Multi-link parallel anti-rolling mechanism and seat and mobile device including the same

Abstract

The present invention provides a multi-link parallel anti-rolling mechanism, a seat and a mobile device including the same. The multi-link parallel anti-rolling mechanism includes an upper mounting frame, a secondary link frame, a base lower frame and at least two groups of swing arm assemblies connected in parallel with each other. Multiple end portions of the swing arm assemblies are respectively rotatably connected to the base lower frame, the upper mounting frame and the secondary link frame. The multi-link parallel anti-rolling mechanism enables the swing arm assemblies to swing synchronously and in the same direction through the secondary link frame, so as to realize the vertical anti-rolling movement of the upper mounting frame. In the present invention, swing arms composed of multiple groups of links connected in parallel on both sides are rotatably connected to the upper mounting frame, the secondary link frame and the base lower frame, so that the secondary link frame moves approximately vertically, realizing a stable vertical anti-rolling movement. Since the swing arms are arranged in pairs and multiple groups of parallel swing arms move synchronously, the vertically moving secondary link frame is very stable, more stable than a conventional scissor mechanism, and eliminating the phenomenon of shaking.

Description

Technical Field

[0001] The present invention relates to the field of seat shock absorption, and particularly relates to a multi-link parallel anti-rolling mechanism and a seat and a mobile device including the same. Background Art

[0002] In the prior art, an anti-rolling device is a device that reduces the rolling of a ship and improves seaworthiness by using lift or gravity to form a stabilizing moment to reduce the rolling of the ship.

[0003] Generally, due to external factors such as wind and waves, a ship will tilt in a certain direction on the water surface, causing the hull to sway left and right, front and back. This has a great impact on the riding comfort of passengers on the ship and even affects the safety of passengers, the equipment and goods carried.

[0004] In addition, when an automobile is running, it will also jolt due to road surface factors such as potholed roads or speed bumps. If the vehicle brakes suddenly, the impact generated by inertia and the swaying generated by the centrifugal force when the vehicle turns will both reduce the riding comfort and safety of passengers.

[0005] Therefore, the applicant of the present invention has designed a multi-link parallel anti-rolling mechanism and a seat and a mobile device including the same in order to overcome the above technical problems. Summary of the Invention

[0006] The technical problem to be solved by the present invention is to overcome the defect that in the prior art, a transportation device is prone to sway due to factors such as inertia or centrifugal force, and the comfort and safety need to be improved, and to provide a multi-link parallel anti-rolling mechanism and a seat and a mobile device including the same.

[0007] The present invention solves the above technical problems by the following technical solutions:

[0008] A multi-link parallel anti-rolling mechanism, characterized in that the multi-link parallel anti-rolling mechanism includes an upper mounting frame, a secondary link frame, a base lower frame, and at least two groups of swing arm assemblies connected in parallel, and multiple end portions of the swing arm assemblies are respectively rotatably connected to the base lower frame, the upper mounting frame, and the secondary link frame.

[0009] The multi-link parallel anti-rolling mechanism enables the swing arm assemblies to swing synchronously and in the same direction through the secondary link frame, so as to realize the vertical anti-rolling movement of the upper mounting frame.

[0010] According to an embodiment of the present invention, each group of the swing arm assemblies includes two paired first combined swing arms and a torsion bar, the torsion bar is installed at an end portion of the base lower frame, and first end portions of the first combined swing arms are respectively rotatably connected to two ends of the torsion bar.

[0011] According to an embodiment of the present invention, the second ends of the first combined swing arms are respectively rotatably connected to both ends of the upper mounting frame, and the third ends of the first combined swing arms are respectively rotatably connected to both ends of the auxiliary link frame.

[0012] According to an embodiment of the present invention, the first combined swing arm is composed of a plurality of linkages combined.

[0013] According to an embodiment of the present invention, the first combined swing arm includes three linkages, and the linkages are sequentially connected to form a triangular structure.

[0014] According to an embodiment of the present invention, two linkages located at the second end of the first combined swing arm are perpendicular to each other.

[0015] According to an embodiment of the present invention, the multi-link parallel anti-rolling mechanism further includes at least one pair of second combined swing arms. The structure of the second combined swing arm is the same as that of the first combined swing arm. The first ends of each pair of second combined swing arms are respectively rotatably connected to the base lower frame, the second ends of the second combined swing arms are respectively rotatably connected to both ends of the upper mounting frame, and the third ends of the second combined swing arms are respectively rotatably connected to both ends of the auxiliary link frame.

[0016] According to an embodiment of the present invention, the multi-link parallel anti-rolling mechanism further includes a magnetorheological device. The magnetorheological device is horizontally arranged and installed between the upper mounting frame and the auxiliary link frame.

[0017] According to an embodiment of the present invention, the multi-link parallel anti-rolling mechanism further includes an air spring. The air spring is installed at the bottom of the upper mounting frame and directly applies a thrust to the upper mounting frame.

[0018] The present invention also provides a seat, characterized in that the seat includes the multi-link parallel anti-rolling mechanism as described above.

[0019] The present invention also provides a mobile device, characterized in that the mobile device includes the multi-link parallel anti-rolling mechanism as described above.

[0020] The positive and progressive effects of the present invention are as follows:

[0021] For the multi-link parallel anti-rolling mechanism of the present invention and the seat and mobile device including the same, through the swing arms composed of multiple groups of linkages in parallel on both sides, which are rotatably connected to the upper mounting frame, the auxiliary link frame, and the base lower frame, the auxiliary link frame moves approximately vertically, realizing a stable vertical anti-rolling motion.

[0022] Since the swing arms are arranged in pairs and multiple groups of parallel swing arms move synchronously, the vertical moving secondary link frame is very stable, more stable than the conventional scissor mechanism, and the shaking phenomenon is eliminated. Brief Description of the Drawings

[0023] The above and other features, properties, and advantages of the present invention will become more apparent from the following description in conjunction with the drawings and embodiments, where the same reference numerals in the drawings always represent the same features, among which:

[0024] Figure 1 is a perspective view of the multi-link parallel anti-rolling mechanism of the present invention.

[0025] Figure 2 is an exploded view of the multi-link parallel anti-rolling mechanism of the present invention.

[0026] Figure 3 is a structural schematic diagram of the swing arm assembly in the multi-link parallel anti-rolling mechanism of the present invention.

[0027] Figure 4 is a structural schematic diagram of the installation of the air spring in the multi-link parallel anti-rolling mechanism of the present invention.

[0028] Figure 5 is a front view of the multi-link parallel anti-rolling mechanism of the present invention at the highest height position.

[0029] Figure 6 is a top view of the multi-link parallel anti-rolling mechanism of the present invention at the highest height position.

[0030] Figure 7 is a front view of the multi-link parallel anti-rolling mechanism of the present invention at the middle height position.

[0031] Figure 8 is a top view of the multi-link parallel anti-rolling mechanism of the present invention at the middle height position.

[0032] Figure 9 is a front view of the multi-link parallel anti-rolling mechanism of the present invention at the lowest height position.

[0033] Figure 10 is a top view of the multi-link parallel anti-rolling mechanism of the present invention at the lowest height position.

[0034] Figure 11 is a schematic installation structure of the multi-link parallel anti-rolling mechanism of the present invention on a seat Figure 1 .

[0035] Figure 12 is a schematic installation structure of the multi-link parallel anti-rolling mechanism of the present invention on a seat Figure 2 .

[0036] Figure 13 Schematic diagram of the installation structure of the multi-link parallel anti-rolling mechanism of the present invention on an anti-rolling bed Figure 1 。

[0037] Figure 14 Schematic diagram of the installation structure of the multi-link parallel anti-rolling mechanism of the present invention on an anti-rolling bed Figure 2 。 Detailed implementation manners

[0038] To make the above objects, features, and advantages of the present invention more obvious and understandable, the following detailed description of the specific implementation manners of the present invention is provided in conjunction with the accompanying drawings.

[0039] Embodiments of the present invention will now be described in detail with reference to the accompanying drawings. Preferred embodiments of the present invention will now be described in detail, and examples thereof are shown in the drawings. Whenever possible, the same reference numerals will be used throughout the drawings to represent the same or similar parts

[0040] In addition, although the terms used in the present invention are selected from well-known and commonly used terms, some of the terms mentioned in the specification of the present invention may be selected by the applicant according to his or her judgment, and their detailed meanings are described in the relevant parts of the description herein.

[0041] In addition, it is required to understand the present invention not only through the actual terms used, but also through the meaning implied by each term.

[0042] As Figure 1 and Figure 2 shown, the present invention discloses a multi-link parallel anti-rolling mechanism, which includes an upper mounting frame 10, a secondary link frame 20, a base lower frame 30, and at least two sets of swing arm assemblies 40 connected in parallel. The multiple end parts of the swing arm assemblies 40 are respectively rotatably connected to the base lower frame 30, the upper mounting frame 10, and the secondary link frame 20. The multi-link parallel anti-rolling mechanism enables the swing arm assemblies 40 to swing synchronously and in the same direction through the secondary link frame 20, thereby realizing the vertical anti-rolling movement of the upper mounting frame 10.

[0043] Combined with Figure 2 and Figure 3 shown, in this embodiment, each set of swing arm assemblies 40 includes two paired first combined swing arms 41 and torsion bars 42. The torsion bars 42 are installed at the ends of the base lower frame 30, and the first end parts 411 of the first combined swing arms 41 are respectively rotatably connected to both ends of the torsion bars 42. The second end parts 412 of the first combined swing arms 41 are respectively rotatably connected to both ends of the upper mounting frame 10, and the third end parts 413 of the first combined swing arms 41 are respectively rotatably connected to both ends of the secondary link frame 20.

[0044] Preferably, the first combined swing arm 41 is composed of multiple connecting rods. For example, in this embodiment, the first combined swing arm 41 includes three connecting rods 414, and the connecting rods 414 are sequentially connected to form a triangular structure.

[0045] Furthermore, the two connecting rods 414 located at the second end 412 of the first combined swing arm 41 are perpendicular to each other, that is, the included angle a between the two connecting rods 414 is a right angle. This structural setting can make the first end 411 and the second end 412 located on the same straight line when the first combined swing arm 41 rotates to the intermediate plane of the anti-rolling amplitude.

[0046] As Figure 2 shown, the multi-link parallel anti-rolling mechanism further includes at least a pair of second combined swing arms 50. Here, the structure of the second combined swing arm 50 is preferably set to be the same as that of the first combined swing arm 41, that is, the second combined swing arm 50 includes three connecting rods, and the connecting rods are sequentially connected to form a triangular structure. The first ends 51 of each pair of second combined swing arms 50 are respectively rotationally connected to the base lower frame 30, the second ends 52 of the second combined swing arms 50 are respectively rotationally connected to both ends of the upper mounting frame 10, and the third ends 53 of the second combined swing arms 50 are respectively rotationally connected to both ends of the auxiliary link frame 20. The two connecting rods located at the second end 52 of the second combined swing arm 50 are perpendicular to each other, that is, the included angle between the two connecting rods is a right angle (its structure is the same as that of the first combined swing arm 41).

[0047] Furthermore, in this embodiment, it is preferably set that the first end 411 of the first combined swing arm 41 can be rotationally connected to the base lower frame 30 through a rotating shaft (such as Figure 5 、 Figure 7 and Figure 9 the rotating shafts X1 and X3 shown in Figure 5 、 Figure 7 and Figure 9 ), and the first end 51 of the second combined swing arm 50 can be rotationally connected to the base lower frame 30 through a rotating shaft (such as Figure 5 、 Figure 7 and Figure 9 the rotating shaft X2 shown in

[0048] ), and the rotating shafts X1, X2, and X3 are located on the same straight line. Figure 5 、 Figure 7 and Figure 9 ), and the second end 52 of the second combined swing arm 50 can be rotationally connected to the upper mounting frame 10 through a rotating shaft (such as Figure 5 、 Figure 7 and Figure 9 ), and the rotating shafts Y1, Y2, and Y3 are located on the same straight line.

[0049] The third end portion 413 of the first combined swing arm 41 can be rotatably connected to the secondary link frame 20 through a rotating shaft (such as the rotating shafts Z1 and Z3 shown in Figure 5 , Figure 7 and Figure 9 ). The third end portion 53 of the second combined swing arm 50 can be rotatably connected to the secondary link frame 20 through a rotating shaft (such as the rotating shaft Z2 shown in Figure 5 , Figure 7 and Figure 9 ), and the rotating shafts Z1, Z2 and Z3 are located on the same straight line.

[0050] In this embodiment, the first combined swing arm 41 and the second combined swing arm 50 have the following two important functions:

[0051] First, the first combined swing arm 41 and the second combined swing arm 50 can make the first combined swing arms 41 and the second combined swing arms 50 on both sides move synchronously through the torsion bar 42.

[0052] Second, the first combined swing arm 41 and the second combined swing arm 50 have three end portions, which are respectively rotatably connected to the upper mounting frame 10, the secondary link frame 20 and the base lower frame 30 through 3 rotating shafts. The purpose is to enable the upper mounting frame 10 mounted on the rotating shafts Y1, Y2 and Y3 to move around the rotating shafts X1, X2 and X3 respectively. However, the key point in this application is that the secondary link frame 20 connected to the rotating shafts Z1, Z2 and Z3 of the first combined swing arm 41 and the second combined swing arm 50 should be provided, so as to ensure that the movement of the upper mounting frame 10 is unambiguous.

[0053] As shown in Figure 2 , preferably, the multi-link parallel anti-rolling mechanism further includes a magnetorheological device 60, which is horizontally arranged and installed between the upper mounting frame 10 and the secondary link frame 20. The setting of the magnetorheological device 60 can maximize the use of the magnetorheological stroke. Magnetorheology means that an algorithmically controllable motion damping force can be generated.

[0054] As shown in Figure 4 , further preferably, the multi-link parallel anti-rolling mechanism further includes an air spring 70, which is installed at the bottom of the upper mounting frame 10 and directly applies a thrust to the upper mounting frame 10. This structure enables the air spring 70 to be arranged and connected in an almost vertical use direction, and can directly apply a thrust to the upper mounting frame 10, so that the thrust loss is minimized, and the air spring 70 can work with a very small air pressure.

[0055] As shown in Figure 5 and Figure 6As shown, when the first combined swing arm 41 and the second combined swing arm 50 rotate to the highest anti-rolling height position, the auxiliary connecting rod frame 20 moves vertically upward, driving the upper mounting frame 10 to move to the highest height position. At this time, the distance between the highest anti-rolling height position and the lowest anti-rolling height position where the swing arm assembly 40 rotates is A (as Figure 5 shown in).

[0056] As Figure 7 and Figure 8 shown, when the first combined swing arm 41 and the second combined swing arm 50 rotate to the middle anti-rolling height position, the rotating shafts Y1, Y2 and Y3 move to the middle plane of the anti-rolling amplitude (i.e., the center line position of the base lower frame 30), and the rotating shafts Y1, Y2 and Y3 are in the same plane as the rotating shafts X1, X2 and X3. Since the auxiliary connecting rod frame 20 is provided here, that is, the upper part is rotationally connected to the auxiliary connecting rod frame 20 through the rotating shafts Z1, Z2 and Z3, it avoids the uncertain ambiguity phenomenon of the upper mounting frame 10 (i.e., the rotating shafts Y1 and Y3 have two movement directions, up or down), so that the rotating shafts Y1, Y2 and Y3 only have one movement direction, achieving the purpose of synchronous upward or synchronous downward movement.

[0057] As Figure 9 and Figure 10 shown, when the first combined swing arm 41 and the second combined swing arm 50 rotate to the lowest anti-rolling height position, the auxiliary connecting rod frame 20 moves vertically downward, driving the upper mounting frame 10 to move to the lowest height position. At this time, the distance between the highest anti-rolling height position and the lowest anti-rolling height position where the swing arm assembly 40 rotates is A (as Figure 9 shown in).

[0058] The auxiliary connecting rod frame 20 provided in the multi-link parallel anti-rolling mechanism can synchronously connect the tops of the first combined swing arm 41 and the second combined swing arm 50 with the axis of the middle plane of the anti-rolling amplitude, and is connected left and right, so that all the first combined swing arms 41 and the second combined swing arms 50 swing synchronously in the same direction without ambiguity.

[0059] The structure of the auxiliary connecting rod frame 20 enables the first combined swing arm 41 and the second combined swing arm 50 to ensure that the movement directions of the connecting rods of multiple groups of parallel first combined swing arms 41 and second combined swing arms 50 are the same when reaching the central plane (i.e., the middle plane of the anti-rolling amplitude), thus avoiding the ambiguity of the swing rod movement (i.e., the uncertainty of the movement direction).

[0060] In summary, for the multi-link parallel anti-rolling mechanism of the present invention, the first combined swing arm and the second combined swing arm composed of multiple parallel links on both sides are rotationally connected (e.g., hinged) at the third end of the first combined swing arm and the second combined swing arm to a platform (i.e., the secondary link frame 20) that can move approximately vertically, realizing a stable vertical anti-rolling motion.

[0061] The multi-link parallel anti-rolling mechanism adopts a plurality of pairs of parallel and identically sized swing arms that move synchronously. At the same time, at least two pairs of the first combined swing arms are connected by torsion bars on the left and right, making the vertically moving platform very stable. Compared with the conventional scissor mechanism, it is more stable and can effectively eliminate shaking.

[0062] According to the above structural description, as Figure 11 and Figure 12 shown, the present invention also provides a seat, which includes the multi-link parallel anti-rolling mechanism 100 as described above. For example, the multi-link parallel anti-rolling mechanism is used for vehicle passive anti-rolling.

[0063] As Figure 13 and Figure 14 shown, the present invention also provides a mobile device, which includes the multi-link parallel anti-rolling mechanism 100 as described above. For example, the multi-link parallel anti-rolling mechanism can also increase the length and width dimensions of the parallel swing arms or increase the number of parallel swing arms, and is used for anti-rolling beds for medical rescue, etc.

[0064] Of course, the above are only application examples of the multi-link parallel anti-rolling mechanism, and it can also be used in various products that require vertical anti-rolling. Details are not described here, and all are within the protection scope of this application.

[0065] For those skilled in the art, the above invention disclosure is only an example and does not constitute a limitation to this application. Although not explicitly stated here, those skilled in the art may make various modifications, improvements, and corrections to this application. Such modifications, improvements, and corrections are proposed in this application, so such modifications, improvements, and corrections still belong to the spirit and scope of the exemplary implementation mode of this application.

[0066] At the same time, this application uses specific terms to describe the embodiments of this application. Such as "one embodiment", "an embodiment", and / or "some embodiments" mean a certain feature, structure, or characteristic related to at least one embodiment of this application. Therefore, it should be emphasized and noted that the "one embodiment" or "an embodiment" or "an alternative embodiment" mentioned twice or more at different positions in this specification does not necessarily refer to the same embodiment. In addition, certain features, structures, or characteristics in one or more embodiments of this application can be appropriately combined.

[0067] Similarly, it should be noted that, in order to simplify the description of the disclosure of the present application and thus help the understanding of one or more embodiments of the invention, in the foregoing description of the embodiments of the present application, sometimes multiple features are incorporated into one embodiment, drawing or description thereof. However, this method of disclosure does not mean that the features required by the subject matter of the present application are more than those mentioned in the claims. In fact, the features of the embodiments are fewer than all the features of the single embodiment disclosed above. In some embodiments, numbers describing components and the quantity of attributes are used. It should be understood that such numbers used for the description of the embodiments are modified by the modifiers "about", "approximate" or "substantially" in some examples.

[0068] Although the specific embodiments of the present invention have been described above, those skilled in the art should understand that these are only examples, and the protection scope of the present invention is defined by the appended claims. Without departing from the principles and essence of the present invention, those skilled in the art can make various changes or modifications to these embodiments, but these changes and modifications all fall within the protection scope of the present invention.

Claims

1. A seat with a multi-link parallel anti-roll mechanism, characterized in that: The seat is provided with a multi-link parallel anti-sway mechanism, which includes an upper mounting frame, a secondary connecting rod frame, a base lower frame and at least two sets of swing arm assemblies connected in parallel with each other, and multiple ends of the swing arm assembly are rotatably connected to the base lower frame, the upper mounting frame and the secondary connecting rod frame respectively. The multi-link parallel anti-sway mechanism enables the swing arm assembly to swing synchronously in the same direction through the auxiliary link frame, thereby realizing the vertical anti-sway movement of the upper mounting frame; Each group of the swing arm assembly includes two pairs of first combined swing arms and a torsion bar, wherein the torsion bar is mounted at the end of the base lower frame, and the first end of the first combined swing arm is rotatably connected to the two ends of the torsion bar respectively; The multi-link parallel anti-sway mechanism also includes at least one pair of second combined swing arms, the first combined swing arm and the second combined swing arm each having three ends, and are respectively rotatably connected to the upper mounting frame through a rotation axis Y, rotatably connected to the base lower frame through a rotation axis X, and rotatably connected to the secondary connecting rod frame through a rotation axis Z; When the first combined swing arm and the second combined swing arm rotate to the middle anti-roll height position, the rotation axis Y moves to the center line position of the base lower frame and is on the same plane as the rotation axis X. The secondary connecting rod frame is connected to the rotation axis Z, so that the rotation axis Y has only one movement direction, realizing synchronous upward or synchronous downward movement.

2. The seat with a multi-link parallel anti-sway mechanism as claimed in claim 1, characterized in that: The second end of the first combined swing arm is rotatably connected to the two end portions of the upper mounting frame respectively, and the third end of the first combined swing arm is rotatably connected to the two end portions of the auxiliary connecting rod frame respectively.

3. The seat with a multi-link parallel anti-roll mechanism as claimed in claim 1, characterized in that: The first combined swing arm is composed of a plurality of connecting rods.

4. The seat with a multi-link parallel anti-roll mechanism as claimed in claim 3, characterized in that: The first combined swing arm includes three connecting rods, and the connecting rods are connected in sequence to form a triangular structure.

5. The seat with a multi-link parallel anti-sway mechanism as claimed in claim 4, characterized in that: The two connecting rods located at the second end of the first combined swing arm are perpendicular to each other.

6. The seat with a multi-link parallel anti-sway mechanism as claimed in claim 1, characterized in that: The structure of the second combined swing arm is the same as that of the first combined swing arm. The first ends of each pair of the second combined swing arms are rotatably connected to the base lower frame, the second ends of the second combined swing arms are rotatably connected to the two ends of the upper mounting frame, and the third ends of the second combined swing arms are rotatably connected to the two ends of the auxiliary connecting rod frame.

7. The seat with a multi-link parallel anti-sway mechanism as claimed in claim 1, characterized in that: The multi-link parallel anti-roll mechanism further comprises a magnetorheological device, which is arranged horizontally and installed between the upper installation frame and the auxiliary link frame.

8. The seat with a multi-link parallel anti-sway mechanism as claimed in claim 1, characterized in that: The multi-link parallel anti-sway mechanism also includes an air spring, which is installed at the bottom of the upper mounting frame and directly applies thrust to the upper mounting frame.

9. A mobile device with a multi-link parallel anti-sway mechanism, characterized in that: The mobile device is provided with a multi-link parallel anti-sway mechanism, which includes an upper mounting frame, a secondary connecting rod frame, a base lower frame and at least two sets of swing arm assemblies connected in parallel with each other, and multiple ends of the swing arm assembly are rotatably connected to the base lower frame, the upper mounting frame and the secondary connecting rod frame respectively. The multi-link parallel anti-sway mechanism enables the swing arm assembly to swing synchronously in the same direction through the auxiliary link frame, thereby realizing the vertical anti-sway movement of the upper mounting frame; Each group of the swing arm assembly includes two pairs of first combined swing arms and a torsion bar, wherein the torsion bar is mounted at the end of the base lower frame, and the first end of the first combined swing arm is rotatably connected to the two ends of the torsion bar respectively; The multi-link parallel anti-sway mechanism also includes at least one pair of second combined swing arms, the first combined swing arm and the second combined swing arm each having three ends, and are respectively rotatably connected to the upper mounting frame through a rotation axis Y, rotatably connected to the base lower frame through a rotation axis X, and rotatably connected to the secondary connecting rod frame through a rotation axis Z; When the first combined swing arm and the second combined swing arm rotate to the middle anti-roll height position, the rotation axis Y moves to the center line position of the base lower frame and is on the same plane as the rotation axis X. The secondary connecting rod frame is connected to the rotation axis Z, so that the rotation axis Y has only one movement direction, realizing synchronous upward or synchronous downward movement.

10. The mobile device with a multi-link parallel anti-sway mechanism according to claim 9, characterized in that: The second end of the first combined swing arm is rotatably connected to the two end portions of the upper mounting frame respectively, and the third end of the first combined swing arm is rotatably connected to the two end portions of the auxiliary connecting rod frame respectively.

11. The mobile device with a multi-link parallel anti-sway mechanism according to claim 9, characterized in that: The first combined swing arm is composed of a plurality of connecting rods.

12. The mobile device with a multi-link parallel anti-sway mechanism according to claim 11, characterized in that: The first combined swing arm includes three connecting rods, and the connecting rods are connected in sequence to form a triangular structure.

13. The mobile device with a multi-link parallel anti-sway mechanism according to claim 12, characterized in that: The two connecting rods located at the second end of the first combined swing arm are perpendicular to each other.

14. The mobile device with a multi-link parallel anti-sway mechanism according to claim 9, characterized in that: The structure of the second combined swing arm is the same as that of the first combined swing arm. The first ends of each pair of the second combined swing arms are rotatably connected to the base lower frame, the second ends of the second combined swing arms are rotatably connected to the two ends of the upper mounting frame, and the third ends of the second combined swing arms are rotatably connected to the two ends of the auxiliary connecting rod frame.

15. The mobile device with a multi-link parallel anti-sway mechanism according to claim 9, characterized in that: The multi-link parallel anti-roll mechanism further comprises a magnetorheological device, which is arranged horizontally and installed between the upper installation frame and the auxiliary link frame.

16. The mobile device with a multi-link parallel anti-sway mechanism according to claim 9, characterized in that: The multi-link parallel anti-sway mechanism also includes an air spring, which is installed at the bottom of the upper mounting frame and directly applies thrust to the upper mounting frame.

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