Constant-force buffer mechanism and robot

Abstract

The invention discloses a constant-force buffering mechanism and a robot, and belongs to the technical field of specialized robots, the constant-force buffering mechanism comprises at least two constant-force buffering assemblies arranged on a base and a plurality of driving wheels consistent with the constant-force buffering assemblies; the constant-force buffering assembly comprises a main support and a constant-force spring piece. The driving wheel is telescopically connected to the main bracket through a constant-force spring piece; the constant-force spring piece exerts counter-acting force on the base through vertical telescopic deformation so as to offset the gravity of the base and the gravity of the upper structure of the base, and it is guaranteed that the base and the upper structure of the base are kept stable in the vertical direction in the moving process. According to the constant-force buffering mechanism and the robot, the problems that in the prior art, a damping mechanism cannot completely avoid vibration generated by a wheel type moving device in the vertical direction when the wheel type moving device moves on an uneven road surface, and consequently bolt looseness, wire harness interface looseness, material fatigue strain and the like occur can be effectively solved; and therefore, the wheel type moving device has a fault in the operation process and cannot stably operate, and the like.

Description

Technical Field

[0001] This invention belongs to the field of special robot technology. Specifically, it relates to a constant force buffer mechanism and a robot. Background Technology

[0002] Currently, wheeled mobile devices, such as wheeled mobile carts, wheeled robots, and wall-climbing robots, all move by mounting rollers on their base. This drive system typically incorporates a vibration damping mechanism, such as an elastic element, between the rollers and the base. The vibration damping is achieved through the expansion and contraction of the elastic element. The core of this vibration damping mechanism is to absorb the impact of road bumps through elastic and damping elements, reducing vibrations in the base and superstructure. It mainly consists of three core components, each with a defined function and working in tandem: Elastic element: Responsible for absorbing impact energy. Common types include coil springs, leaf springs, air springs, and torsion bar springs, which convert vertical impacts from the road surface into deformation. Damping element, such as a shock absorber: Responsible for dissipating vibration energy. Through the damping effect of hydraulic oil or gas, it suppresses the reciprocating vibration after deformation of the elastic element, preventing continuous bumping of the wheeled mobile device. Guiding mechanism: Responsible for limiting the direction of roller movement. The control arm, linkage, and other structures ensure that the wheeled mobile device maintains the correct travel trajectory and does not deviate when bouncing up and down.

[0003] However, despite the aforementioned shock-absorbing mechanisms, wheeled mobile devices still face problems arising from vertical vibrations when moving or traveling on uneven ground, such as loose bolts, loose wiring harness interfaces, and material strain fatigue. This is especially true for wheeled robots, which are precision structures containing numerous components, making it crucial to reduce robot vibration and ensure stable operation. Summary of the Invention

[0004] The purpose of this invention is to provide a constant force buffer mechanism and robot to address the aforementioned shortcomings. This solves the problem that existing vibration damping mechanisms cannot completely prevent vertical vibrations generated when wheeled mobile devices move on uneven surfaces, leading to issues such as loose bolts, loose wiring harness interfaces, and material fatigue strain. These problems result in malfunctions and unstable operation of the wheeled mobile devices. To achieve the above objective, this invention provides the following technical solution: A constant force buffer mechanism includes at least two constant force buffer components disposed on a base and a plurality of drive wheels corresponding to the constant force buffer components; each constant force buffer component includes a main support and a constant force spring; the main support is fixedly connected to the base; the drive wheels are telescopically connected to the main support via the constant force spring; the constant force spring applies a reaction force to the base through vertical telescopic deformation to counteract the weight of the base itself and its upper structure, ensuring that the base and its upper structure remain stable in the vertical direction during movement.

[0005] Furthermore, the main support includes a first side plate and a second side plate arranged opposite to each other and vertically parallel; the two ends of the first side plate and the second side plate are fixedly connected by a pair of horizontally parallel connecting plates; the first side plate is fixedly connected to the base; a vertical slide rail is provided on the side of the second side plate facing the first side plate; a guide connector is fitted on the vertical slide rail; the constant force spring is connected to the guide connector to realize extension and retraction in the vertical direction.

[0006] Furthermore, the guide connector includes a fixed slider and a fixed frame; the fixed frame is sleeved on the second side plate and detachably connected to the fixed slider; a gap is reserved between the fixed frame and the second side plate to avoid interfering with the movement of the fixed frame following the fixed slider along the vertical slide rail; the fixed frame is fixedly connected to the constant force spring.

[0007] Furthermore, a constant force spring mounting part is provided at the bottom of the second side plate; a sliding groove is provided on the side of the second side plate opposite to the vertical slide rail; the constant force spring includes a telescopic part and a winding part; the winding part is rotatably connected to the constant force spring mounting part; the telescopic part is slidably fitted in the sliding groove; the upper part of the telescopic part is fixedly connected to the fixed frame.

[0008] Furthermore, the fixed frame is provided with a first sub-frame; the first sub-frame includes a horizontal part and a vertical part that are fixedly connected; one end of the horizontal part is fixedly connected to the fixed frame, and the other end is connected to the upper end of the vertical part; the lower end of the vertical part is connected to the drive wheel.

[0009] Furthermore, a second sub-frame is provided on the vertical part; a guide connector is also provided on the side of the second sub-frame away from the drive wheel; the guide connector includes a fixed slider; the fixed slider is fitted and connected to the vertical slide rail; the second sub-frame is connected to the fixed slider by screws.

[0010] Furthermore, a guide member is provided in the slide groove; the guide member is used to guide the movement of the telescopic part of the constant force spring member in the slide groove.

[0011] Furthermore, the drive wheel includes a drive motor and a roller; the drive motor is fixed to one side of the vertical part; the roller is connected to the other side of the vertical part; the output end of the drive motor passes through the vertical part and is connected to the roller to drive the roller to rotate.

[0012] Furthermore, the first side plate, the first sub-frame, and the second sub-frame are all provided with hollowed-out grooves.

[0013] A robot comprising the aforementioned constant force buffer mechanism.

[0014] The beneficial effects of this invention are: 1. By setting at least two constant force buffer mechanisms on the wheeled robot, and mounting the drive motor and rollers on the constant force buffer mechanisms, the reaction force exerted by the at least two constant force buffer mechanisms on the wheeled robot can offset the gravity of the wheeled robot and its upper structure. This keeps the wheeled robot and its upper part from moving up and down in the vertical direction during movement, reducing problems such as loose bolts, loose wiring harness interfaces, and long-term stress fatigue of materials caused by vibration in the upper structure of the wheeled robot.

[0015] 2. This constant force buffer mechanism has a simple structure and is easy to install. It can be adapted to various types of wheeled mobile devices and has good application prospects. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the constant force buffer mechanism in this invention; Figure 2 This is a schematic diagram of the constant force buffer assembly structure with only the first subframe in this invention; Figure 3 This is a schematic diagram of the constant force buffer assembly structure of the present invention, which includes a first subframe and a second subframe; Figure 4 This is a schematic diagram of the adaptive constant force buffer mechanism in Example 3; Figure 5 This is a schematic diagram of the buffer unit in Example 3; Figure 6 yes Figure 5 A sectional view; Figure 7 This is a force analysis diagram of the buffer unit in Example 3; Figure 8 This is a schematic diagram of the constant force vibration reduction mechanism in Example 4; Figure 9 This is a schematic diagram of the vibration damping unit in Example 4; Figure 10 This is a schematic diagram of the constant force component in Embodiment 4, which includes a first constant force spring and a second constant force spring. Figure 11This is a schematic diagram of the structure of the constant force component as a combined disc spring in Example 4; Figure 12 This is a force analysis diagram of the road surface in Example 4; Figure 13 This is a force analysis diagram of the situation when encountering an obstacle in Example 4; In the attached diagram: 11. Base; 101. Support; 102. Vertical support rod; 103. Vertical constant force spring; 104. Vertical mounting seat; 105. First horizontal connecting rod; 106. First horizontal constant force spring; 107. First vertical slide rail; 108. Second horizontal connecting rod; 109. Second horizontal constant force spring; 110. Second vertical slide rail; 111. Vertical hinge support; 112. Horizontal hinge support; 113. First slider mounting seat; 114. First slider; 115. Second slider mounting seat; 116. Second slider; 12. Roller; 117. Roller mounting bracket; 201. Main support Frame; 202, Constant force spring component; 203, First side plate; 204, Second side plate; 205, Connecting plate; 206, Fixed slider; 207, Fixed frame; 208, Constant force spring mounting part; 209, First sub-frame; 210, Second sub-frame; 211, Screw; 212, Drive motor; 213, Hollowed-out groove; 301, Rotating bracket; 302, First lever arm; 303, Second lever arm; 304, Rotating part; 305, Connecting rod hinge support; 306, Fixed seat; 307, First constant force spring; 308, Second constant force spring; 309, Connecting piece; 310, Combined disc spring. Detailed Implementation

[0017] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments, but the present invention is not limited to the following embodiments.

[0018] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0019] In the description of this invention, "first feature" and "second feature" may include one or more of the features.

[0020] In the description of this invention, "a plurality of" means two or more.

[0021] In the description of this invention, the first feature being "above" or "below" the second feature may include the first and second features being in direct contact, or it may include the first and second features not being in direct contact but being in contact through another feature between them.

[0022] In the description of this invention, the terms "above," "over," and "on top" for the first feature and the second feature include the first feature being directly above or diagonally above the second feature, or simply indicating that the first feature is at a higher horizontal level than the second feature.

[0023] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," and "some examples" indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0024] Example 1 See attached Figures 1-3 This embodiment discloses a constant force buffer mechanism, comprising at least two constant force buffer components mounted on a base 11 and several drive wheels, the number of drive wheels corresponding one-to-one with the constant force buffer components. Here, the base 11 serves as the mounting foundation for the entire device, forming a fixed connection with the main support 201 of the at least two constant force buffer components. The connection method can be bolt fastening or welding, ensuring no relative displacement between the main support 201 and the base 11. The constant force buffer components utilize the vertical telescopic characteristics of the constant force spring 202 to form a telescopic connection between the drive wheels and the main support 201, allowing the vertical displacement of the drive wheels when in contact with the ground to be transmitted through the constant force spring 202, thereby converting it into a reaction force to counteract the weight of the base 11 and its upper structure.

[0025] In one embodiment, the main support 201 adopts a frame structure, including a first side plate 203 and a second side plate 204. The first side plate 203 and the second side plate 204 are arranged opposite each other and vertically parallel. The upper and lower ends of the two are respectively fixed by a pair of horizontally parallel connecting plates 205 to form a rectangular frame structure. The connection between the connecting plates 205 and the first side plate 203 and the second side plate 204 can be fastened with screws 211 or by welding to ensure the overall rigidity of the frame. The side of the first side plate 203 facing away from the second side plate 204 is fixed to the base 11, so that the main support 201 is vertically erected on the base 11. The side of the second side plate 204 facing the first side plate 203 is provided with a vertical slide rail, which extends along the height direction of the second side plate 204 to form a sliding fit with the guide connector. The side of the second side plate 204 facing away from the slide rail is correspondingly machined with a groove to provide a moving channel for the telescopic part of the constant force spring 202. The bottom of the second side plate 204 extends outward to form a constant force spring mounting part 208. The constant force spring mounting part 208 has a reserved rotating connection structure for assembling the winding part of the constant force spring component 202.

[0026] In one embodiment, the guide connector, serving as an intermediate transmission component between the constant force spring 202 and the drive wheel, includes a fixed slider 206 and a fixed frame 207. The fixed frame 207 has a U-shaped structure, with its hollow portion fitted over the second side plate 204, and a pre-existing gap between it and the second side plate 204. This gap is designed to not interfere with the vertical movement of the fixed frame 207. The fixed slider 206 slides smoothly along the vertical slide rail of the second side plate 204, allowing it to move smoothly up and down. The fixed frame 207 and the fixed slider 206 are detachably connected by bolts, facilitating future maintenance or component replacement. The side of the fixed frame 207 away from the fixed slider 206 is fixedly connected to the telescopic portion of the constant force spring 202, so that the movement of the fixed frame 207 along the vertical slide rail drives the telescopic portion of the constant force spring 202 to move synchronously.

[0027] In one embodiment, the constant force spring 202 is divided into a telescopic part and a winding part. The winding part is rotatably connected to the constant force spring mounting part 208 at the bottom of the second side plate 204 via a rotating shaft, allowing the winding part to rotate freely around the rotating shaft to realize the winding and release of the spring. One end of the telescopic part is connected to the winding part, and the other end engages with the slide groove of the second side plate 204 and is fixed to the fixed frame 207. The telescopic part fits against the inner wall of the slide groove and can slide, ensuring that the telescopic direction always remains vertical. Preferably, a guide (not shown in the figure) is added in the slide groove. The guide can be a wear-resistant bushing or a slide rail, fixed at the upper and lower ends and the middle of the slide groove, to limit the lateral displacement of the telescopic part and ensure that it moves only in the vertical direction, thereby improving the buffering stability. Preferably, the constant force spring 202 is made of spiral stainless steel strip wound together, with 301 stainless steel being a common material. Precise geometric design ensures that the elastic force remains constant during deformation.

[0028] In one embodiment, a first sub-frame 209 is integrally formed or bolted to the fixed frame 207. The first sub-frame 209 consists of a horizontal part and a vertical part. One end of the horizontal part is vertically fixed to the fixed frame 207, and the other end is vertically connected to the upper end of the vertical part, forming an "L"-shaped structure. The drive wheel includes a drive motor 212 and a roller 12. The drive motor 212 is bolted to one side of the vertical part, and the roller 12 is connected to the other side of the vertical part through a bearing. The output shaft of the drive motor 212 passes through a reserved through hole in the vertical part and is fixedly connected to the central shaft of the roller 12, realizing direct drive of the roller 12 by the motor.

[0029] In one embodiment, to improve the stability of the drive wheel, a second sub-frame 210 is fixed to the vertical portion of the first sub-frame 209, and the extension direction of the second sub-frame 210 is consistent with that of the vertical portion. A guide connector is also installed on the side of the second sub-frame 210 away from the drive wheel. The fixing slider 206 of this guide connector forms a sliding engagement with the vertical slide rail of the second side plate 204. The second sub-frame 210 is detachably connected to the fixing slider 206 by screws 211. The fixing slider 206 of the second sub-frame 210 is located below the fixing slider 206 of the first sub-frame 209. The arrangement of the first sub-frame 209 and the second sub-frame 210 further improves the structural strength. The first and second sub-frames can be integrally formed.

[0030] In one embodiment, the fixed frame 207 includes a pair of sub-frames disposed opposite each other, which can be detachably combined to form the fixed frame 207, and the pair of sub-frames can be fixedly connected by screws 211.

[0031] In one embodiment, the first side plate 203, the first sub-frame 209 and the second sub-frame 210 are all machined with hollow grooves 213. The hollow grooves 213 can be rectangular, circular or waist-shaped. The opening position avoids the stress points of each component, which can effectively reduce the overall weight of the main support 201 and the sub-frame.

[0032] When roller 12 contacts an uneven surface, its vertical displacement is transmitted through the first sub-frame 209 and the second sub-frame 210 to the fixed slider 206 of the guide connector, causing the constant force spring 202 to extend and retract. The constant force characteristic of the spring ensures the stability of the reaction force, preventing vertical vibration of the base 11 and the upper structure. The fit between the fixed slider 206 and the slide rail, and between the telescopic part and the slide groove, all adopt a low-friction design. Combined with the limiting effect of the guide, this ensures the vertical stability of the device during movement.

[0033] Example 2 The above-described embodiment 1 discloses a constant force buffer mechanism. This embodiment also discloses a robot, which includes the aforementioned constant force buffer mechanism. The constant force buffer mechanism is installed at the bottom of the robot as a moving and buffering support component. Preferably, four sets of constant force buffer components and drive wheels are provided, corresponding to the four corners of the robot's bottom, to provide stable support. The base 11 of the constant force buffer mechanism is fixedly connected to the robot's body. The drive wheels provide the power for the robot's movement, while the buffer components buffer external forces from the vertical direction during movement in real time. After applying this constant force buffer mechanism, the robot remains stable when moving on complex road surfaces, such as gravel roads, slopes, and stepped transition surfaces, without vertical bumps or lateral tilting. This effect can effectively protect the precision components inside the robot body, avoiding damage or malfunctions caused by vibration, such as loose bolts, loose wiring harness interfaces, and material strain fatigue.

[0034] Example 3 See attached Figures 4-7Based on Embodiment 2, the constant force buffer mechanism at the bottom of the robot can be replaced with an adaptive constant force buffer mechanism, comprising at least two buffer units and several drive wheels mounted on the base 11, with the number of drive wheels corresponding one-to-one with the buffer units. The base 11 serves as the mounting foundation for the entire mechanism, and its bottom is fixedly connected to the supports 101 of each buffer unit, such as by bolt tightening, to ensure no relative displacement between the supports 101 and the base 11, providing stable support for the subsequent transmission of buffering force. Each drive wheel is connected to the base 11 through a corresponding buffer unit. The buffer unit, as the core component for force transmission and buffering, is used to bear the function of offsetting vertical gravity and providing buffering, ultimately achieving vertical stability of the base 11 and its upper structure during movement. The support 101 is the intermediate load-bearing component of the buffer unit, with its top fixedly connected to the base 11. A vertical hinge support 111 for mounting the vertical buffer structure is provided in the middle of its lower side, and a first vertical slide rail 107 and a second vertical slide rail 110 are respectively provided at both ends of the support 101. Two parallel and symmetrically distributed slide rails are located on both sides of the vertical hinge support 111, providing guidance for the sliding of the horizontal buffer structure. Horizontal hinge supports 112 are also provided on both sides of the lower part of the vertical support rod 102, for hinged engagement with the horizontal buffer structure. Specifically, the vertical buffer structure consists of the vertical support rod 102 and the vertical constant force spring 103. The top of the vertical support rod 102 is hinged to the support 101 via the vertical hinge support 111 on the support 101. This hinge structure allows the vertical support rod 102 to swing within a certain range to adapt to different force transmission angles under different road conditions. The bottom of the vertical support rod 102 is fixedly connected to the top of the vertical constant force spring 103, which can be achieved through welding or threaded connection. A vertical mounting seat 104 is fixedly installed on the bottom of the vertical constant force spring 103, serving as the mounting carrier for the drive wheel and connected to it via bolts or other means.

[0035] In one embodiment, the horizontal buffer structure includes a first horizontal connecting rod 105 and a first horizontal constant force spring 106. One end of the first horizontal constant force spring 106 is connected to a first vertical slide rail 107 via a first slider mounting seat 113. A first slider 114 fixed on the first slider mounting seat 113 forms a sliding fit with the first vertical slide rail 107 to ensure that the first horizontal constant force spring 106 can slide flexibly in the vertical direction. The other end of the first horizontal constant force spring 106 is fixedly connected to the first horizontal connecting rod 105. The other end of the first horizontal connecting rod 105 is hinged to the lower part of the vertical support rod 102 via a horizontal hinge support 112 on the vertical support rod 102.

[0036] In one embodiment, the horizontal buffer structure includes a second horizontal connecting rod 108 and a second horizontal constant force spring 109. The second horizontal constant force spring 109 is slidably engaged with the second vertical slide rail 110 via a second slider 116 on the second slider mounting base 115, and its other end is fixed to the second horizontal connecting rod 108. The other end of the second horizontal connecting rod 108 is also hinged to the lower part of the vertical support rod 102 via a horizontal hinge support 112. The first horizontal constant force spring 106, the first horizontal connecting rod 105, the second horizontal connecting rod 108, and the second horizontal constant force spring 109 are on the same horizontal line, forming a symmetrical horizontal support structure for the vertical support rod 102.

[0037] In one embodiment, the first horizontal constant force spring 106, the second horizontal constant force spring 109, and the vertical constant force spring 103 all adopt a combined disc spring structure. This structure consists of a main spring, a secondary spring, a housing, and a connecting rod shaft. The main spring and the secondary spring are installed in series within the housing. By matching the elastic parameters of the main and secondary springs, the output force of the entire constant force spring remains constant throughout its extension stroke. The housing of the first horizontal constant force spring 106 is fixedly mounted on the first slider mounting base 113. One end of the connecting rod shaft axially passes through the main spring and the secondary spring within the housing, while the other end is fixedly connected to the first horizontal connecting rod 105, ensuring that horizontal force can be transmitted to the main and secondary springs via the connecting rod shaft. The connection method of the second horizontal constant force spring 109 is the same as that of the first horizontal constant force spring 106. Its housing is fixed on the second slider mounting base 115, and the connecting rod shaft passes through the main and secondary springs and is fixed to the second horizontal connecting rod 108, ensuring that horizontal force can be transmitted to the main and secondary springs via the connecting rod shaft. The housing of the vertical constant force spring 103 is fixedly mounted on the vertical mounting base 104. One end of the connecting rod shaft passes axially through the internal main and auxiliary springs, and the other end is fixedly connected to the bottom of the vertical support rod 102 to realize the transmission of force in the vertical direction.

[0038] In one embodiment, the drive wheel consists of a drive motor, a roller 12, a roller mounting shaft, and a roller mounting bracket 117. The roller 12 is rotatably mounted on the roller mounting bracket 117 via the roller mounting shaft. A bearing is used between the roller mounting shaft and the roller 12 to reduce rotational friction. The drive motor is fixedly mounted on the roller mounting bracket 117, and its output shaft is connected to the roller 12. A transmission structure such as a geared motor can be provided between the output shaft and the roller 12 to drive the roller 12 to rotate and realize the movement of the entire mechanism. The top of the roller mounting bracket 117 is fixedly connected to the vertical mounting base 104 by bolts, so that the motion state and force of the drive wheel can be transmitted to the buffer unit through the vertical mounting base 104.

[0039] The working principle of the adaptive constant force buffer mechanism of the present invention is as follows: See Figure 5When the roller 12 is in a vertical position, that is, when the roller 12 is not subjected to the lateral force applied by the ground, the first horizontal constant force spring 106 and the second horizontal constant force spring 109 are in an undeformed state, and neither of them applies a force to the vertical support rod 102.

[0040] See Figure 7 When the roller 12 is subjected to a lateral force F0 and causes the vertical support rod 102 to deflect clockwise by an angle θ relative to the vertical direction, the force analysis of the vertical support rod 102 yields the following results: F0'=F 合 '; At equilibrium, the torque T0 exerted by the ground on the vertical support rod 102 is equal to the torque T1 exerted by the resultant force of the first horizontal constant force spring 106 and the second horizontal constant force spring 109, i.e., F 合 *L1=F0*L0, and F 合 '=F 合 / cosθ, then F 合 =F0L0cosθ / L1, where L0 and L1 are the distances between the horizontal hinge support 112 and the bottom of the vertical hinge support 111 and the roller 12, respectively, and are constant values, i.e., F 合 As F0 and the deflection angle θ change, after roller 12 passes the obstacle, roller 12 deflects counterclockwise by θ, that is, cosθ=1, F0 becomes zero, and F 合 It also becomes zero. That is, after passing the obstacle, the vertical support rod 102 will return to the vertical state under the combined force of the first horizontal constant force spring 106 and the second horizontal constant force spring 109.

[0041] Example 4 See attached Figures 8-13 Based on Embodiment 2, the constant force buffer mechanism at the bottom of the robot can be replaced with a constant force vibration damping mechanism, comprising at least two vibration damping units mounted on the base 11 and several drive wheels, the number of drive wheels corresponding one-to-one with the vibration damping units. The base 11 is an integral load-bearing foundation, its bottom rotatably connected to the rotating bracket 301 of each vibration damping unit, and a constant force component fixedly connected to each vibration damping unit. The rotating bracket 301 includes a first lever arm 302, a second lever arm 303, and a rotating part 304. Preferably, two vibration damping units are provided, symmetrically arranged on both sides of the base 11; the number of drive wheels is the same as that of the vibration damping units, also two, each connected to the first lever arm 302 of the corresponding vibration damping unit. The rotating part 304 of the rotating bracket 301 is rotatably connected to the base 11 via a rotating shaft, the rotating shaft and the rotating part 304 are interference-fitted, and the shaft is clearance-fitted with the pre-reserved mounting holes on the base 11 to ensure smooth rotation. The first lever arm 302 and the second lever arm 303 are fixed at a preset angle on both sides of the rotating part 304. The three are integrally formed or fixed by welding to ensure the efficiency of force transmission.

[0042] In one embodiment, the drive wheel includes a drive motor and a roller 12, which are respectively fixed to the two sides of the first lever arm 302 away from the rotating part 304 by bolts. The output shaft of the drive motor and the wheel axle of the roller 12 are connected by a coupling to realize power transmission.

[0043] In one embodiment, a connecting rod hinge support 305 is welded to one end of the second lever arm 303 away from the rotating part 304. One end of the connecting rod is hinged to the connecting rod hinge support 305 by a pin, and the other end is hinged to the constant force member by the same pin.

[0044] In one embodiment, the constant force component includes a constant force spring and a fixed base 306. The constant force spring includes a winding portion and a telescopic portion. The fixed base 306 is fastened to the base 11 by bolts, and its interior has a pre-reserved mounting cavity adapted to the winding portion of the constant force spring. The winding portion is rotatably assembled into the mounting cavity via a bearing. One end of the telescopic portion is integrally connected to the winding portion, and the other end is hinged to a connecting rod via a pin. A horizontal groove is formed in the fixed base 306, and the cross-sectional shape of the groove is adapted to the cross-sectional shape of the telescopic portion of the constant force spring. The telescopic portion is embedded in the groove and can slide horizontally along the groove. The inner wall of the groove is smoothed to reduce friction.

[0045] When there are bumps or depressions on the road surface, the drive wheel will be subjected to a vertical impact force, causing the first lever arm 302 to swing upwards or downwards around the rotation axis of the rotating part 304. When the first lever arm 302 swings, the second lever arm 303, which is fixed to the rotating part 304, swings synchronously. This swings or pushes the connecting rod through the connecting rod hinge support 305, which in turn drives the telescopic part of the constant force spring to move horizontally along the slide groove. This causes the winding part to rotate within the fixed seat 306 via the bearing, thus achieving the winding or release of the spring. During the extension and contraction process, the constant force spring always outputs a constant elastic reaction force. This reaction force is transmitted to the base 11 through the connecting rod, the second lever arm 303, and the rotating part 304, canceling out the impact force generated by the road surface undulations. Ultimately, this ensures that the base 11 and its upper structure remain stable in the vertical direction, avoiding bumps or tilting caused by uneven road surfaces and ensuring smooth movement.

[0046] The working principle is as follows: See Figure 12 The length of the first lever arm 302 is M1, the length of the second lever arm 303 is M2, and the initial angle between the first lever arm 302 and the horizontal plane is θ. When no obstacle is encountered, the reaction force of the ground on the roller 12 is F, and the length of the projection of the first lever arm 302 in the horizontal direction is L1. Therefore, the upward torque on the roller 12 at this time is F*L1, the tension of the constant force component is F0, and the length of the second lever arm 303 in the vertical direction is L2. According to the torque balance, we have: F*L １ =F0*L2, that is, F*M１ cosθ = F0 * M2cosθ, so it can be obtained that; F = F0 * M2 / M １ , since F0, M ２ and M １ are all invariant quantities. Therefore, F is also an invariant quantity, that is, the force F remains constant when no obstacle is encountered.

[0047] See Figure 13 , when an obstacle is encountered, the position of the roller 12 floats up and down relative to the obstacle, that is, the rotating bracket 301 rotates through a relative angle θ, θ1 = θ + θ. At this time, the length of the projection of the first force arm 302 in the horizontal direction is L １ ' = M1cosθ1, and the length of the projection of the second force arm 303 in the vertical direction is L2' = M2cosθ1. According to the torque balance, there is still: F' * L １ ' = F0' * L2', and also, F0' = F0; That is, F' * M1cosθ1 = F0 * M2cosθ1; Therefore, F' = F0 * M ２ / M １ = F. Since F0, M ２ and M １ are all invariant quantities. Therefore, F' = F is also an invariant quantity, that is, the reaction force F on the roller 12 from the ground remains constant during the rotation of the rotating bracket 301, ensuring the smoothness of the moving process.

[0048] In one embodiment, the constant force component includes a first constant force spring 307, a second constant force spring 308, a connector 309, and a fixed base 306. The fixed base 306 is fixed to the base 11 by bolts, and has two parallel upper and lower sliding grooves opened horizontally inside. The cross-sectional shape of the sliding grooves is adapted to the telescopic part of the constant force spring, and the distance between the two sliding grooves matches the length of the connector 309. The wound portions of the first constant force spring 307 and the second constant force spring 308 are rotatably assembled in the fixed base 306 by bearings. The two wound portions are arranged side by side horizontally, with their central axes parallel and at the same height. The telescopic parts of the two constant force springs are respectively embedded in the upper and lower sliding grooves of the fixed base 306, arranged horizontally and parallel. The ends of the telescopic parts are fixedly connected to the two ends of the connector 309 by bolts. The connector 309 is a strip-shaped plate structure with a pre-reserved connecting rod hinge hole in the middle. The end of the connecting rod furthest from the second lever arm 303 is hinged to the central hinge hole of the connecting piece 309 via a pin, ensuring that the force of the connecting rod can be evenly transmitted to the telescopic parts of the two constant force springs. The design of the double constant force springs makes the output of the constant reaction force more stable, while distributing the force load of a single spring, thus improving the load-bearing capacity and service life of the vibration damping mechanism; the guiding effect of the slide groove on the telescopic parts prevents the springs from deviating, ensuring that the two springs are subjected to force synchronously.

[0049] In one embodiment, the constant force component includes a combined disc spring 310, which comprises a main spring, a secondary spring, a housing, and a connecting rod shaft. The housing is bolted to the base 11 and is a hollow cylindrical structure that houses the main spring, secondary spring, and connecting rod shaft. The main spring and secondary spring are arranged in series within the housing, their axial positions fixed by a limiting structure within the housing. The combination of the main spring and secondary spring ensures that their overall elastic characteristics meet the constant force output requirements. One end of the connecting rod shaft is fixedly connected to the main and secondary springs, while the other end extends outside the housing and has a hinge hole. It is hinged to the end of the connecting rod away from the second lever arm 303 via a pin. The series combination of the main spring and secondary spring forms a specific elastic curve, and its output force remains constant within the working stroke. This constant reaction force is transmitted to the base 11 through the connecting rod shaft, connecting rod, and second lever arm 303, offsetting the impact force from road surface undulations.

[0050] Example 5 This embodiment also discloses a robot, which includes any one, two or three of the structures in Embodiment 1, Embodiment 3 and Embodiment 4, to achieve buffering of the robot.

[0051] The above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit it. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of the present invention without departing from the spirit and scope of the present invention, and all such modifications and substitutions should be covered within the scope of the claims of the present invention. Technical aspects, shapes, and structures not described in detail in this invention are all well-known technologies.

Claims

1. A constant force cushioning mechanism characterized by: The application relates to a constant-force buffer assembly and driving wheel.

2. The constant-force cushioning mechanism of claim 1, wherein: The main support (201) comprises a first side plate (203) and a second side plate (204) which are oppositely arranged and vertically parallel; the two ends of the first side plate (203) and the second side plate (204) are fixedly connected through a pair of horizontally parallel connecting plates (205); the first side plate (203) is fixedly connected with the base (11); one side of the second side plate (204) facing the first side plate (203) is provided with a vertical sliding rail; a guide connecting piece is matched on the vertical sliding rail; the constant-force spring piece (202) is connected with the guide connecting piece to realize the expansion and contraction in the vertical direction.

3. The constant-force cushioning mechanism of claim 2, wherein: The guide connecting piece comprises a fixed sliding block (206) and a fixed frame body (207); the fixed frame body (207) is sleeved on the second side plate (204) and is detachably connected with the fixed sliding block (206); a gap is reserved between the fixed frame body (207) and the second side plate (204) so that the fixed frame body (207) does not interfere with the movement of the fixed sliding block (206) along the vertical sliding rail; the fixed frame body (207) is fixedly connected with the constant-force spring piece (202).

4. The constant-force cushioning mechanism of claim 3, wherein: The bottom of the second side plate (204) extends outward and is provided with a constant-force spring mounting portion (208); the side of the second side plate (204) opposite to the vertical sliding rail is provided with a sliding groove; the constant-force spring piece (202) comprises an expansion portion and a winding portion; the winding portion is rotatably connected on the constant-force spring mounting portion (208); the expansion portion is slidingly matched in the sliding groove; the upper portion of the expansion portion is fixedly connected with the fixed frame body (207).

5. The constant-force cushioning mechanism of claim 3, wherein: The fixed frame body (207) is provided with a first sub-frame (209); the first sub-frame (209) comprises a horizontally arranged horizontal portion and a vertically arranged vertical portion which are fixedly connected; one end of the horizontal portion is fixedly connected with the fixed frame body (207) and the other end is connected with the upper end of the vertical portion; the lower end of the vertical portion is connected with the driving wheel.

6. The constant-force cushioning mechanism of claim 5, wherein: The vertical portion is provided with a second sub-frame (210); the side of the second sub-frame (210) away from the driving wheel is also provided with a guide connecting piece; the guide connecting piece comprises a fixed sliding block (206); the fixed sliding block (206) is matched and connected on the vertical sliding rail; the second sub-frame (210) is connected with the fixed sliding block (206) through a screw (211).

7. The constant-force cushioning mechanism of claim 4, wherein: The chute is internally provided with a guide element; the guide element is used for guiding the movement of the telescopic part of the constant-force spring element (202) in the chute.

8. The constant-force cushioning mechanism of claim 5, wherein: The driving wheel comprises a driving motor (212) and a roller (12); the driving motor (212) is fixed on one side of the vertical part; the roller (12) is connected on the other side of the vertical part; the output end of the driving motor (212) is connected with the roller (12) through the vertical part, and is used for driving the roller (12) to rotate.

9. The constant-force cushioning mechanism of claim 6, wherein: The first side plate (203), the first auxiliary frame (209) and the second auxiliary frame (210) are all provided with hollow grooves (213).

10. A robot, characterized by: The constant-force buffering mechanism as claimed in any one of claims 1-9.

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