Active-passive differential series-parallel connection supporting leg, gravity-based closing series-parallel connection supporting leg, and six-degree-of-freedom position-adjusting robot platform

An active-passive differential series-parallel connection supporting leg, comprising a base, a lifting table, a wheel seat and an independent suspension assembly, wherein the base is rotatably connected with a steering table through a turntable bearing;

• gear teeth are arranged on a periphery of the turntable bearing;
• a steering motor is arranged in the base;
• and a driving gear on an output shaft of the steering motor is matched with the gear teeth to rotate and position the steering table;
• the lifting table is provided with a guide rail, the steering table is provided with a sliding block, the lifting table is fixedly connected with a lifting motor, and the lifting motor drives a linear driver to act through transmission of a synchronous belt, so as to drive the sliding block to be matched with the guide rail such that the lifting table is slidably connected with the steering table;
• the wheel seat is rotationally connected with the lifting table, and a swing bearing is arranged at a rotary connection of the wheel seat and the lifting table;
• the wheel seat is provided with a first wheel and a second wheel rotatably connected with each other;
• at least one of the first wheel and the second wheel is a driving wheel, or both the first wheel and the second wheel are driving wheels;
• rotary motions of the first wheel and the second wheel are respectively actively driven synchronously or differentially by a walking double-motor reducer or is indirectly driven by a walking single motor through a differential gear train;
• and
• the independent suspension assembly is arranged between the lifting table and the steering table and comprises a suspension fixing plate, a spring, a spring collision block, a lifting collision block and a guide column;
• in the independent suspension assembly, a compression stroke of the spring is smaller than a lifting stroke of the lifting table;
• lifting motion and independent suspension are in parallel, and a stroke of the lifting motion is larger than a length of the spring;
• when a lifting distance of the lifting table is larger than the length of the spring, a rigid active vibration reduction controlled by the lifting motor is realized;
• when the lifting distance of the lifting table is smaller than the length of the spring, the lifting collision block is in contact with the spring collision block, a contracting brake of the lifting motor is opened, passive vibration reduction is realized due to flexibility of the independent suspension based on the spring, and the active vibration reduction and the passive vibration reduction form a rigid-flexible coupling vibration reduction structure.