CN216269613U - Omnidirectional cross-country robot - Google Patents

Abstract

The utility model discloses an omnidirectional cross-country robot which comprises a vehicle body and a plurality of motion modules, wherein each motion module comprises a wheel set, a rotating assembly and an active suspension assembly, each active suspension assembly comprises a mounting plate, two swing rods and a suspension driving mechanism, the two swing rods are sequentially arranged in the vertical direction and are mutually parallel, one ends of the swing rods are rotatably connected to the mounting plate, the other ends of the swing rods are rotatably connected to a support, the suspension driving mechanisms are connected to the swing rods, the suspension driving mechanisms are used for driving the swing rods to rotate, and the mounting plates are connected to the vehicle body. Set up the initiative and hang the subassembly, rotate through hanging actuating mechanism drive pendulum rod, can the initiative drive wheelset relative ground lift up or push down to adapt to different walking environment, during the acute angle turn, steerable wheelset presses to ground, makes the truckle laminate ground all the time, in order to avoid acute angle turn in-process truckle unsettled, improvement motion stability.

Description

Omnidirectional cross-country robot

Technical Field

The utility model relates to the technical field of robots, in particular to an omnidirectional cross-country robot.

Background

In the related art, active separation type Offset casters, abbreviated as ASOC (active Split Offset caster), each ASOC includes two coaxial independently driven casters, a connecting rod connecting the two casters, and an Offset rod, one end of the Offset rod is vertically connected to the connecting rod, and the other end of the Offset rod is used for connecting a motion platform. The two casters are driven at different speeds, the movement of any direction and any speed can be realized at the end, away from the connecting rod, of the biasing rod, and when the speed of the two casters is changed, the end, away from the connecting rod, of the biasing rod can respond in a short time and move quickly in any direction in a short time. The robot that adopts the ASOC module can carry out efficient omnidirectional movement, can realize quick acute angle and turn, but during the acute angle was turned, the phenomenon of soaring can appear in the truckle, and the motion stability is not good.

SUMMERY OF THE UTILITY MODEL

The present invention is directed to solving at least one of the problems of the prior art. Therefore, the utility model provides the omnidirectional cross-country robot which can avoid the caster from being emptied when the robot turns at an acute angle and improve the motion stability.

The omnidirectional cross-country robot provided by the embodiment of the utility model comprises a vehicle body and a plurality of motion modules, wherein the motion modules comprise wheel sets, rotating assemblies and active suspension assemblies; the wheel set comprises two casters, two caster driving pieces and two caster connecting rods, the two casters are respectively arranged at two ends of each caster connecting rod and are coaxial, each caster is connected with one caster driving piece, and the caster driving pieces are used for driving the casters to rotate; the rotating assembly comprises a support and a rotating connecting rod, one end of the rotating connecting rod is rotatably connected to the support, the rotating connecting rod can rotate around a central shaft of the rotating connecting rod, the other end of the rotating connecting rod is rotatably connected to the caster connecting rod, and the axis of the caster connecting rod and the central shaft of the rotating connecting rod are located in different planes; the initiative suspension subassembly includes mounting panel, pendulum rod and suspension actuating mechanism, the pendulum rod is provided with two, two the pendulum rod sets gradually and is parallel to each other in vertical direction, the one end of pendulum rod rotate connect in the mounting panel, the other end of pendulum rod rotate connect in the support, suspension actuating mechanism connect in the pendulum rod, suspension actuating mechanism is used for the drive the pendulum rod rotates, the mounting panel connect in the automobile body.

The omnidirectional cross-country robot provided by the embodiment of the utility model at least has the following beneficial effects: set up the initiative and hang the subassembly, rotate through hanging actuating mechanism drive pendulum rod, can the initiative drive wheelset relative ground lift up or push down to adapt to different walking environment, during the acute angle turn, steerable wheelset presses to ground, makes the truckle laminate ground all the time, in order to avoid acute angle turn in-process truckle unsettled, improvement motion stability.

In some embodiments of the present invention, the suspension driving mechanism includes a linear motor, the linear motor includes a body and an output rod, the output rod is connected to the body and can move along an axis of the output rod, the body is rotatably connected to the mounting plate, the output rod is rotatably connected to the swing rod, and a connection position of the output rod and the swing rod is located between two ends of the swing rod.

In some embodiments of the present invention, the suspension driving mechanism includes a motor, a driving gear and a driven gear, the driving gear is connected to an output end of the motor, the driven gear is engaged with the driving gear, the driven gear is fixedly connected to the swing rod, a rotation axis of the driven gear coincides with a rotation axis of the swing rod, which rotates relative to the mounting plate, the motor can drive the driving gear to drive the driven gear to rotate, and the driven gear can drive the swing rod to rotate.

In some embodiments of the utility model, the driven gear is a sector gear.

In some embodiments of the present invention, the active suspension assembly further includes a shock absorber, one end of the shock absorber is rotatably connected to the mounting plate, the other end of the shock absorber is rotatably connected to the swing rod, and a connection position of the shock absorber and the swing rod is located between two ends of the swing rod.

In some embodiments of the present invention, the caster link has a mounting cavity, and the caster drive is received inside the mounting cavity.

In some embodiments of the present invention, the rotating assembly further includes a wheel set rotating shaft, the wheel set rotating shaft is connected to one end of the rotating connecting rod, an axis of the wheel set rotating shaft is perpendicular to an axis of the rotating connecting rod, the caster connecting rod has a shaft hole, and the wheel set rotating shaft is inserted into the shaft hole.

In some embodiments of the utility model, the omnidirectional off-road robot further comprises a central processor, the rotating assembly further comprises an electrically conductive slip ring connected to the support, the caster drive is connected to the electrically conductive slip ring by a cable, and the electrically conductive slip ring is electrically connected to the central processor.

In some embodiments of the present invention, the omnidirectional off-road robot further includes a central processing unit, the caster wheel driving member is connected to the central processing unit in a CAN bus communication manner, and the suspension driving mechanism is connected to the central processing unit in a CAN bus communication manner.

In some embodiments of the utility model, the omnidirectional off-road robot comprises four of the motion modules, and the four motion modules are connected to the vehicle body in a pairwise opposite manner.

Additional aspects and advantages of the utility model will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the utility model.

Drawings

The utility model is further described with reference to the following figures and examples, in which:

FIG. 1 is a perspective schematic view of an omnidirectional off-road robot of some embodiments provided by the present invention;

FIG. 2 is a perspective view of a motion module of the omnidirectional off-road robot shown in FIG. 1;

FIG. 3 is a schematic diagram of the motion module shown in FIG. 2;

FIG. 4 is a perspective view of a wheel set of the motion module shown in FIG. 2;

FIG. 5 is an exploded schematic view of the wheel assembly shown in FIG. 4;

fig. 6 is a perspective view of a rotating assembly of the motion module shown in fig. 2.

FIG. 7 is a perspective view of an active suspension assembly of a motion module of an omnidirectional off-road robot in accordance with some embodiments provided herein;

FIG. 8 is a perspective view of an active suspension assembly of the motion module shown in FIG. 2;

FIG. 9 is a side view of the active suspension assembly shown in FIG. 8.

Reference numerals:

the device comprises a vehicle body 100, a motion module 200, a wheel set 210, a caster 211, a caster driving member 212, a caster connecting rod 213, a mounting cavity 2131, a shaft hole 2132, a fourth revolute pair 2133, a rotating assembly 220, a support 221, a rotating connecting rod 222, a third revolute pair 2221, a wheel set rotating shaft 223, a conductive slip ring 224, a driving suspension assembly 230, a mounting plate 231, a swing rod 232, a first revolute pair 2321, a second revolute pair 2322, a suspension driving mechanism 233, a linear motor 2331, a body 23311, an output rod 23312, a motor 2332, a driving gear 2333, a driven gear 2334, a linkage rod 2335 and a shock absorber 234.

Detailed Description

Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention.

In the description of the present invention, it should be understood that the orientation or positional relationship referred to in the description of the orientation, such as the upper, lower, left, right, etc., is based on the orientation or positional relationship shown in the drawings, and is only for convenience of description and simplicity of description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention.

In the description of the present invention, unless otherwise explicitly limited, terms such as arrangement, installation, connection and the like should be understood in a broad sense, and those skilled in the art can reasonably determine the specific meanings of the above terms in the present invention in combination with the specific contents of the technical solutions.

In the description of the present invention, reference to the description of "one embodiment," "some embodiments," or the like, means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

The omnidirectional cross-country robot provided by the embodiment of the utility model comprises a vehicle body 100 and a plurality of motion modules 200, wherein the motion modules 200 comprise wheel sets 210, rotating assemblies 220 and active suspension assemblies 230; the wheel set 210 comprises two caster wheels 211, two caster wheel driving parts 212 and two caster wheel connecting rods 213, the two caster wheels 211 are respectively arranged at two ends of the caster wheel connecting rods 213, the two caster wheels 211 are coaxial, each caster wheel 211 is connected with one caster wheel driving part 212, and the caster wheel driving parts 212 are used for driving the caster wheels 211 to rotate; the rotating assembly 220 comprises a support 221 and a rotating link 222, one end of the rotating link 222 is rotatably connected to the support 221, the rotating link 222 can rotate around the central axis of the rotating link 222, the other end of the rotating link 222 is rotatably connected to the caster link 213, and the axis of the caster link 213 and the central axis of the rotating link 222 are located in different planes; the active suspension assembly 230 comprises an installation plate 231, two swing rods 232 and two suspension driving mechanisms 233, the two swing rods 232 are sequentially arranged in the vertical direction and are parallel to each other, one end of each swing rod 232 is rotatably connected to the installation plate 231, the other end of each swing rod 232 is rotatably connected to the support 221, the suspension driving mechanisms 233 are connected to the swing rods 232, the suspension driving mechanisms 233 are used for driving the swing rods 232 to rotate, and the installation plates 231 are connected to a vehicle body.

For example, as shown in fig. 1, the all-terrain robot includes a vehicle body 100 and a plurality of motion modules 200, referring to fig. 2 and 3, the motion modules 200 include wheel sets 210, a rotation assembly 220 and a driving suspension assembly 230, referring to fig. 4 to 5, the wheel sets 210 include casters 211, caster driving members 212 and caster connecting rods 213, two casters 211 and two caster driving members 212 are respectively disposed at two ends of the caster connecting rods 213, the two casters 211 are coaxial, each caster 211 is connected with one caster driving member 212, and the caster driving members 212 are used for driving the casters 211 to rotate; referring to fig. 6, the rotation assembly 220 includes a support 221 and a rotation link 222, one end of the rotation link 222 is rotatably connected to the support 221, the rotation link 222 can rotate around a central axis a of the rotation link 222, and the other end of the rotation link 222 is rotatably connected to the caster link 213, referring to fig. 2, an axis B of the caster link 213 and the central axis a of the rotation link 222 are located in different planes, so as to realize the offset of the wheel set 210 and the rotation link 222, to drive the two casters 211 at different speeds, to realize the movement in any direction and at any speed at the end of the rotation link 222 connected to the caster link 213, and when the speeds of the two casters 211 are changed, the end of the rotation link 222 connected to the caster link 213 can respond in a short time and move rapidly in any direction in a short time; referring to fig. 7 to 9, the active suspension assembly 230 includes an installation plate 231, two swing rods 232 and two suspension driving mechanisms 233, the two swing rods 232 are sequentially arranged in the vertical direction and are parallel to each other, one end of each swing rod 232 is rotatably connected to the installation plate 231, the other end of each swing rod 232 is rotatably connected to the support 221, the suspension driving mechanism 233 is connected to the swing rods 232, the suspension driving mechanism 233 is used for driving the swing rods 232 to rotate, and the installation plate 231 is connected to the vehicle body.

Referring to fig. 2 and 3, the swing rod 232 and the mounting plate 231 form a first rotating pair 2321, the swing rod 232 and the support 221 form a second rotating pair 2322, the mounting plate 231, the two parallel swing rods 232 and the support 221 form a parallelogram, the support 221 can translate in the up-down direction relative to the mounting plate 231, the suspension driving mechanism 233 drives the swing rod 232 to rotate around the first rotating pair 2321, and drives the rotating assembly 220 to move in the up-down direction, so as to drive the wheel set 210 to move in the up-down direction; the rotating link 222 and the support 221 form a third revolute pair 2221, and the two casters 211 are driven by the two caster driving members 212 respectively and can perform differential rotation, so that the caster link 213 rotates around the third revolute pair 2221 to adjust the moving direction of the wheel set 210; the caster link 213 and the rotation link 222 form a fourth revolute pair 2133, the caster link 213 can rotate around the fourth revolute pair 2133, and when the ground has a certain inclination angle and the wheel set 210 is pressed against the ground, the two casters 211 can still fit the ground to prevent the casters 211 from being suspended. The active suspension mechanism 230 can enable the wheel set 210 to be lifted or pressed down relative to the ground so as to adapt to different walking environments, and when the acute angle is turned, the wheel set 210 can be controlled to press to the ground, so that the caster 211 is always attached to the ground, the caster 211 is prevented from being suspended in the acute angle turning process, and the motion stability is improved.

In some embodiments of the present invention, the suspension driving mechanism 233 comprises a linear motor 2331, the linear motor 2331 comprises a body 23311 and an output rod 23312, the output rod 23312 is connected to the body 23311 and can move along the axis of the output rod 23312, the body 23311 is rotatably connected to the mounting plate 231, the output rod 23312 is rotatably connected to the oscillating rod 232, and the connecting position of the output rod 23312 and the oscillating rod 232 is located between two ends of the oscillating rod 232.

For example, as shown in fig. 7, the suspension driving mechanism 233 includes a linear motor 2331, the linear motor 2331 includes a body 23311 and an output rod 23312, the output rod 23312 is connected to the body 23311 and can move along the axis of the output rod 23312, the body 23311 is rotatably connected to the mounting plate 231, the output rod 23312 is rotatably connected to the oscillating rod 232, and the connecting position of the output rod 23312 and the oscillating rod 232 is located between the two ends of the oscillating rod 232. The output rod 23312 of the linear motor 2331 can directly provide driving force to the swing link 232 to drive the swing link 232 to swing upwards or downwards, so that the wheel set 210 is actively lifted or pressed down relative to the ground to adapt to different walking environments and improve the motion stability.

It is understood that different types and sizes of linear motor 2331 may be selected depending on the actual application.

In other embodiments of the present invention, the suspension driving mechanism 233 includes a motor 2332, a driving gear 2333 and a driven gear 2334, the driving gear 2333 is connected to an output end of the motor 2332, the driven gear 2334 is engaged with the driving gear 2333, the driven gear 2334 is fixedly connected to the swing rod 232, a rotation axis of the driven gear 2334 coincides with a rotation axis of the swing rod 232 relative to the mounting plate 231, the motor 2332 can drive the driving gear 2333 to rotate the driven gear 2334, and the driven gear 2334 can drive the swing rod 232 to rotate.

For example, as shown in fig. 8 to 9, the suspension driving mechanism 233 includes a motor 2332, a driving gear 2333 and a driven gear 2334, the driving gear 2333 is connected to an output end of the motor 2332, the driven gear 2334 is engaged with the driving gear 2333, the driven gear 2334 is fixedly connected to the swing rod 232, a rotating shaft of the driven gear 2334 is overlapped with a rotating shaft of the swing rod 232 which rotates relative to the mounting plate 231, the motor 2332 can drive the driving gear 2333 to rotate the driven gear 2334, and the driven gear 2334 can drive the swing rod 232 to rotate. The torque generated by the motor 2332 acts on the swing rod 232 through the driving gear 2333 and the driven gear 2334 to drive the swing rod 232 to swing upwards or downwards, so that the wheel set 210 is actively lifted or pressed down relative to the ground, and the torque of the motor 2332 can be adjusted according to the walking environment to adapt to different walking environments, buffer the impact in the movement and improve the movement stability.

It is understood that different types and sizes of the motor 2332, the driving gear 2333 and the driven gear 2334 can be selected according to the actual requirements. For example, as shown in fig. 8, a linkage rod 2335 may be disposed through an eccentric position of the driven gear 2334 and connected to the swing rod 232, and the driven gear 2334 rotates to drive the linkage rod 2335 to rotate, thereby driving the swing rod 232 to rotate.

The driven gear 2334 is a sector gear.

For example, as shown in fig. 9, the driven gear 2334 is a sector gear. In practical use, the swing range of the swing rod 232 is only located on one side of the mounting plate 231, and the driven gear 2334 only performs reciprocating rotation within a certain angle, so that a sector gear can be used as the driven gear 2334, so as to reduce the space occupation and make the structural layout more reasonable.

It should be noted that the active suspension assembly 230 further includes a shock absorber 234, one end of the shock absorber 234 is rotatably connected to the mounting plate 231, the other end of the shock absorber 234 is rotatably connected to the swing link 232, and a connection position of the shock absorber 234 and the swing link 232 is located between two ends of the swing link 232.

For example, as shown in fig. 8 and 9, the active suspension assembly 230 further includes a shock absorber 234, one end of the shock absorber 234 is rotatably connected to the mounting plate 231, the other end of the shock absorber 234 is rotatably connected to the swing link 232, and the connection position of the shock absorber 234 and the swing link 232 is located between two ends of the swing link 232. The shock absorber 234 can passively follow the rotation of the swing link 232 to extend and retract, thereby reducing the work load of the motor 2332.

It is understood that different types and sizes of the shock absorbers 234 can be selected according to actual use requirements.

The caster link 213 has a mounting cavity 2131, and the caster drive 212 is accommodated in the mounting cavity 2131.

For example, as shown in fig. 4, the caster link 213 has a mounting cavity 2131, and referring to fig. 5, the caster drive member 212 is accommodated in the mounting cavity 2131, and the caster link 213 can not only connect the two casters 211, but also protect the caster drive member 212 to prevent the caster drive member 212 from being damaged by collision during movement, and can make the structure of the wheel set 210 more compact.

It will be appreciated that, with reference to figure 5, caster links 213 may be provided as a removable housing to facilitate installation.

It should be noted that the rotating assembly 220 further includes a wheel set rotating shaft 223, the wheel set rotating shaft 223 is connected to one end of the rotating link 222, an axis of the wheel set rotating shaft 223 is perpendicular to an axis of the rotating link 222, the caster link 213 has a shaft hole 2132, and the wheel set rotating shaft 223 is inserted into the shaft hole 2132.

For example, as shown in fig. 6, the rotating assembly 220 further includes a wheel set rotating shaft 223, the wheel set rotating shaft 223 is connected to one end of the rotating link 222, an axis C of the wheel set rotating shaft 223 is perpendicular to an axis a of the rotating link 222, the caster link 213 has a shaft hole 2132, and the wheel set rotating shaft 223 is inserted into the shaft hole 2132. The rotating connection between the rotating connecting rod 222 and the caster connecting rod 213 is realized through the matching of the wheel set rotating shaft 223 and the shaft hole 2132, and the installation is simpler; the axis C of the wheel set rotating shaft 223 is perpendicular to the axis a of the rotating link 222, and when the rotation speed of the two casters 211 of the wheel set 210 changes, the acting force on the rotating link 222 can vertically act on the end of the rotating link 222 connected with the wheel set rotating shaft 223, so as to improve the response speed of steering.

It is understood that the wheel set rotation shaft 223 and the rotation link 222 may be integrally formed to improve the reliability of the connection.

It should be noted that the omnidirectional cross-country robot further comprises a central processing unit, the rotating assembly 220 further comprises a conductive slip ring 224, the conductive slip ring 224 is connected to the support 221, the caster wheel driving unit 212 is connected to the conductive slip ring 224 through a cable, and the conductive slip ring 224 is electrically connected with the central processing unit.

For example, as shown in FIG. 6, the all-terrain robot further includes a central processor, the rotating assembly 220 further includes a conductive slip ring 224, the conductive slip ring 224 is connected to the support 221, and referring to FIG. 2, the caster drives 212 are connected to the conductive slip ring 224 by a cable, and the conductive slip ring 224 is electrically connected to the central processor. The central processor is used for sending a control signal to the caster driving member 212 to control the rotation of the caster 211, and the conductive slip ring 224 can prevent the cable from winding in the rotating process of the wheel set 210, so that the electric power and the signal can be stably transmitted all the time in the moving process.

It should be noted that the omnidirectional cross-country robot further comprises a central processing unit, the caster driving member 212 is connected with the central processing unit in a CAN bus communication manner, and the suspension driving mechanism 233 is connected with the central processing unit in a CAN bus communication manner. The central processor is used for sending control signals to the caster driving piece 212 and the suspension driving mechanism 233 so as to control the rotation of the caster 211 and the action of the suspension driving mechanism 233; the CAN bus communication mode CAN reduce communication delay, namely control delay, has high anti-interference capability and CAN realize high-frequency motion control.

It should be noted that the omnidirectional cross-country robot includes four motion modules 200, and the four motion modules 200 are connected to the vehicle body 100 in a pairwise opposite manner.

For example, as shown in fig. 1, the omnidirectional cross-country robot includes four motion modules 200, and the four motion modules 200 are connected to the vehicle body 100 in pairs, so that the vehicle body 100 can be supported more stably, and the omnidirectional cross-country robot has high load-bearing capacity and good motion stability.

The embodiments of the present invention have been described in detail with reference to the accompanying drawings, but the present invention is not limited to the above embodiments, and various changes can be made within the knowledge of those skilled in the art without departing from the gist of the present invention. Furthermore, the embodiments of the present invention and the features of the embodiments may be combined with each other without conflict.

Claims (10)

1. Omnidirectional cross-country robot, its characterized in that includes:

a vehicle body;

the device comprises a plurality of motion modules, a plurality of driving modules and a plurality of control modules, wherein each motion module comprises a wheel set, a rotating assembly and a driving suspension assembly;

the wheel set comprises two casters, two caster driving pieces and two caster connecting rods, the two casters are respectively arranged at two ends of each caster connecting rod and are coaxial, each caster is connected with one caster driving piece, and the caster driving pieces are used for driving the casters to rotate;

the rotating assembly comprises a support and a rotating connecting rod, one end of the rotating connecting rod is rotatably connected to the support, the rotating connecting rod can rotate around a central shaft of the rotating connecting rod, the other end of the rotating connecting rod is rotatably connected to the caster connecting rod, and the axis of the caster connecting rod and the central shaft of the rotating connecting rod are located in different planes;

the initiative suspension subassembly includes mounting panel, pendulum rod and suspension actuating mechanism, the pendulum rod is provided with two, two the pendulum rod sets gradually and is parallel to each other in vertical direction, the one end of pendulum rod rotate connect in the mounting panel, the other end of pendulum rod rotate connect in the support, suspension actuating mechanism connect in the pendulum rod, suspension actuating mechanism is used for the drive the pendulum rod rotates, the mounting panel connect in the automobile body.

2. The omnidirectional off-road robot of claim 1, wherein the suspension drive mechanism comprises a linear motor, the linear motor comprising a body and an output rod, the output rod being connected to the body and being movable along an axis of the output rod, the body being rotatably connected to the mounting plate, the output rod being rotatably connected to the swing link, a connection location of the output rod and the swing link being located between two ends of the swing link.

3. The all-terrain robot of claim 1, wherein the suspension drive mechanism includes a motor, a drive gear and a driven gear, the drive gear is connected to an output end of the motor, the driven gear is engaged with the drive gear, the driven gear is fixedly connected to the swing link, a rotation axis of the driven gear coincides with a rotation axis of the swing link relative to the rotation of the mounting plate, the motor can drive the drive gear to drive the driven gear to rotate, and the driven gear can drive the swing link to rotate.

4. The omnidirectional off-road robot of claim 3, wherein the driven gear is a sector gear.

5. The omnidirectional off-road robot of claim 3, wherein the active suspension assembly further comprises a shock absorber, one end of the shock absorber is rotatably connected to the mounting plate, the other end of the shock absorber is rotatably connected to the swing rod, and a connection position of the shock absorber and the swing rod is located between two ends of the swing rod.

6. The all-directional off-road robot of claim 1, wherein the caster link has a mounting cavity, the caster drive being housed inside the mounting cavity.

7. The all-directional off-road robot as claimed in claim 1, wherein the rotation assembly further comprises a wheel set rotation shaft connected to one end of the rotation link, the axis of the wheel set rotation shaft is perpendicular to the axis of the rotation link, the caster link has a shaft hole, and the wheel set rotation shaft is inserted into the shaft hole.

8. The omnidirectional off-road robot of claim 1, further comprising a central processor, wherein the rotating assembly further comprises a conductive slip ring, wherein the conductive slip ring is coupled to the support, wherein the caster drive is coupled to the conductive slip ring via a cable, and wherein the conductive slip ring is electrically coupled to the central processor.

9. The omnidirectional off-road robot of claim 1, further comprising a central processing unit, wherein the caster wheel drive is communicatively coupled to the central processing unit via a CAN bus, and wherein the suspension drive mechanism is communicatively coupled to the central processing unit via a CAN bus.

10. The omnidirectional off-road robot of claim 1, wherein the omnidirectional off-road robot comprises four of the motion modules, the four motion modules being connected to the vehicle body in opposing pairs.

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