Secondary shock-absorbing suspension device and mobile platform

Abstract

Two-stage shock-absorbing suspension device and mobile platform, belonging to the technical field of mobile robots. The mobile platform includes a vehicle frame, a wheel steering module, a steering drive mechanism, a height adjustment mechanism, a vertical guiding mechanism, and a two-stage shock-absorbing suspension device. The two-stage shock-absorbing suspension device is arranged on both sides of the vehicle frame and can move vertically relative to the vehicle frame under the constraint of the vertical guiding mechanism. The wheel steering module is connected to the steering drive mechanism. The wheel steering module can rotate horizontally and move vertically relative to the vehicle frame. The steering drive mechanism is installed on the vehicle frame. The secondary shock-absorbing spring is connected to the vehicle frame. The height adjustment mechanism is arranged between the vehicle frame and the bottom plate to actively adjust the attitude of the two-stage shock-absorbing suspension device in the vertical direction. When driving on the road surface, the application does not generate inclination or lateral displacement, and can actively adjust the attitude to make the mobile robot incline towards the inner side of the turning radius, overcome the influence of the centrifugal force generated during turning, avoid rollover, and can achieve flexible steering during high-speed driving.

Description

Technical Field

[0001] The present invention relates to a suspension system and a mobile platform, and particularly to a secondary shock-absorbing suspension device and a mobile platform adaptable to the ground, belonging to the technical field of mobile robots. Background Art

[0002] As an important basic part of a robot system, the design and optimization of a mobile robot chassis are crucial for improving the overall performance of the robot. However, the traditional rigid connection structure between the chassis wheels and the fuselage limits the movement performance and driving stability of the robot to a certain extent on uneven terrains. Therefore, developing a mobile robot chassis with a suspension shock-absorbing system is of great significance for reducing the vibration and impact caused by ground vibration and uneven road surfaces during the movement of the robot, and improving the passability, stability, and operability of the robot in complex terrains.

[0003] Common suspension systems are divided into independent suspension systems and non-independent suspension systems. The road surface adaptability of both non-independent and independent suspension systems is limited by the stretching limit of the shock-absorbing spring. However, due to the small size of mobile robots, the size and stretching limit of the shock-absorbing spring are also small. Encountering a relatively high protrusion may cause the mobile robot to have a large tilting posture and roll over, and encountering a relatively deep depression may also cause rollover or insufficient grip and power due to one wheel being suspended. Therefore, the traditional suspension scheme cannot well adapt to a road surface with large undulations for mobile robots.

[0004] At the same time, in the shock-absorbing process of any traditional suspension system, there are situations where the wheels tilt or the wheels have lateral displacement, which will affect the stability of the robot chassis during driving; for a mobile robot chassis with a traditional suspension system, its adaptability to the road surface is related to the size of the robot, and in the case of a small size, the adaptability to the road surface is limited.

[0005] Meanwhile, most current mobile robot chassis use differential steering, which has low transmission efficiency, large wheel wear, 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 realized by real-time active adjustment of a linear motor, which requires additional energy consumption. Document CN111301080A relates to a wheel suspension system, which increases the degree of freedom by adding a displacement spring and also requires additional energy consumption, and does not consider geometric constraints. Therefore, it can only maintain no lateral displacement in a certain specific ideal state and cannot eliminate lateral displacement in real time. Summary of the Invention

[0007] In order to overcome the prior art, the present invention proposes a secondary shock-absorbing suspension device and system with an actively adjustable attitude, which uses a slider-link mechanism to enable the wheels to move only in the vertical direction without lateral displacement, so as to solve the problems of tilt and lateral displacement in the shock-absorbing process of the existing suspension system, and further improve the stability of the mobile robot when driving on uneven roads.

[0008] The secondary shock-absorbing suspension device includes a bottom plate, secondary shock-absorbing springs, 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 bottom plate, and the two sets of slider-link mechanisms are configured to enable the wheels connected to them to only jump vertically during the shock-absorbing and obstacle-avoiding processes, and the lateral distance between the two wheels remains unchanged; each set of slider-link mechanisms includes a slider, a short link, and a long link; the slider is slidably arranged on a slide rail, the slide rail is installed on the bottom plate, one ends of two long links are rotatably arranged on the two side surfaces of the slider, the other ends of the two long links are installed on a motor base, the axis connection lines of the two long links and their same-side ends form a parallelogram, and the axes of the same-side ends are not coaxial, one ends of two short links are rotatably arranged on the two side surfaces of a connecting seat, the connecting seat is installed on the bottom plate, the other ends of the short links are rotatably arranged in the middle of the long links, the axis connection lines of the two short links and their same-side ends 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 seat.

[0009] Further, the mobile platform includes a frame and a wheel steering module, the wheels are installed on the output shafts of driving motors, and the driving motors are installed on the wheel steering module; the mobile platform further includes a steering drive mechanism, a height adjustment mechanism, a vertical guiding mechanism, and a secondary shock-absorbing suspension device;

[0010] The secondary shock-absorbing suspension device includes a bottom plate, secondary shock-absorbing springs, 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 bottom plate, and the two sets of slider-link mechanisms are configured to enable the wheels connected to them to only jump vertically during the shock-absorbing and obstacle-avoiding processes, and the lateral distance between the two wheels remains unchanged;

[0011] Each set of slider-link mechanisms includes a slider, a short link, and a long link; the slider is slidably arranged on a slide rail, the slide rail is installed on the bottom plate, one ends of two long links are rotatably arranged on the two side surfaces of the slider, the axis connection lines of the two long links and their same-side ends form a parallelogram, and the axes of the same-side ends are not coaxial, one ends of two short links are rotatably arranged on the two side surfaces of a connecting seat, the connecting seat is installed on the bottom plate, the other ends of the short links are rotatably arranged in the middle of the long links, the axis connection lines of the two short links and their same-side ends 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 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 is modularly designed with a simple structure and easy installation. It only needs to connect two dampers, a secondary shock-absorbing spring to the vehicle body. It can be flexibly adjusted and is applicable to mobile robots of various volumes.

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

[0021] 6. The mobile platform of this application can adapt to undulating roads actively and passively, and has strong passing ability and stability for complex roads.

[0022] 7. When the mobile platform of this application is driving at high speed, it can turn flexibly. It can perform differential steering, or can also turn by rotating the wheel orientation, and adopts double front and rear Ackermann steering. And during the turning process, it can actively adjust the attitude to make the mobile robot chassis tilt towards the inner side of the turning radius, overcome the influence of the centrifugal force generated during turning, avoid rollover, and can achieve flexible turning at high speed.

[0023] 8. The mobile platform of this application has many reserved mechanical interfaces, can be flexibly expanded, and can carry a manipulator and a variety of sensors such as lidar and depth cameras.

[0024] The technical solutions of the present invention will be further described below in conjunction with the drawings and embodiments: Description of the Drawings

[0025] Figure 1 It is a three-dimensional view of a secondary shock-absorbing suspension device in the embodiment;

[0026] Figure 2 It is for Figure 1 the front view of;

[0027] Figure 3 It is a schematic diagram of the principle that a secondary shock-absorbing suspension device in the embodiment does not generate lateral displacement;

[0028] Figure 4 It is an operating state diagram of a secondary shock-absorbing suspension device in the embodiment when a certain wheel of the vehicle body touches a road surface protrusion obstacle;

[0029] Figure 5 It is an operating state diagram of a secondary shock-absorbing suspension device in the embodiment when a certain wheel of the vehicle body touches a road surface depression;

[0030] Figure 6 It is a three-dimensional view of the mobile platform in the embodiment;

[0031] Figure 7 It is a schematic diagram of the steering drive mechanism in the embodiment;

[0032] Figure 8 Stereogram of the height adjustment mechanism of the embodiment;

[0033] Figure 9 Side view of the height adjustment mechanism of the embodiment;

[0034] Figure 10 Schematic diagram of the vertical guiding mechanism of the embodiment;

[0035] Figure 11 State diagram of actively adjusting the attitude of the secondary shock absorption device;

[0036] Figure 12 State diagram of the mobile platform turning;

[0037] Figure 13 State diagram of the secondary shock absorption device of the mobile platform passively adapting to the road surface;

[0038] Figure 14 State diagram of the mobile platform turning obliquely at high speed. Specific embodiments

[0039] The embodiments of the technical solution of the present application will be described in detail below with reference to the accompanying drawings. Unless otherwise specified, the technical terms or scientific terms used in the present application have the ordinary meanings understood by those skilled in the art to which the present application belongs.

[0040] Figure 1 - Figure 2 Disclosed is a secondary shock absorption suspension device, which includes a bottom plate 1, secondary shock absorption springs 3, a primary shock absorption spring mechanism 5 and two sets of slider link mechanisms; the two sets of slider link mechanisms are symmetrically distributed on the bottom plate 1, and the two sets of slider link mechanisms are configured to enable the wheels connected thereto to only move vertically during the shock absorption and obstacle avoidance process, and the lateral distance between the two wheels remains unchanged; each set of slider link mechanisms includes 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 installed on the bottom plate 1, one ends of two long links 9 are rotatably arranged on two side surfaces of the slider 4, the other ends of the two long links 9 are installed on a motor base 10, the axis connection lines of the two long links 9 and their same-side ends form a parallelogram, and the axes of the same-side ends are not coaxial, one ends of two short links 8 are rotatably arranged on two side surfaces of a connecting seat 7, the connecting seat 7 is installed on the bottom plate 1, the other ends of the short links 8 are rotatably arranged in the middle of the long links 9, the axis connection lines of the two short links 8 and their same-side ends form a parallelogram, and the axes of the same-side ends are not coaxial, two ends of the primary shock absorption spring mechanism 5 are respectively connected to the two sliders 4, and a secondary shock absorption spring 3 is installed on the connecting seat 7.

[0041] The slider link mechanism of this embodiment can realize that the wheel only generates displacement in the vertical direction during the shock absorption process.

[0042] Two short connecting rods 8 arranged in a staggered manner form a parallelogram (not a rectangle) in space, and two long connecting rods 9 arranged in a staggered manner form a parallelogram (not a rectangle) in space, restricting the spatial degrees of freedom of the lower motor base 10 (the axes of rotation of the two long connecting rods 9 on the motor base 10 are not coaxial and are arranged in a staggered manner).

[0043] Furthermore, the secondary shock-absorbing suspension device further includes a damper 2, and the damper 2 is provided on the motor base 10. With this setting, by adding the damper 2, the phenomenon of repeated oscillation during the spring resetting process during shock absorption is avoided.

[0044] Among the components arranged as described above, the primary shock-absorbing spring mechanism 5 is connected to the slider seat 6 with a locking screw, and the slider 4 is installed on the slider seat 6.

[0045] The damper 2 and the secondary shock-absorbing spring 3 cooperate together to achieve the shock-absorbing effect.

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

[0047] A pair of two-link mechanisms, consisting of a short connecting rod 8 and a long connecting rod 9 with a length twice that of the short connecting rod 8 and hinged to the short connecting rod 8 in the middle, form a pair of two-link mechanisms. Two pairs of two-link mechanisms are used to form a spatial parallelogram structure to restrict the degrees of freedom of the bottom motor base 10 so that it can only move in the vertical direction.

[0048] There are two shafts at the top of the motor base 10 that are fitted with the long connecting rod 9 through bearings, and openings are made on the side and connected to the motor driving the wheels.

[0049] The slide rail 14 is connected to the bottom plate 1 with bolts.

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

[0051] Refer to Figure 3 , in the figure, OA = OB = OC, that is, point B is on the circle with AC as the diameter and O as the center. Therefore, ∠ABC = 90°. As long as AB is kept parallel to the ground, BC can be perpendicular to the ground. A slider moving along the AB direction is provided at A, and connecting the wheel to C can keep the wheel moving only in one direction along BC without generating lateral displacement.

[0052] Working process: The principle of road surface adaptation. 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, it will cause the other wheel 17 to move in the opposite direction through the two-link and primary shock-absorbing spring mechanism 5, thereby creating a greater height difference between the front and rear wheels than in the independent suspension scheme. In cooperation with the secondary shock-absorbing spring 3, a strong road surface adaptation ability is obtained.

[0053] Specifically, when a certain wheel 17 touches a road surface protrusion obstacle, it will drive the wheel motor base 10 to move in the vertical direction. The motor base 10 transmits the upward thrust along the connecting rod to the slider 4, causing the slider 4 to compress the primary shock-absorbing spring mechanism 5, while the other wheels 17 are not affected, achieving a stable vehicle body posture, as Figure 4 shown; when the wheel touches a sunken part of the road surface, due to the primary shock-absorbing spring mechanism 5 having a certain pre-compression amount, the primary shock-absorbing spring mechanism 5 will extend and push the slider 4. The slider 4 pushes the bottom motor base 10 through the connecting rod to make the wheel 17 touch the bottom of the sunken part, and the other wheels are not affected, achieving a stable vehicle body posture, as Figure 5 shown.

[0054] Furthermore, please refer to Figure 6 , and a mobile platform is also provided, which includes a frame D and a wheel steering module 15. The wheel 17 is installed on the output shaft of the 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 guiding mechanism K, and a secondary shock-absorbing suspension device;

[0055] Another secondary shock-absorbing suspension device provided in this embodiment includes a bottom 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 bottom plate 1. The two sets of slider connecting rod mechanisms are configured to enable the wheels 17 connected to them 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 slider connecting rod mechanisms 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, and the slide rail 14 is installed on the bottom plate 1. One end of the two long connecting rods 9 is rotatably arranged on both sides of the slider 6, and the other end of the two long connecting rods 9 is connected to the wheel steering module 15. The axis connection lines of the two long connecting rods 9 at their same-side ends form a parallelogram, and the axes at the same-side ends are not coaxial. One end of the two short connecting rods 8 is rotatably arranged on both sides of the connecting seat 7, and the connecting seat 7 is installed on the bottom plate 1. The other end of the short connecting rod 8 is rotatably arranged in the middle of the long connecting rod 9. The axis connection lines of the two short connecting rods 8 at their same-side ends form a parallelogram, and the axes at the same-side ends are not coaxial. Both 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;

[0056] The secondary shock-absorbing suspension device is mirror-symmetrically arranged on both sides of the vehicle frame D and can move vertically relative to the vehicle frame D under the constraint of the vertical guiding mechanism K. The wheel steering module 15 is connected to the steering drive mechanism E and is driven by the steering drive mechanism E to achieve wheel steering. The wheel steering module 15 can rotate horizontally and move vertically relative to the vehicle frame D. The steering drive mechanism E is installed on the vehicle frame D. The secondary shock-absorbing spring 3 is connected to the vehicle frame D. The height adjustment mechanism F is arranged between the vehicle frame D and the bottom plate 1 to actively adjust the attitude 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. The wheel steering module 15 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. The drive motor 16 is installed on the lower support plate. A steering knuckle extends outward from the lower support plate. The steering knuckle is connected to the steering drive mechanism E through a flange-type stroke bearing. The use of the flange-type stroke bearing 26 enables the overall rotation and linear movement in the vertical direction of the wheel steering module 15.

[0058] The mobile platform of the above embodiment further includes a damper 2. A damper 2 connecting the wheel steering module 15 and the vehicle frame D is arranged between the wheel steering module 15 and the vehicle frame D. The damper 2 is bolted between the square tube of the vehicle 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 vehicle frame D is bolted to a square tube (such as an aluminum tube), and the bottom is bolted to the vehicle body bottom plate, presenting an overall U-shaped structure.

[0060] Further, as Figure 7 shown, the above-mentioned mobile platform is a four-wheel drive platform. Based on the above four-wheel mobile platform, a steering drive mechanism E is provided. 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 tie rod 22. One end of the steering tie 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 tie rod 22. The wheel steering module 15 can rotate horizontally and move vertically relative to the steering tie rod 22. The slider A24 is installed on the base A23. The slider A24 is slidably arranged 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 vehicle frame D. The motor A180 is installed on the vehicle frame D. The gear A181 is installed on the output shaft of the motor A180. The rack A182 is installed on the base A23. The gear A181 meshes with the rack A182.

[0061] Referring to Figure 12Describe the steering working principle. Start the motor A180 of the steering drive mechanism E to drive the rack and pinion mechanism to move, push the steering base A23, and the steering tie rod 22 will drive the wheel steering module 15 to achieve steering. And the steering angle conforms to the Ackermann steering angle, thus realizing the synchronous steering of a total of 4 wheels in the front and rear groups. The steering center is approximately on the center line of the chassis. A steering knuckle is extended from the wheel steering module 15, and a flange type travel bearing 26 is installed on the steering knuckle. The steering tie rod 22 is installed on the flange type travel bearing 26. Using the flange type travel bearing 26 can enable the whole wheel steering module 15 to rotate around the steering tie rod 22 and move linearly in the vertical direction of the steering tie rod 22.

[0062] Further, as Figure 8 and Figure 9 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 vehicle 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 absorption suspension device, the slide rail B21 is installed on the vehicle frame D, and a spring mechanism 100 rotatably connected to both of them is arranged between the base B193 and the bottom plate 1 of the secondary shock absorption suspension device.

[0063] Refer to Figure 11 Describe the principle of single active attitude adjustment. Start the motor B190 of the height adjustment mechanism F to drive the rack and pinion movement, push 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, realizing the active adjustment of the heights on the left and right sides of the secondary shock absorption suspension device, and can actively adapt to the ground with uneven heights on the left and right sides.

[0064] Based on the working process of the secondary shock absorption suspension device: the mobile platform can combine active and passive methods;

[0065] Passive working principle: Refer to Figure 13 , when a certain wheel 17 on the same side encounters a ground bump, the generated impact force will cause it to lift in the vertical direction. It is transmitted to the other wheel 17 through the two-link, slider 4 and primary shock absorption spring mechanism 5 of the secondary shock absorption suspension device, causing it to move vertically downward. At the same time, it will cause the wheel on this side to sink deeper, compressing the 3 parallel secondary shock absorption springs 3 on the upper part. Finally, it realizes the function similar to an independent suspension - only affecting the distance of a single wheel 17 relative to the vehicle frame chassis without affecting other wheels 17, maintaining the attitude of the mobile robot. And because the two wheels on the same side are linked, it can obtain a stronger road surface adaptability than an independent suspension.

[0066] Active working principle: Refer to Figure 11 , the motor B190 drives the rack and pinion to move, pushing the spring mechanism 100 on the upper part 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, realizing the active adjustment of the heights on both sides of the secondary shock-absorbing suspension device, and can actively adapt to the ground with uneven heights on both sides.

[0067] During the adaptive road surface and active adjustment, in order to ensure movement in the vertical direction, a vertical guiding mechanism K is also provided. Refer to Figure 10 As shown, the vertical guiding mechanism K includes a slider C81 and a slide rail C82; the slide rail C82 is vertically arranged and installed on the vehicle frame D, the slider C81 is slidably arranged on the slide rail C82, and the slider C81 is installed on the bottom plate 1 of the secondary shock-absorbing suspension device. The slider C81 is bolted to the bottom plate 1, and there is a connection between the slider C81 on the slide rail C82 and the bottom plate 1, enabling the bottom plate 1 to move in the vertical direction.

[0068] Refer to Figure 14 Explain the principle of tilting steering during high-speed driving: Combining the above two active and passive movement processes can achieve tilting steering, overcome the influence of centrifugal force, prevent rollover or even tipping during high-speed driving steering, and improve the stability of the mobile robot during high-speed driving.

[0069] The present invention has been disclosed above with preferred embodiments. However, it is not intended to limit the present invention. Any person skilled in the art, without departing from the scope of the technical solution of the present invention, can make some changes or modifications to the above-disclosed structure and technical content to form equivalent embodiments of equivalent changes, and all still fall within the scope of the technical solution of the present invention.

Claims

1. A mobile platform, comprising a frame (D) and a wheel steering module (15), wherein a wheel (17) is mounted on an 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-link mechanism 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 a base plate (1), one end of the two long links (9) is rotatably arranged on two side surfaces of the slider (4), the two long links (9) and the axis connecting line of the same side ends thereof form a non-rectangular parallelogram, and the axis of the same side ends are not coaxial, one end of the two short links (8) is rotatably arranged on a connecting seat (7 ), the connecting seat (7) is mounted on the bottom plate (1), the other end of the short connecting rod (8) is rotatably arranged in the middle of the long connecting rod (9), the length of the long connecting rod (9) is twice that of the short connecting rod (8), the two short connecting rods (8) and the axis connecting line of the same side ends thereof form a non-rectangular parallelogram, and the axes 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 vehicle frame (D) and can move vertically relative to the vehicle 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 vehicle frame (D). The steering drive mechanism (E) is installed on the vehicle frame (D). The secondary shock absorbing spring (3) is connected to the vehicle frame (D). The height adjustment mechanism (F) is arranged on the vehicle 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. 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); the motor B (190) is mounted on a vehicle frame (D), the gear B (191) is mounted on an output shaft of the motor B (190), the rack B (192) is mounted on the base B (193), the base B (193) is mounted on the slider B (20), the slider B (20) is slidably arranged on the slide rail B (21), the moving direction of the slider B (20) is perpendicular to the moving direction of the 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 the bottom plate (1) of the secondary shock absorbing suspension device, which is rotatably connected to the two.

2. The mobile platform according to claim 1, characterized in that: The mobile platform is a four-wheel drive platform. 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). The wheel steering module (15) is movably arranged at the other end of the steering tie rod (22). 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) is 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).

3. The mobile platform according to claim 1, 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.

4. The mobile platform according to claim 1, characterized in that: The mobile platform further comprises a damper (2), and the damper (2) connected to the wheel steering module (15) and the vehicle frame (D) is arranged between the two.

5. The mobile platform according to claim 1, characterized in that: The wheel steering module (15) comprises an upper support plate and a lower support plate, the upper support plate being rotatably connected to the lower support plate via a bearing, the drive motor (16) being mounted on the lower support plate, the lower support plate having a steering horn extending outwardly, the steering horn being connected to the steering drive mechanism (E) via a flange-type travel bearing.

6. The mobile platform according to claim 2, characterized in that: The wheel steering module (15) extends to have a steering horn, a flange-type travel bearing (26) is mounted on the steering horn, and the steering tie rod (22) is mounted on the flange-type travel bearing (26).

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