (8) is connected to the lower leg (10), and the damping part is connected to the thigh (7).

3. The active, wheeled, legged robot with suspension and vibration damping function according to claim 2, characterized in that, The wheel-leg structure also includes a hydraulic swing cylinder (6), and the hip joint is provided with a hydraulic swing cylinder (6). Flanges (5) are installed at both ends of the synchronous drive shaft (4), i.e., on the outside of the leg support blocks (1-2). The flanges rotate together with the synchronous drive shaft, and the hydraulic swing cylinder (6) is fixed on the outside of the flanges (5).

4. The active, wheeled robot with suspension and vibration damping function according to claim 1, characterized in that, The piston rod (8-1) has a fisheye bearing (8-10) as a connecting end at the end that extends through the end cap (8-2); One end of the damping end cap (8-9) is provided with a support base as a connection end.

5. A powered, wheeled robot with suspension and vibration damping function according to claim 1, characterized in that, The magnetic conductive ring (9-9) and the magnetic shielding ring (9-8) are distributed alternately.

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