Hydraulically driven independent balanced suspension device

The invention belongs to the field of omnidirectional mobile platforms based on Mecanum wheels and particularly relates to a hydraulically driven independent balanced suspension device. The hydraulically driven independent balanced suspension device comprises a vehicle frame, a plurality of suspending modules, a plurality of wheel side reducers and a hydraulic control subsystem. Supporting cylinders of a whole vehicle are divided into three sets, tail oil ways of each set of cylinders are communicated and closed from the outside, three-point supporting of the whole vehicle is achieved, and the situations that multiple wheels make contact with the ground simultaneously and load bearing is balanced are guaranteed. The reference height of a suspension is adjusted by adjusting the quantity of oil injected into closed pipelines, and therefore the height of the whole vehicle is adjusted actively, and the whole vehicle has small-amplitude lifting capacity. Oil pressure of the closed pipelines is measured through pressure sensors so that load and unbalance load situations of the whole vehicle can be obtained in real time.