Two-stage cushioning suspension device and mobile platform

Abstract

The invention discloses a two-stage cushioning suspension device and a mobile platform, and belongs to the technical field of mobile robots, the mobile platform comprises a frame, a wheel steering module, a steering driving mechanism, a height adjusting mechanism, a vertical guide mechanism and the two-stage cushioning suspension device; the two-stage damping suspension devices are arranged on the two sides of the frame and can vertically move relative to the frame under the constraint of the vertical guide mechanism, the wheel steering module is connected with the steering driving mechanism, the wheel steering module can horizontally rotate and vertically move relative to the frame, the steering driving mechanism is installed on the frame, the two-stage damping springs are connected with the frame, and the two-stage damping springs are connected with the frame. The height adjusting mechanism is arranged on the frame and the bottom plate so as to actively adjust the posture of the second-stage cushioning suspension device in the vertical direction. Inclination or transverse displacement is not generated when the mobile robot runs on the road surface, the posture can be actively adjusted to enable the mobile robot to incline towards the inner side of the turning radius, the influence of centrifugal force generated during steering is overcome, rollover is avoided, and flexible steering during high-speed running can be achieved.

Description

Technical Field

[0001] The invention relates to a suspension system and a mobile platform, in particular to a secondary shock-absorbing suspension device and a mobile platform that are adaptive to the ground, and belongs to the technical field of mobile robots. Background Art

[0002] As an important basic part of the robot system, the design and optimization of the mobile robot chassis is crucial to improving the overall performance of the robot. However, the traditional chassis wheels and the fuselage mostly adopt a rigid connection structure, which to a certain extent limits its motion performance and driving stability on uneven terrain. Therefore, the development of a mobile robot chassis with a suspension and shock absorption system is of great significance for reducing the vibration and impact caused by ground vibration and uneven road surface during the movement of the robot, and improving the robot's passability, stability and operability in complex terrain.

[0003] Common suspension systems are divided into independent suspension systems and non-independent suspension systems. Whether it is a non-independent or independent suspension system, the road adaptive ability is limited by the expansion and contraction limit of the shock absorber spring. However, due to the small size of the mobile robot, the size and expansion and contraction limit of the shock absorber spring are also small. When encountering a higher protrusion, the mobile robot may have a larger tilt posture and roll over. When encountering a deeper depression, it may also cause rollover or one wheel to be suspended in the air, resulting in insufficient grip and power. Therefore, the mobile robot using traditional suspension solutions cannot adapt well to the road with large fluctuations.

[0004] At the same time, no matter which traditional suspension system is used, there will be wheel tilt or lateral displacement during the shock absorption process, which will affect the stability of the robot chassis during driving; for the mobile robot chassis with a traditional suspension system, its ability to adapt to the road surface is related to the size of the robot, and when the size is small, the ability to adapt to the road surface is limited.

[0005] At the same time, most mobile robot chassis now use differential steering, but differential steering has low transmission efficiency, causes greater wear on the wheels, and is not suitable for scenarios where the robot moves at high speed.

[0006] In addition, document CN112319170A relates to an independent suspension device, whose lateral displacement is achieved by real-time active adjustment of a linear motor, which requires additional energy consumption. CN111301080A relates to a wheel suspension system, which increases the degree of freedom by adding a displacement spring, which also requires additional energy consumption and does not consider geometric constraints. Therefore, it can only maintain no lateral displacement in a certain ideal state and cannot eliminate lateral displacement in real time. Summary of the invention

[0007] In order to overcome the existing technology, the present invention proposes a two-stage shock-absorbing suspension device and system that can actively adjust the posture by using a slider-link mechanism to realize the movement of the wheels only in the vertical direction without generating lateral displacement, so as to solve the problems of tilt and lateral displacement of the suspension system in the prior art during the shock absorption process, thereby improving the stability of the mobile robot when driving on uneven roads.

[0008] The secondary shock-absorbing suspension device comprises a base plate, a secondary shock-absorbing spring, a primary shock-absorbing spring mechanism and two sets of slider-link mechanisms; the two sets of slider-link mechanisms are symmetrically distributed on the base plate, and the two sets of slider-link mechanisms are configured to enable the wheels connected to each other to only jump vertically during shock absorption and obstacle avoidance, and the lateral distance between the two wheels remains unchanged; each set of the slider-link mechanisms comprises a slider, a short link and a long link; the slider is slidably arranged on the slide rail, the slide rail is installed on the base plate, one end of the two long links is rotatably arranged on the two sides of the slider, and the two long links are rotatably arranged on the two sides of the slider. The other end of the rod is installed on the motor base, and the two long connecting rods and the axis lines of the same side ends thereof form a parallelogram, and the axes of the same side ends are not coaxial. One ends of the two short connecting rods are rotatably arranged on the two side surfaces of the connecting base, and the connecting base is installed on the bottom plate. The other ends of the short connecting rods are rotatably arranged in the middle of the long connecting rod. The two short connecting rods and the axis lines of the same side ends thereof form a parallelogram, and the axes of the same side ends are not coaxial. The two ends of the primary shock-absorbing spring mechanism are respectively connected to the two sliders, and a secondary shock-absorbing spring is installed on the connecting base.

[0009] Furthermore, the mobile platform comprises a frame and a wheel steering module, the wheel is mounted on the output shaft of the drive motor, and the drive motor is mounted on the wheel steering module; the mobile platform also comprises a steering drive mechanism, a height adjustment mechanism, a vertical guide mechanism and a secondary shock absorbing suspension device;

[0010] The secondary shock absorbing suspension device comprises a bottom plate, a secondary shock absorbing spring, a primary shock absorbing spring mechanism and two sets of slider connecting rod mechanisms; the two sets of slider connecting rod mechanisms are symmetrically distributed on the bottom plate, and the two sets of slider connecting rod mechanisms are configured so that during the shock absorbing and obstacle avoiding process, the wheels connected to each other can only bounce vertically, and the lateral distance between the two wheels remains unchanged;

[0011] Each set of the slider-link mechanism comprises a slider, a short link and a long link; the slider is slidably arranged on the slide rail, the slide rail is mounted on the bottom plate, one end of the two long links is rotatably arranged on the two side surfaces of the slider, the two long links and the axis lines of the same side ends thereof form a parallelogram, and the axis lines of the same side ends are not coaxial, one end of the two short links is rotatably arranged on the two side surfaces of the connecting seat, the connecting seat is mounted on the bottom plate, the other end of the short link is rotatably arranged in the middle of the long link, the two short links and the axis lines of the same side ends thereof form a parallelogram, and the axis lines of the same side ends are not coaxial, the two ends of the primary damping spring mechanism are respectively connected to the two sliders, and a secondary damping spring is mounted on the connecting seat;

[0012] The secondary shock-absorbing suspension device is arranged on both sides of the frame and can move vertically relative to the frame under the constraint of the vertical guide mechanism. The other ends of the two long connecting rods of the secondary shock-absorbing suspension device are connected to the wheel steering module, and the wheel steering module is connected to the steering drive mechanism to be driven by the steering drive mechanism to realize wheel steering. The wheel steering module can rotate horizontally and move vertically relative to the frame. The steering drive mechanism is installed on the frame, the secondary shock-absorbing spring is connected to the frame, and the height adjustment mechanism is arranged on the frame and the bottom plate to actively adjust the posture of the secondary shock-absorbing suspension device in the vertical direction.

[0013] Furthermore, the mobile platform is a four-wheel drive platform, and the steering drive mechanism includes a motor A, a gear A, a rack A, a base A, a slider A and a slide rail A; each set of wheel steering modules is connected to the base A through a steering rod, one end of the steering rod is rotatably connected to the base A, and the wheel steering module is movably arranged at the other end of the steering rod, and the wheel steering module can rotate horizontally and move vertically relative to the steering rod, the slider A is installed on the base A, and the slider A can be slidably arranged on the slide rail A, and the moving direction of the slider A is perpendicular to the moving direction of the slider of the secondary shock-absorbing suspension device, the slide rail A is installed on the frame D, the motor A is installed on the frame D, the gear A is installed on the output shaft of the motor A, the rack A is installed on the base A, and the gear A is meshed with the rack A.

[0014] Furthermore, the height adjustment mechanism includes a motor B, a gear B, a rack B, a base B, a slider B and a slide rail B; the motor B is installed on the frame, the gear B is installed on the output shaft of the motor B, the rack B is installed on the base B, the base B is installed on the slider B, the slider B is slidably arranged on the slide rail B, the moving direction of the slider B is perpendicular to the moving direction of the slider of the secondary shock-absorbing suspension device, the slide rail B is installed on the frame, and a spring mechanism is provided between the base B and the bottom plate of the secondary shock-absorbing suspension device to rotatably connect the two.

[0015] Compared with the prior art, the present invention has the following beneficial effects:

[0016] 1. Compared with the traditional suspension scheme, the suspension device of the present application can make the wheels move only in the vertical direction during the shock absorption process without tilting or lateral displacement, which is beneficial to improving the stability of the mobile robot when driving on uneven roads.

[0017] 2. It can achieve the same effect as independent suspension - only the distance of one wheel relative to the vehicle body changes without affecting other wheels.

[0018] 3. The front and rear wheels can be linked, and under the condition of the same size, it has a stronger ability to adapt to uneven roads than traditional suspension solutions.

[0019] 4. The shock-absorbing suspension device has a modular design, simple structure and easy installation. It only needs to connect two dampers and secondary shock-absorbing springs to the vehicle body. It can be flexibly adjusted and can be applied to mobile robots of various sizes.

[0020] 5. The mobile platform of the present application solves the problems of tilt and lateral displacement of common independent suspension wheels during shock absorption, and can improve the stability of the mobile robot chassis when driving on uneven roads.

[0021] 6. The mobile platform of the present application can adapt to undulating roads in a combination of active and passive methods, and has strong passing ability and stability on complex roads.

[0022] 7. The mobile platform of the present application can flexibly steer when driving at high speed. It can steer differentially or by rotating the wheel direction. It adopts front and rear double Ackerman steering, and can actively adjust the posture during turning to tilt the chassis of the mobile robot toward the inside of the turning radius, thereby overcoming the influence of the centrifugal force generated during turning and avoiding rollover, and can achieve flexible steering when driving at high speed.

[0023] 8. The mobile platform of this application has many reserved mechanical interfaces and can be flexibly expanded. It can be equipped with a variety of sensors such as robotic arms, lidar, depth cameras, etc.

[0024] The technical solution of the present invention is further described below in conjunction with the accompanying drawings and embodiments: BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 is a three-dimensional diagram of a secondary shock absorbing suspension device in an embodiment;

[0026] Figure 2 for Figure 1 The main view of

[0027] Figure 3 A schematic diagram of a secondary shock absorbing suspension device in an embodiment that does not generate lateral displacement;

[0028] Figure 4 This is a running state diagram of a vehicle body of a secondary shock absorbing suspension device in an embodiment when a certain wheel contacts a protruding obstacle on the road surface;

[0029] Figure 5 This is a running state diagram of a vehicle body of a two-stage shock absorbing suspension device in an embodiment where a certain wheel contacts a depression in the road surface;

[0030] Figure 6 is a three-dimensional diagram of a mobile platform of an embodiment;

[0031] Figure 7 is a schematic diagram of a steering drive mechanism of an embodiment;

[0032] Figure 8 is a three-dimensional diagram of a height adjustment mechanism of an embodiment;

[0033] Fig. 9 is a side view of a height adjustment mechanism of an embodiment;

[0034] Fig.10 is a schematic diagram of a vertical guide mechanism of an embodiment;

[0035] Fig.11 A state diagram for actively adjusting the posture of the secondary shock absorbing device;

[0036] Fig.12 State diagram for mobile platform steering;

[0037] Fig.13 The state diagram of the secondary shock absorbing device of the mobile platform passively adapting to the road surface;

[0038] Fig.14 This is a state diagram of the mobile platform tilting and steering at high speed. DETAILED DESCRIPTION

[0039] The following is a detailed description of the embodiments of the technical solution of the present application in conjunction with the accompanying drawings. Unless otherwise specified, the technical terms or scientific terms used in the present application are the common meanings understood by those skilled in the art to which the present application belongs.

[0040] Figure 1-Figure 2 A two-stage damping suspension device is shown, which comprises a base plate 1, a two-stage damping spring 3, a primary damping spring mechanism 5 and two sets of slider-link mechanisms; the two sets of slider-link mechanisms are symmetrically distributed on the base plate 1, and the two sets of slider-link mechanisms are configured to enable the wheels connected to each other to only bounce vertically during the damping and obstacle avoidance process, and the lateral distance between the two wheels remains unchanged; each set of the slider-link mechanisms comprises a slider 4, a short link 8 and a long link 9; the slider 4 is slidably arranged on a slide rail 14, the slide rail 14 is mounted on the base plate 1, and one end of the two long links 9 is rotatably arranged on the two sides of the slider 4, The other ends of the two long connecting rods 9 are installed on the motor base 10, and the two long connecting rods 9 and the axis line connecting the same side ends thereof form a parallelogram, and the axes of the same side ends are not coaxial. One ends of the two short connecting rods 8 are rotatably arranged on the two side surfaces of the connecting seat 7, and the connecting seat 7 is installed on the base plate 1. The other ends of the short connecting rods 8 are rotatably arranged in the middle of the long connecting rods 9, and the two short connecting rods 8 and the axis line connecting the same side ends thereof form a parallelogram, and the axes of the same side ends are not coaxial. The two ends of the primary shock-absorbing spring mechanism 5 are respectively connected to the two sliders 4, and a secondary shock-absorbing spring 3 is installed on the connecting seat 7.

[0041] The slider-connecting rod mechanism of this embodiment can achieve that the wheel is displaced only in the vertical direction during the shock absorption process.

[0042] The two staggered short connecting rods 8 form a parallelogram (not a rectangle) in space, and the two staggered long connecting rods 9 form a parallelogram (not a rectangle) in space, which limits the spatial freedom of the lower end motor base 10 (the axes of the two long connecting rods 9 at the rotation points on the motor base 10 are not coaxial and are staggered).

[0043] Furthermore, the secondary shock absorbing suspension device further comprises a damper 2, and the damper 2 is arranged on the motor seat 10. In this arrangement, the damper 2 is added to avoid repeated oscillation when the spring is reset during the shock absorbing process.

[0044] Among the above-mentioned components, the primary damping spring mechanism 5 is connected to the slider seat 6 by means of locking screws, and the slider 4 is installed on the slider seat 6.

[0045] The damper 2 and the secondary shock absorbing spring 3 cooperate with each other to achieve a shock absorbing effect.

[0046] The bottom of the slider seat 6 is connected to the slider 4 with bolts. This solution is replaced by: the slider seat 6 has shafts and bearings on both outer sides connected to the long connecting rod 9, and the opposite sides of the two slider seats 6 are opened and connected to the primary shock-absorbing spring mechanism 5.

[0047] Two connecting rods, a short connecting rod 8 and a long connecting rod 9 which is twice as long as the short connecting rod 8 and is hinged to the short connecting rod 8 in the middle, form a pair of two connecting rods. The use of two pairs of two connecting rods to form a spatial parallelogram structure limits the freedom of the motor base 10 at the bottom so that it can only move in the vertical direction.

[0048] The top of the motor seat 10 has two shafts that cooperate with the long connecting rod 9 through bearings, and the side openings are connected to the motor that drives the wheels.

[0049] The slide rail 14 is connected to the base plate 1 by bolts.

[0050] The connecting seat 7 has shafts on both sides connected to the short connecting rods 8 through bearings, and the bottom is connected to the bottom plate with bolts.

[0051] Reference Figure 3 In the figure, OA=OB=OC, that is, point B is on a circle with a diameter of AC and a center of O, so ∠ABC=90°. We only need to keep AB parallel to the ground to make BC perpendicular to the ground. At A is a slider that moves along the direction of AB. The wheel is connected to C to keep the wheel moving only along the direction of BC without lateral displacement.

[0052] Working process: According to the road surface adaptation principle, the two wheels 17 on the same side can be linked. When one of the wheels 17 moves up or down when encountering an uneven road surface, the other wheel 17 will move in the opposite direction through the two-link and the primary shock-absorbing spring mechanism 5, thereby making the front and rear wheels produce a greater height difference than the independent suspension solution, and cooperate with the secondary shock-absorbing spring 3 to obtain a stronger road surface adaptability.

[0053] Specifically, when a wheel 17 contacts a raised obstacle on the road, the wheel motor seat 10 will be driven to move in the vertical direction. The motor seat 10 transmits the upward thrust to the slider 4 along the connecting rod, so that the slider 4 compresses the primary shock absorbing spring mechanism 5, while the other wheels 17 are not affected, so as to maintain the posture of the vehicle body stable. Figure 4 As shown; when the wheel contacts the sunken part of the road surface, since the primary shock-absorbing spring mechanism 5 has a certain amount of pre-compression, the primary shock-absorbing spring mechanism 5 will extend and push the slider 4, and the slider 4 pushes the bottom motor seat 10 through the connecting rod to make the wheel 17 contact the bottom of the sunken part, and the other wheels are not affected, so as to maintain the posture of the vehicle body stable, as shown in FIG. Figure 5 shown.

[0054] For further information, please refer to Figure 6 , a mobile platform is also provided, which includes a frame D and a wheel steering module 15, a wheel 17 is installed on the output shaft of a drive motor 16, and the drive motor 16 is installed on the wheel steering module 15; the mobile platform also includes a steering drive mechanism E, a height adjustment mechanism F, a vertical guide mechanism K and a secondary shock absorbing suspension device;

[0055] Another secondary shock-absorbing suspension device provided in this embodiment includes a base plate 1, a secondary shock-absorbing spring 3, a primary shock-absorbing spring mechanism 5 and two sets of slider-link mechanisms; the two sets of slider-link mechanisms are symmetrically distributed on the base plate 1, and the two sets of slider-link mechanisms are configured to enable the wheels 17 connected to each other to only jump vertically during the shock absorption and obstacle avoidance process, and the lateral distance between the two wheels 17 remains unchanged; each set of the slider-link mechanism includes a slider 4, a short connecting rod 8 and a long connecting rod 9; the slider 6 is slidably arranged on the slide rail 14, the slide rail 14 is installed on the base plate 1, and one end of the two long connecting rods 9 is rotatably arranged on both sides of the slider 6 The other ends of the two long connecting rods 9 are connected to the wheel steering module 15, and the two long connecting rods 9 and the axis lines of the same side ends thereof form a parallelogram, and the axis centers of the same side ends are not coaxial, one end of the two short connecting rods 8 is rotatably arranged on the two side surfaces of the connecting seat 7, and the connecting seat 7 is installed on the bottom plate 1, and the other ends of the short connecting rods 8 are rotatably arranged in the middle of the long connecting rods 9, and the two short connecting rods 8 and the axis lines of the same side ends thereof form a parallelogram, and the axis centers of the same side ends are not coaxial, and the two ends of the primary damping spring mechanism 5 are respectively connected to the two sliders 4, and a secondary damping spring 3 is installed on the connecting seat 7;

[0056] The secondary shock-absorbing suspension device is mirror-imaged on both sides of the frame D, and can move vertically relative to the frame D under the constraint of the vertical guide mechanism K. The wheel steering module 15 is connected to the steering drive mechanism E so as to be driven by the steering drive mechanism E to realize wheel steering. The wheel steering module 15 can rotate horizontally and move vertically relative to the frame D. The steering drive mechanism E is installed on the frame D, the secondary shock-absorbing spring 3 is connected to the frame D, and the height adjustment mechanism F is arranged on the frame D and the bottom plate 1 to actively adjust the posture of the secondary shock-absorbing suspension device in the vertical direction.

[0057] Based on the above implementation scheme, a wheel steering module 15 is designed, which includes an upper support plate and a lower support plate, the upper support plate is rotatably connected to the lower support plate through a bearing, a driving motor 16 is installed on the lower support plate, and the lower support plate extends outward with a steering horn, which is connected to the steering drive mechanism E through a flange stroke bearing. The flange stroke bearing 26 can make the wheel steering module 15 rotate as a whole and move linearly in the vertical direction.

[0058] The mobile platform of the above embodiment further includes a damper 2, and the damper 2 connected to the wheel steering module 15 and the frame D is provided between the two. The damper 2 is bolted between the square tube of the frame D and the wheel steering module 15, and cooperates with the shock absorbing spring to achieve shock absorption.

[0059] In the above, the upper part of the frame D is fixed to a square tube (such as an aluminum tube) by bolts, and the bottom is connected to the bottom plate of the vehicle body by bolts, and the whole is a U-shaped structure.

[0060] Furthermore, if Figure 7 As shown, the above-mentioned mobile platform is a four-wheel drive platform. Based on the above-mentioned four-wheel mobile platform, a steering drive mechanism E is provided, and the steering drive mechanism E includes a motor A180, a gear A181, a rack A182, a base A23, a slider A24 and a slide rail A25; each set of wheel steering modules 15 is connected to the base A23 through a steering rod 22, one end of the steering rod 22 is rotatably connected to the base A23, and the wheel steering module 15 is movably arranged at the other end of the steering rod 22. The steering module 15 can rotate horizontally and move vertically relative to the steering rod 22. The slider A24 is installed on the base A23. The slider A24 is slidably set on the slide rail A25. The moving direction of the slider A24 is perpendicular to the moving direction of the slider 4 of the secondary shock-absorbing suspension device. The slide rail A25 is installed on the frame D, the motor A180 is installed on the frame D, the gear A181 is installed on the output shaft of the motor A180, and the rack A182 is installed on the base A23. The gear A181 is meshed with the rack A182.

[0061] Reference Fig.12The working principle of steering is explained. The motor A180 of the steering drive mechanism E is started to drive the gear rack mechanism to move, and the steering base A23 is pushed. The steering rod 22 will drive the wheel steering module 15 to achieve steering, and the steering angle conforms to the Ackerman steering angle, thereby achieving synchronous steering of the front and rear groups of 4 wheels, and the steering center is approximately on the center line of the chassis. The wheel steering module 15 extends with a steering horn, and a flange-type stroke bearing 26 is installed on the steering horn. The steering rod 22 is installed on the flange-type stroke bearing 26. The use of the flange-type stroke bearing 26 can make the wheel steering module 15 rotate around the steering rod 22 as a whole and move linearly along the vertical direction of the steering rod 22.

[0062] Furthermore, if Figure 8 and Fig. 9 As shown, the height adjustment mechanism F includes a motor B190, a gear B191, a rack B192, a base B193, a slider B20 and a slide rail B21; the motor B190 is installed on the frame D, the gear B191 is installed on the output shaft of the motor B190, the rack B192 is installed on the base B193, the base B193 is installed on the slider B20, the slider B20 is slidably arranged on the slide rail B21, the moving direction of the slider B20 is perpendicular to the moving direction of the slider 4 of the secondary shock-absorbing suspension device, the slide rail B21 is installed on the frame D, and a spring mechanism 100 rotatably connected to the base B193 and the bottom plate 1 of the secondary shock-absorbing suspension device is arranged between the base B193 and the bottom plate 1 of the secondary shock-absorbing suspension device.

[0063] Reference Fig.11 To illustrate the principle of active posture adjustment, the motor B190 that starts the height adjustment mechanism F drives the gear rack to move, pushing the upper spring mechanism 100 to move to one side. The spring mechanism 100 will push the bottom plate 1 on one side to move vertically downward, and drive the bottom plate 1 on the other side to move upward, thereby realizing active adjustment of the height of the left and right sides of the secondary shock-absorbing suspension device, and actively adapting to the uneven ground on the left and right sides.

[0064] Based on the working process of the secondary shock-absorbing suspension device: the mobile platform can be combined with active and passive;

[0065] Passive working principle: refer to Fig.13 , when a wheel 17 on the same side encounters a ground bump, the impact force generated will cause it to be lifted in the vertical direction, and transmitted to the wheel 17 on the other side through the second connecting rod, slider 4 and primary shock-absorbing spring mechanism 5 of the secondary shock-absorbing suspension device, causing it to move vertically downward. At the same time, it will cause the wheel on this side to be lifted deeper, compressing the three parallel secondary shock-absorbing springs 3 on the upper part, and finally achieving a similar effect to that of independent suspension - only affecting the distance of a single wheel 17 relative to the frame chassis, without affecting other wheels 17, so as to maintain the posture of the mobile robot, and because the two wheels on the same side are linked, a stronger road adaptability can be obtained than an independent suspension.

[0066] Active working principle: refer to Fig.11 The motor B190 drives the gear rack to move, pushing the upper spring mechanism 100 to move toward one side. The spring mechanism 100 will push the bottom plate 1 on one side to move vertically downward, and drive the bottom plate 1 on the other side to move upward, thereby realizing active adjustment of the height of the left and right sides of the secondary shock-absorbing suspension device, and actively adapting to the uneven ground on the left and right sides.

[0067] In order to ensure vertical movement during adaptive road surface and active adjustment, a vertical guide mechanism K is also provided, referring to Fig.10 As shown, the vertical guide mechanism K includes a slider C81 and a slide rail C82; the slide rail C82 is vertically arranged and mounted on the vehicle frame D, and the slider C81 is slidably arranged on the slide rail C82, and the slider C81 is mounted on the bottom plate 1 of the secondary shock absorbing suspension device. The slider C81 is connected to the bottom plate 1 with bolts, and the slider C81 is connected to the bottom plate 1 on the slide rail C82, so that the bottom plate 1 can move in the vertical direction.

[0068] Reference Fig.14 The principle of high-speed tilt steering is explained: By combining the above two active and passive motion processes, tilt steering can be achieved, the influence of centrifugal force can be overcome, the roll or even rollover problem during high-speed steering can be prevented, and the stability of the mobile robot during high-speed driving can be improved.

[0069] The present invention has been disclosed as above with preferred implementation cases, but it is not used to limit the present invention. Any technician familiar with the profession can make slight changes or modifications to equivalent implementation cases with equivalent changes by using the above-disclosed structures and technical contents without departing from the scope of the technical solution of the present invention, which still fall within the scope of the technical solution of the present invention.

Claims

1. The secondary shock absorbing suspension device is characterized by: It comprises a base plate (1), a secondary shock absorbing spring (3), a primary shock absorbing spring mechanism (5) and two sets of slider connecting rod mechanisms; the two sets of slider connecting rod mechanisms are symmetrically distributed on the base plate (1), and the two sets of slider connecting rod mechanisms are configured so that during the shock absorbing and obstacle avoiding process, the wheels connected to each other can only bounce vertically, and the lateral distance between the two wheels remains unchanged; Each set of the slider-connecting rod mechanism comprises a slider (4), a short connecting rod (8) and a long connecting rod (9); the slider (4) is slidably arranged on a slide rail (14), the slide rail (14) is mounted on a base plate (1), one end of the two long connecting rods (9) is rotatably arranged on two side surfaces of the slider (4), the other ends of the two long connecting rods (9) are mounted on a motor seat (10), the two long connecting rods (9) and the axis connecting line of the same side ends thereof form a parallelogram, and the axis of the same side ends are not coaxial, and the two long connecting rods (9) are arranged on the same side ends of the slider (4). One end of a short connecting rod (8) is rotatably arranged on two side surfaces of a connecting seat (7), the connecting seat (7) is mounted on a bottom plate (1), the other end of the short connecting rod (8) is rotatably arranged in the middle of a long connecting rod (9), the two short connecting rods (8) and the axis connecting line of the same side ends thereof form a parallelogram, and the axis of the same side ends are not coaxial, the two ends of the primary damping spring mechanism (5) are respectively connected to the two sliders (4), and a secondary damping spring (3) is mounted on the connecting seat (7).

2. The secondary shock absorbing suspension device according to claim 1, characterized in that: The secondary shock absorbing suspension device further comprises a damper (2), and the damper (2) is arranged on the motor seat (10).

3. A mobile platform, comprising a frame (D) and a wheel steering module (15), wherein the wheel (17) is mounted on the output shaft of a drive motor (16), and the drive motor (16) is mounted on the wheel steering module (15); characterized in that: The mobile platform also includes a steering drive mechanism (E), a height adjustment mechanism (F), a vertical guide mechanism (K) and a secondary shock absorbing suspension device; The secondary shock absorbing suspension device comprises a base plate (1), a secondary shock absorbing spring (3), a primary shock absorbing spring mechanism (5) and two sets of slider connecting rod mechanisms; the two sets of slider connecting rod mechanisms are symmetrically distributed on the base plate (1), and the two sets of slider connecting rod mechanisms are configured so that during the shock absorbing and obstacle avoiding process, the wheels connected to each other can only bounce vertically, and the lateral distance between the two wheels remains unchanged; Each set of the slider-connecting rod mechanism comprises a slider (4), a short connecting rod (8) and a long connecting rod (9); the slider (4) is slidably arranged on a slide rail (14), the slide rail (14) is mounted on a base plate (1), one end of the two long connecting rods (9) is rotatably arranged on two side surfaces of the slider (4), the two long connecting rods (9) and the axis connecting line of the same side ends thereof form a parallelogram, and the axis of the same side ends are not coaxial, one end of the two short connecting rods (8) is rotatably arranged on two side surfaces of a connecting seat (7), the connecting seat (7) is mounted on a base plate (1), the other end of the short connecting rod (8) is rotatably arranged in the middle of the long connecting rod (9), the two short connecting rods (8) and the axis connecting line of the same side ends thereof form a parallelogram, and the axis of the same side ends are not coaxial, the two ends of the primary damping spring mechanism (5) are respectively connected to the two sliders (4), and a secondary damping spring (3) is mounted on the connecting seat (7); The secondary shock absorbing suspension device is arranged on both sides of the frame (D) and can move vertically relative to the frame (D) under the constraint of the vertical guide mechanism (K). The other ends of the two long connecting rods (9) of the secondary shock absorbing suspension device are connected to the wheel steering module (15). The wheel steering module (15) is connected to the steering drive mechanism (E) so as to be driven by the steering drive mechanism (E) to realize wheel steering. The wheel steering module (15) can rotate horizontally and move vertically relative to the frame (D). The steering drive mechanism (E) is installed on the frame (D). The secondary shock absorbing spring (3) is connected to the frame (D). The height adjustment mechanism (F) is arranged on the frame (D) and the bottom plate (1) so as to actively adjust the posture of the secondary shock absorbing suspension device in the vertical direction.

4. The mobile platform according to claim 3, characterized in that: The mobile platform is a four-wheel drive platform, and the steering drive mechanism (E) comprises a motor A (180), a gear A (181), a rack A (182), a base A (23), a slider A (24) and a slide rail A (25); each set of wheel steering modules (15) is connected to the base A (23) via a steering tie rod (22), one end of the steering tie rod (22) is rotatably connected to the base A (23), and the wheel steering module (15) is movably arranged at the other end of the steering tie rod (22), and the wheel steering module (15) can be moved relative to the steering tie rod (22). The invention can rotate horizontally and move vertically, wherein a slider A (24) is mounted on a base A (23), the slider A (24) can be slidably arranged on a slide rail A (25), the moving direction of the slider A (24) is perpendicular to the moving direction of the slider (4) of the secondary shock absorbing suspension device, the slide rail A (25) is mounted on a vehicle frame (D), a motor A (180) is mounted on the vehicle frame (D), a gear A (181) is mounted on an output shaft of the motor A (180), a rack A (182) is mounted on the base A (23), and the gear A (181) is meshed with the rack A (182).

5. The mobile platform according to claim 3, characterized in that: The height adjustment mechanism (F) comprises a motor B (190), a gear B (191), a rack B (192), a base B (193), a slider B (20) and a slide rail B (21); A motor B (190) is mounted on a vehicle frame (D), a gear B (191) is mounted on an output shaft of the motor B (190), a rack B (192) is mounted on a base B (193), the base B (193) is mounted on a slider B (20), the slider B (20) is slidably arranged on a slide rail B (21), the moving direction of the slider B (20) is perpendicular to the moving direction of a slider (4) of the secondary shock absorbing suspension device, the slide rail B (21) is mounted on the vehicle frame (D), and a spring mechanism (100) is arranged between the base B (193) and a bottom plate (1) of the secondary shock absorbing suspension device to be rotatably connected to the two.

6. The mobile platform according to claim 3, characterized in that: The vertical guide mechanism (K) comprises a slider C (81) and a slide rail C (82); the slide rail C (82) is vertically arranged and mounted on the vehicle frame (D); the slider C (81) is slidably arranged on the slide rail C (82); and the slider C (81) is mounted on the bottom plate (1) of the secondary shock absorbing suspension device.

7. The mobile platform according to claim 3, characterized in that: The mobile platform further comprises a damper (2), and the damper (2) connected to the wheel steering module (5) and the vehicle frame (D) is arranged between the two.

8. The mobile platform according to claim 3, characterized in that: The wheel steering module (15) comprises an upper support plate and a lower support plate, the upper support plate is rotatably connected to the lower support plate via a bearing, a drive motor (16) is mounted on the lower support plate, the lower support plate has a steering horn extending outwardly, and the steering horn is connected to the steering drive mechanism (E) via a flange-type travel bearing.

9. The mobile platform according to claim 4, characterized in that: The wheel steering module (15) extends with a steering horn, a flange-type travel bearing (26) is mounted on the steering horn, and a steering tie rod (22) is mounted on the flange-type travel bearing (26).

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