CN219749996U

CN219749996U - Mobile device and double-connecting-rod assembly thereof

Info

Publication number: CN219749996U
Application number: CN202321279316.XU
Authority: CN
Inventors: 顾捷
Original assignee: Shanghai Fourier Intelligence Co Ltd
Current assignee: Shanghai Fourier Intelligence Co Ltd
Priority date: 2023-05-24
Filing date: 2023-05-24
Publication date: 2023-09-26
Anticipated expiration: 2033-05-24

Abstract

The utility model discloses a mobile device and a double-link assembly thereof, wherein the double-link assembly comprises: a driving rod; a guide rod; the first steering driving device comprises a driving shell and a first driving shaft which rotates relative to the driving shell; one end of the driving rod is connected with the first driving shaft, one end of the guide rod is rotationally connected with the driving shell, and the axis of the first driving shaft is parallel to the rotation axis of one end of the guide rod; the roller connecting piece is used for being connected with a driving wheel, the other end of the driving rod is rotationally connected to the first position of the roller connecting piece, the other end of the guiding rod is rotationally connected to the second position of the roller connecting piece, and the rotation axis of the other end of the driving rod is parallel to the rotation axis of the other end of the guiding rod and the axis of the first driving shaft.

Description

Mobile device and double-connecting-rod assembly thereof

Technical Field

The utility model relates to the technical field of mobile equipment, in particular to mobile equipment and a double-connecting-rod assembly thereof.

Background

The robot needs to adapt to various terrains in the moving process, and can be difficult to move when traveling on a rough path.

At present, when the driving wheel of the robot impacts on a ground protrusion (such as a step or the like), thrust is generated on the driving wheel, the thrust forces the relative structure among a plurality of driving wheels to change, and the robot is driven to pass through a special path.

However, this requires the ground bumps to collide with the drive wheels, which is vulnerable to damage.

Disclosure of Invention

In view of the above, the present utility model provides a dual link assembly to reduce the damage caused. The utility model also provides mobile equipment with the double-connecting-rod assembly.

In order to achieve the above purpose, the present utility model provides the following technical solutions:

a dual link assembly comprising:

a driving rod;

a guide rod;

the first steering driving device comprises a driving shell and a first driving shaft which rotates relative to the driving shell; one end of the driving rod is connected with the first driving shaft, one end of the guide rod is rotationally connected with the driving shell, and the axis of the first driving shaft is parallel to the rotation axis of one end of the guide rod;

the roller connecting piece is used for being connected with a driving wheel, the other end of the driving rod is rotationally connected to the first position of the roller connecting piece, the other end of the guiding rod is rotationally connected to the second position of the roller connecting piece, and the rotation axis of the other end of the driving rod is parallel to the rotation axis of the other end of the guiding rod and the axis of the first driving shaft.

Optionally, in the double-link assembly, the roller connecting piece is a driving wheel steering driving device for driving the driving wheel to steer.

Optionally, in the double-link assembly, a first space is provided between the axis of the first driving shaft and the rotation axis of one end of the guiding rod; a second distance is arranged between the first position and the second position;

the distance between the rotating axis at one end of the driving rod and the rotating axis at the other end of the driving rod is a third distance, and the distance between the rotating axis at one end of the guiding rod and the rotating axis at the other end of the guiding rod is a fourth distance;

the first pitch is equal to the second pitch, and the third pitch is equal to the fourth pitch.

Optionally, in the dual-link assembly, one end of the driving rod is provided with two first connecting parts symmetrical to each other, and the two first connecting parts are respectively connected with two ends of the first driving shaft;

and/or the other end of the driving rod is provided with two second connecting parts which are symmetrical with each other, and the two second connecting parts are respectively and rotatably connected with the roller connecting piece;

and/or one end of the guide rod is provided with two third connecting parts which are symmetrical to each other, and the two third connecting parts are respectively connected with the driving shell in a rotating way;

and/or the other end of the guide rod is provided with two fourth connecting parts which are symmetrical to each other, and the two fourth connecting parts are respectively connected with the roller connecting piece in a rotating way.

Optionally, in the double-link assembly, a first arc-shaped connecting surface is formed between the two first connecting parts of the driving rod, and the first arc-shaped connecting surface is recessed in a direction away from the first steering driving device;

and/or a second arc-shaped connecting surface is arranged between the two second connecting parts of the driving rod, and the second arc-shaped connecting surface is recessed in a direction away from the roller connecting piece;

and/or a third arc-shaped connecting surface is arranged between the two third connecting parts of the guide rod, and the third arc-shaped connecting surface is recessed in a direction away from the first steering driving device;

and/or a fourth arc-shaped connecting surface is arranged between the two fourth connecting parts of the guide rod, and the fourth arc-shaped connecting surface is recessed in a direction away from the roller connecting piece.

Optionally, in the dual-link assembly, a hollow structure is disposed on a link, and the link is the driving rod and/or the guiding rod.

Optionally, in the dual-link assembly, the hollowed structure includes a plurality of through holes disposed along an extending direction of the link.

Optionally, in the dual-link assembly, the sizes of the plurality of through holes are the same; the distance between the through holes is reduced along the direction from the first steering driving device to the roller connecting piece;

or, the sizes of the plurality of through holes are different; the size of the through hole increases in the direction from the first steering drive to the roller connection.

The utility model also provides mobile equipment, which comprises a driving wheel and a mobile main body, and further comprises the double-connecting-rod assembly;

the first steering driving device of the double-connecting-rod assembly is connected with the moving body, and the roller connecting piece is connected with the driving wheel.

Optionally, in the above mobile device, the roller connecting member is a driving wheel steering driving device that drives the driving wheel to steer;

the first drive shaft of the first steering drive is perpendicular to the axis of the drive shaft of the drive wheel steering drive.

Optionally, in the mobile device, the guide rod is located below the driving rod;

a connecting part which is rotationally connected with the guide rod is arranged on one downward side of the driving shell;

the first position of the roller connecting piece is located at one side, opposite to the driving wheel, of the second position of the roller connecting piece.

Optionally, in the above mobile device, an axis of the first driving shaft of the first steering driving device is disposed along a horizontal direction of the mobile device;

the mobile device further comprises a vibration reduction actuator, wherein the vibration reduction actuator is in communication connection with the first steering driving device;

when the driving wheel is subjected to upward force, the vibration reduction actuator drives the first steering driving device to drive the first driving shaft to rotate, so that the driving wheel is lifted;

when the driving wheel is suspended, the vibration reduction actuator drives the first steering driving device to drive the first driving shaft to rotate, so that the driving wheel descends.

According to the technical scheme, the axis of the first driving shaft is parallel to the rotating axis of one end of the guide rod, the rotating axis of the other end of the driving rod is parallel to the rotating axis of the other end of the guide rod and the axis of the first driving shaft, so that the driving rod, the guide rod, the driving shell and the roller connecting piece form a four-bar structure, the first steering driving device can drive the driving rod to rotate, lifting adjustment of the roller connecting piece is further achieved, driving wheels are driven to lift, collision probability between ground protrusions and the driving wheels is effectively reduced, damage caused by collision is reduced, and service life of the double-link assembly is prolonged.

And, because the first drive shaft of first steering drive device is connected with one end of actuating lever, make first drive shaft drive actuating lever directly. The angle of the first driving shaft relative to the driving shell is the rotation angle of the driving rod, and the driving wheel is directly driven to lift through the rotation of the driving rod. Through the arrangement, conversion between the rotation angle of the first driving shaft of the first steering driving device and the rotation angle of the driving rod is avoided, influence of factors such as machining errors generated by indirectly connecting the first driving shaft with the driving rod by adopting other transmission devices on the rotation angle is reduced, the accuracy of controlling the rotation angle of the driving rod is effectively improved, and the accuracy of lifting operation of the driving wheels is further improved.

The mobile device provided by the utility model is provided with the double-connecting-rod assembly. Since the double-link assembly has the technical effects described above, the mobile device having the double-link assembly should have the same technical effects, and are not described in detail herein and are within the scope of protection.

Drawings

In order to more clearly illustrate the embodiments of the utility model or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, it being obvious that the drawings in the following description are only some embodiments of the utility model, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

FIG. 1 is an isometric view of a dual link assembly according to an embodiment of the present utility model;

FIG. 2 is a schematic cross-sectional view of a dual link assembly provided in accordance with an embodiment of the present utility model;

FIG. 3 is a schematic top view of a dual link assembly according to an embodiment of the present utility model;

fig. 4 is a schematic structural diagram of a mobile device according to an embodiment of the present utility model.

Wherein,,

the driving rod-1, the first connecting part-11, the second connecting part-12, the first through hole-13, the second through hole-14, the third through hole-15, the guiding rod-2, the first steering driving device-3, the first driving shaft-31, the driving housing-32, the roller connecting piece-4, the driving wheel-5 and the moving body-7.

Detailed Description

The utility model discloses a double-connecting-rod assembly, which is used for reducing damage caused by the double-connecting-rod assembly. The utility model also provides mobile equipment with the double-connecting-rod assembly.

The following description of the embodiments of the present utility model will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present utility model, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to be within the scope of the utility model.

As shown in fig. 1, 2 and 3, the embodiment of the present utility model provides a dual link assembly, which includes a driving lever 1, a guide lever 2, a first steering driving device 3, and a roller connecting member 4 for connecting with a driving wheel 5. The first steering drive 3 includes a drive housing 32 and a first drive shaft 31 that rotates relative to the drive housing 32; one end of the driving rod 1 is connected with a first driving shaft 31, one end of the guiding rod 2 is rotationally connected with a driving shell 32, and the axis of the first driving shaft 31 is parallel to the rotation axis of one end of the guiding rod 2; the other end of the driving rod 1 is rotationally connected to a first position of the roller connecting piece 4, and the other end of the guide rod 2 is rotationally connected to a second position of the roller connecting piece 4; the rotation axis of the other end of the driving lever 1 is parallel to the rotation axis of the other end of the guide lever 2 and the axis of the first driving shaft 31.

According to the double-link assembly provided by the embodiment of the utility model, the axis of the first driving shaft 31 is parallel to the rotating axis of one end of the guide rod 2, the rotating axis of the other end of the driving rod 1 is parallel to the rotating axis of the other end of the guide rod 2 and the axis of the first driving shaft 31, so that the driving rod 1, the guide rod 2, the driving shell 32 and the roller connecting piece 4 form a four-link structure, the first steering driving device 3 can drive the driving rod 1 to rotate, further lifting adjustment of the roller connecting piece 4 is realized, further lifting operation of the driving wheel 5 is driven, the collision probability of ground protrusions and the driving wheel is effectively reduced, damage caused by the collision is reduced, and further the service life of the double-link assembly is prolonged.

And, since the other end of the driving lever 1 is rotatably connected to the first position of the roller connecting member 4, the other end of the guide lever 2 is rotatably connected to the second position of the roller connecting member 4. Therefore, when the first driving shaft 31 of the first steering driving device 3 rotates, the driving rod 1 is driven to rotate, and the driving rod 1 and the guiding rod 2 are connected with the roller connecting piece 4, so that the guiding rod 2 synchronously rotates relative to the driving rod 1. Namely, in the lifting process of the roller connecting piece 4, the roller connecting piece 4 is subjected to the common guiding action of the driving rod 1 and the guide rod 2, so that the lifting stability of the roller connecting piece 4 is effectively improved, and the lifting operation stability of the driving wheel 5 is further improved.

Again, since the first driving shaft 31 of the first steering driving apparatus 3 is connected to one end of the driving lever 1, the driving lever 1 is directly driven by the first driving shaft 31. That is, the angle of rotation of the first driving shaft 31 relative to the driving housing 32 is the rotation angle of the driving lever 1, and the driving wheel 5 is directly driven to lift by the rotation of the driving lever 1. Through the arrangement, conversion between the rotation angle of the first driving shaft 31 of the first steering driving device 3 and the rotation angle of the driving rod 1 is avoided, influence of factors such as machining errors generated by indirectly connecting the first driving shaft 31 with the driving rod 1 by other transmission devices on the rotation angle is reduced, the accuracy of controlling the rotation angle of the driving rod 1 is effectively improved, and the accuracy of lifting operation of the driving wheel 5 is further improved.

The roller link 4 is a drive wheel steering drive device for driving the drive wheel 5 to steer. That is, the power source for the movement of the driving wheel 5 is the roller connecting member 4. This results in a mobile device with a double link assembly, the power of its movement being derived from the roller connection 4. The first steering drive 3 is a drive that adjusts the position of the drive wheel 5.

A first distance is provided between the axis of the first driving shaft 31 and the rotation axis of one end of the guide rod 2; a second interval is arranged between the first position and the second position;

the distance between the rotating axis of one end of the driving rod 1 and the rotating axis of the other end of the driving rod 1 is a third distance, and the distance between the rotating axis of one end of the guiding rod 2 and the rotating axis of the other end of the guiding rod 2 is a fourth distance;

the first interval is equal to the second interval, and the third interval is equal to the fourth interval for realizing the adjusting effect. That is, the four-bar linkage structure formed by the driving lever 1, the guide lever 2, the driving housing 32, and the roller link 4 is a parallelogram structure. By the above arrangement, it is ensured that the contact position of the driving wheel 5 with the ground is always unchanged. Then, when the rotation axis of the driving wheel 5 is parallel to the ground, the rotation axis of the driving wheel 5 is always parallel to the ground in the process of driving the driving wheel 5 to move up and down through the double-link assembly, so that the outer peripheral surface of the driving wheel 5 can be parallel to the ground, and the outer peripheral surface of the driving wheel 5 is in effective contact with a ground structure (such as a ground protrusion).

Of course, the four-bar linkage structure formed by the driving lever 1, the guide lever 2, the driving housing 32, and the roller link 4 may be a non-parallelogram structure. This causes the rotation axis of the driving wheel 5 to be changed during the lifting movement of the driving wheel 5 by the double-link assembly, and the outer peripheral surface of the driving wheel 5 and the end surface thereof are likely to contact with the ground structure (such as a ground protrusion) by the change of the inclination angle of the rotation axis of the driving wheel 5.

As shown in fig. 1, 2 and 3, specifically, one end of the driving rod 1 has two first connection portions 11 symmetrical to each other, and the two first connection portions 11 are connected to both ends of the first driving shaft 31, respectively. By the above arrangement, the connection stability of one end of the drive lever 1 with the first drive shaft 31 is ensured. Of course, only one first connection portion 11 may be provided, or three or more first connection portions 11 may be provided. The drive rod 1 and the first drive shaft 31 may also be provided as a unitary structure. There are no particular restrictions and are all within the scope of protection fees.

In this embodiment, a first arcuate connecting surface is provided between the two first connecting portions 11 of the drive lever 1, the first arcuate connecting surface being recessed in a direction away from the first steering drive 3. By the above arrangement, stress concentration at the connection position of the two first connection portions 11 is avoided, and the service life is prolonged.

Further, the first arc-shaped connecting surface is formed by sequentially connecting a first arc-shaped section, a first plane section and a second arc-shaped section. The first arc-shaped section is tangent to the inner wall and the first plane section of one first connecting portion 11, and the second arc-shaped section is tangent to the inner wall and the first plane section of the other first connecting portion 11.

The structure of the first arc-shaped connecting surface may also be adjusted according to a specific structure, for example, the first arc-shaped connecting surface is an arc surface, and the arc surface is tangent to the inner walls of the two first connecting portions 11.

Similarly, the other end of the driving rod 1 is provided with two symmetrical second connecting parts 12, and the two second connecting parts 12 are respectively connected with the roller connecting piece 4 in a rotating way. By the above arrangement, the rotational connection stability of the other end of the driving lever 1 and the roller connecting member 4 is ensured. Of course, only one second connection portion 12 may be provided, or three or more second connection portions 12 may be provided.

In this embodiment, a second arc-shaped connection surface is provided between the two second connection portions 12 of the driving rod 1, and the second arc-shaped connection surface is recessed in a direction away from the roller connection member 4. By the above arrangement, stress concentration at the connection position of the two second connection portions 12 is avoided, and the service life is improved.

Further, the second arc-shaped connecting surface is an arc surface, and the arc surface is tangent to the inner walls of the two second connecting portions 12.

The structure of the second arc-shaped connecting surface can also be adjusted according to a specific structure, for example, the second arc-shaped connecting surface is formed by sequentially connecting a third arc-shaped section, a second plane section and a fourth arc-shaped section. The third arc section is tangent to the inner wall of one second connecting portion 12 and the second plane section, and the fourth arc section is tangent to the inner wall of the other second connecting portion 12 and the second plane section.

In this embodiment, in order to improve the connection stability, one end of the guide rod 2 has two third connection portions symmetrical to each other, and the two third connection portions are respectively rotatably connected with the driving housing 32. Of course, only one third connecting portion may be rotatably connected to the driving housing 32, or three or more third connecting portions may be provided.

Further, a third arc-shaped connecting surface is arranged between the two third connecting parts of the guide rod 2, and the third arc-shaped connecting surface is recessed in a direction away from the first steering driving device. Through the arrangement, stress concentration of the connecting positions of the two third connecting parts is avoided, and the service life is prolonged.

Further, the third arc-shaped connecting surface is formed by sequentially connecting a fifth arc-shaped section, a third plane section and a sixth arc-shaped section. The fifth arc-shaped section is tangent to the inner wall of one third connecting part and the third plane section, and the sixth arc-shaped section is tangent to the inner wall of the other third connecting part and the third plane section.

The third arc-shaped connecting surface structure can also be adjusted according to a specific structure, for example, the third arc-shaped connecting surface is an arc surface, and the arc surface is tangent to the inner walls of the two third connecting parts.

Similarly, the other end of the guide rod 2 is provided with two fourth connecting parts which are symmetrical to each other, and the two fourth connecting parts are respectively connected with the roller connecting piece 4 in a rotating way. Only one fourth connecting portion may be rotatably connected to the roller connecting member 4, or three or more fourth connecting portions may be rotatably connected to the roller connecting member 4.

A fourth arc-shaped connecting surface is arranged between the two fourth connecting parts of the guide rod 2, and the fourth arc-shaped connecting surface is recessed in a direction away from the roller connecting piece 4. Through the arrangement, stress concentration of the connecting positions of the two fourth connecting parts is avoided, and the service life is prolonged.

Further, the fourth arc-shaped connecting surface is an arc surface, and the arc surface is tangent to the inner walls of the two fourth connecting parts.

The structure of the fourth arc-shaped connecting surface can also be adjusted according to a specific structure, for example, the fourth arc-shaped connecting surface is formed by sequentially connecting a seventh arc-shaped section, a fourth plane section and an eighth arc-shaped section. The seventh arc-shaped section is tangent to the inner wall of one fourth connecting part and the fourth plane section, and the eighth arc-shaped section is tangent to the inner wall of the other fourth connecting part and the fourth plane section.

In order to reduce the overall weight of the double-connecting-rod assembly, a hollow structure is arranged on the connecting rod, and the connecting rod is a driving rod 1 and/or a guide rod 2. Namely, the driving rod 1 and/or the guide rod 2 are provided with hollow structures. Through setting up hollow out construction, the inside sets up actuating lever 1 and/or guide bar 2 to solid body of rod, combines hollow out construction's specific structure to set up, has also avoided stress concentration. For example, the hollow structure is a square hole, and the corners of the square hole are fillets; or the hollow structure is a round hole and the like.

Specifically, the hollow structure comprises a plurality of through holes arranged along the extending direction of the connecting rod. Through setting up a plurality of through-holes for have the support of entity structure between two adjacent through-holes, ensured the structural strength of connecting rod.

Of course, the hollow structure may be other structures, such as a porous structure arranged in a matrix or a complete through hole structure.

In order to facilitate the adjustment of the center of gravity of the double-link assembly, the sizes of the plurality of through holes are the same; the distance between the through holes decreases in the direction from the first steering drive 3 to the roller connection 4. That is, the center of gravity of the links (the drive rod 1 and/or the guide rod 2) of the double link assembly is close to the first steering drive 3, and by the above arrangement, the center of gravity of the double link assembly is made away from the drive wheel 5. In the mobile device with a plurality of double-link assemblies, by the arrangement, the gravity center is close to the center of the mobile device, so that the gravity of the mobile device is conveniently and uniformly distributed to the driving wheels 5 connected with the plurality of double-link assemblies.

In another embodiment, the sizes of the plurality of through holes are different; the size of the through hole increases in the direction from the first steering drive to the roller connection. By the above arrangement it is likewise possible to realise that the centre of gravity of the connecting rod (drive rod 1 and/or guide rod 2) of the double-link assembly is close to the first steering drive 3, by which arrangement the centre of gravity of the double-link assembly is remote from the drive wheel 5. As shown in fig. 3, along the direction from the first steering driving apparatus 3 to the roller connecting member 4, there are a first through hole 13, a second through hole 14, and a third through hole 15, the size of the first through hole 13 is smaller than the size of the second through hole 14, and the size of the second through hole 14 is smaller than the size of the third through hole 15.

Of course, it is also possible to make the sizes of the plurality of through holes different and to reduce the pitch of the through holes in the direction of the first steering drive 3 to the roller connection 4. It is likewise possible to realise that the centre of gravity of the links (drive rod 1 and/or guide rod 2) of the double link assembly is close to the first steering drive 3.

As shown in fig. 1, 2, 3 and 4, the embodiment of the present utility model further provides a mobile device, which includes a driving wheel 5 and a mobile body 7, and further includes any of the above dual link assemblies. That is, the double link assembly includes a driving lever 1, a guide lever 2, a first steering driving device 3, and a roller link 4 for connection with a driving wheel 5. The first steering drive 3 includes a drive housing 32 and a first drive shaft 31 that rotates relative to the drive housing 32; one end of the driving rod 1 is connected with a first driving shaft 31, one end of the guiding rod 2 is rotationally connected with a driving shell 32, and the axis of the first driving shaft 31 is parallel to the rotation axis of one end of the guiding rod 2; the other end of the driving rod 1 is rotationally connected to a first position of the roller connecting piece 4, and the other end of the guide rod 2 is rotationally connected to a second position of the roller connecting piece 4; the rotation axis of the other end of the driving lever 1 is parallel to the rotation axis of the other end of the guide lever 2 and the axis of the first driving shaft 31.

Wherein, the first steering driving device 3 of the double-link assembly is connected with the moving body 7, and the roller connecting piece 4 is connected with the driving wheel 5.

Since the double-link assembly has the technical effects described above, the mobile device having the double-link assembly should have the same technical effects, and are not described in detail herein and are within the scope of protection.

The mobile device provided in this embodiment is preferably a mobile robot. Other mobile devices with a drive wheel 5 are also possible.

Further, the roller coupling 4 is a driving wheel steering driving device that drives the driving wheel 5 to steer. The first position of the roller connecting piece 4 rotationally connected with the other end of the driving rod 1 and the second position of the roller connecting piece 4 rotationally connected with the other end of the guiding rod 2 are both positioned on the shell of the driving wheel steering driving device. That is, the drive shaft of the drive wheel steering drive device can drive the drive wheel 5 to steer, and the drive of the drive wheel steering drive device does not affect the drive rod 1 and the guide rod 2.

In the present embodiment, the first drive shaft 31 of the first steering drive 3 is perpendicular to the axis of the drive shaft of the drive wheel steering drive. By the above arrangement, it is ensured that the double link assembly is able to raise and lower the driving wheel 5 in a direction perpendicular to the driving shaft of the driving wheel steering driving device.

As shown in fig. 1 and 2, the guide rod 2 is located below the driving rod 1; a connecting part which is rotationally connected with the guide rod 2 is arranged on one side of the downward driving shell of the first steering driving device 3; the first position of the roller connection 4 is located on the side of the second position of the roller connection 4 facing away from the driving wheel 5.

Through the above arrangement, the driving rod 1 and the guiding rod 2 are arranged along the direction from top to bottom, and the connection structure of the guiding rod 2 (the connection structure of the guiding rod 2 and the connection part and the connection structure of the guiding rod 2 and the roller connecting piece 4) does not influence the structural layout above the driving rod 1. Taking the connection structure of the guide bar 2 and the connection portion as an example, the connection portion is provided on the side of the first steering drive device 3 where the drive housing faces downward, and the first drive shaft 31 of the first steering drive device 3 is connected to the drive bar 1. The upper part of the first steering driving device 3 can be connected with the movable body 7, the rotation of the driving rod 1 and the guide rod 2 is not influenced, the gravity center of the first steering driving device 3 can be made to be as close to the movable body 7 as possible, and the structural stability is improved. In order to achieve a damping operation, the axis of the first drive shaft 31 of the first steering drive 3 is arranged in the horizontal direction of the mobile device; the mobile device further comprises a vibration reduction actuator which is in communication connection with the first steering drive 3;

when the driving wheel 5 receives upward force, the vibration reduction actuator drives the first steering driving device 5 to drive the first driving shaft 31 to rotate, so that the driving wheel 5 is lifted;

when the driving wheel is suspended, the vibration reduction actuator drives the first steering driving device to drive the first driving shaft 31 to rotate, so that the driving wheel 5 descends.

Specifically, as shown in fig. 2, after the driving wheel 5 contacts with a protrusion on the ground, the driving wheel 5 receives an upward movement force, the driving wheel 1 and the guide rod 2 apply a force to the vibration damping actuator (such as an output shaft of the vibration damping actuator), the vibration damping actuator generates a first electric signal after being stressed (such as an increase of an internal current of the vibration damping actuator), the main control system of the mobile device detects the first electric signal, and controls the vibration damping actuator to operate, so that the rotating shaft (the first driving shaft 31) at one end of the driving rod 1 rotates counterclockwise about the rotating shaft axis at one end of the driving rod 1 as a center line, the rotating shaft at one end of the guide rod 2 rotates counterclockwise about the rotating shaft axis at one end of the guide rod 2 as a center line, the other end of the driving rod 1 rotates clockwise relative to the roller connecting member 4, and the other end of the guide rod 2 rotates clockwise relative to the roller connecting member 4, so that the driving wheel 5 is lifted.

When the mobile device is far away from the ground bulge position, the driving wheel 5 is suspended, the vibration damping actuator generates a second electric signal (for example, the internal current of the vibration damping actuator is reduced), the main control system of the mobile device detects the second electric signal, and the vibration damping actuator is controlled to operate, so that the rotating shaft (the first driving shaft 31) at one end of the driving rod 1 rotates clockwise, the driving rod 1 rotates clockwise by taking the rotating shaft axis at one end of the driving rod as a central line, the rotating shaft at one end of the guiding rod 2 rotates clockwise, the guiding rod 2 rotates clockwise by taking the rotating shaft axis at one end of the guiding rod as the central line, the other end of the driving rod 1 rotates anticlockwise relative to the roller connecting piece 4, and the other end of the guiding rod 2 rotates anticlockwise relative to the roller connecting piece 4, so that the driving wheel 5 descends. And further lowers the driving wheel 5 to restore the natural state.

By the above arrangement, the shock absorbing function to the driving wheel 5 is achieved.

In the present specification, each embodiment is described in a progressive manner, and each embodiment is mainly described in a different point from other embodiments, and identical and similar parts between the embodiments are all enough to refer to each other.

The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present utility model. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the utility model. Thus, the present utility model is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A dual link assembly, comprising:

a driving rod;

a guide rod;

2. The dual link assembly of claim 1, wherein the roller link is a drive wheel steering drive that drives the drive wheel in a steering direction.

3. The dual link assembly of claim 1, wherein a first distance is provided between the axis of the first drive shaft and the axis of rotation of one end of the guide bar; a second distance is arranged between the first position and the second position;

4. The double-link assembly according to claim 1, wherein one end of the driving rod has two first connecting portions symmetrical to each other, the two first connecting portions being connected to both ends of the first driving shaft, respectively;

5. The dual link assembly of claim 4 wherein a first arcuate connecting surface is provided between two of said first connecting portions of said drive rod, said first arcuate connecting surface being recessed away from said first steering drive;

6. The double-connecting-rod assembly according to claim 1, wherein a hollowed structure is arranged on a connecting rod, and the connecting rod is the driving rod and/or the guide rod;

the hollow structure comprises a plurality of through holes arranged along the extending direction of the connecting rod.

7. The dual link assembly of claim 6, wherein a plurality of said through holes are of the same size; the distance between the through holes is reduced along the direction from the first steering driving device to the roller connecting piece;

8. A mobile device comprising a drive wheel and a mobile body, further comprising a double link assembly according to any one of claims 1-7;

9. The mobile device of claim 8, wherein the roller connection is a drive wheel steering drive that drives the drive wheel in a steering direction;

10. The mobile device of claim 9, wherein the guide bar is located below the drive bar;

11. The mobile device according to any one of claims 8-10, wherein the axis of the first drive shaft of the first steering drive is arranged in the horizontal direction of the mobile device;