Self-adaptive constant-force damping mechanism base and robot

Abstract

The invention discloses a self-adaptive constant-force vibration reduction mechanism base and a robot, and belongs to the technical field of specialized robots. Two sets of buffer units and vibration reduction units are arranged at the front end and the rear end of the base correspondingly; driving wheels are arranged on the buffer unit and the vibration reduction unit; the buffer unit comprises a horizontal buffer structure, a vertical buffer structure and a support; the horizontal buffer structure is slidably connected with the support in the vertical direction; the top of the vertical buffer structure is hinged to the support, and the bottom is fixedly connected with the driving wheel; the support is fixedly connected with the base; the vibration reduction unit comprises a rotating support and a constant force component. According to the self-adaptive constant-force vibration reduction mechanism base and the robot, the problems that in the prior art, a vibration reduction 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] The present application belongs to the technical field of special robots. Specifically, it relates to a self-adaptive constant force damping mechanism base and a robot. BACKGROUND

[0002] At present, wheeled mobile devices, such as wheeled mobile trolleys, wheeled robots, wall climbing robots, etc., are all driven to move by setting rollers on the base of the wheeled mobile device, and the rollers rotate to drive the mobile device to move. This driving mode usually sets a damping mechanism, such as an elastic element, between the roller and the base of the wheeled mobile device, and the damping is realized by the extension and deformation of the elastic element. The core of the damping mechanism of the wheeled mobile device is to absorb the impact of the roller due to the bumping of the road surface by the elastic element and the damping element, and to reduce the vibration of the base and the upper structure of the wheeled mobile device. It is mainly composed of three core components, each component has clear function and mutual cooperation. Elastic element: responsible for absorbing impact energy. Common types include coil springs, leaf springs, air springs and torsion bar springs, which can convert the vertical impact of the road surface into their own deformation. Damping element such as shock absorber: responsible for consuming vibration energy. Through the damping action of hydraulic oil or gas, the reciprocating vibration after the deformation of the elastic element is inhibited, and the wheeled mobile device is prevented from continuous bumping. Guiding mechanism: responsible for limiting the movement direction of the roller of the wheeled mobile device. Through the control arm, connecting rod and other structures, it ensures that the wheeled mobile device always maintains the correct driving track when jumping up and down, and does not deviate.

[0003] However, although the above damping mechanism is set, the wheeled mobile device still faces the problem of vibration in the vertical direction when moving or driving on the uneven ground, such as bolt loosening, wire harness interface loosening, material strain fatigue, etc. Especially for wheeled robots, which contain many parts of precise structure, it is particularly necessary to reduce the vibration of the robot body and ensure the stable operation of the robot. SUMMARY

[0004] The purpose of the present application is to provide a self-adaptive constant force damping mechanism base and a robot to solve the problem that the damping mechanism in the prior art cannot completely avoid the vibration in the vertical direction of the wheeled mobile device when moving on the uneven road surface, thereby causing bolt loosening, wire harness interface loosening, material fatigue strain, etc., resulting in failure of the wheeled mobile device during operation and inability to operate stably. In order to achieve the above purpose, the present application provides the following technical scheme: The adaptive constant force damping mechanism base, both ends of the base are respectively provided with two groups of buffer units and damping units; the buffer unit and the damping unit are provided with driving wheels; the buffer unit includes horizontal buffer structure, vertical buffer structure and support; the horizontal buffer structure and the support are slidably connected in the vertical direction; the top of the vertical buffer structure is hinged with the support, and the bottom is fixedly connected with the driving wheel; the support is fixedly connected with the base; the damping unit includes rotating support and constant force component; the rotating support is rotatably connected with the base; the rotating support is connected with the driving wheel and the constant force component.

[0005] Further, the vertical buffer structure includes vertical support rod and vertical constant force spring; the top of the vertical support rod is hinged with the middle part of the support; the bottom of the vertical support rod is fixedly connected with the top end of the vertical constant force spring; the bottom of the vertical constant force spring is provided with vertical mounting seat; the driving wheel is mounted on the vertical mounting seat.

[0006] Further, the horizontal buffer structure includes first horizontal connecting rod and first horizontal constant force spring; one end of the support is provided with first vertical slide rail; one end of the first horizontal constant force spring is slidably connected with the first vertical slide rail, and the other end is fixedly connected with the first horizontal connecting rod; the other end of the first horizontal connecting rod is hinged with the lower part of the vertical support rod; the horizontal buffer structure includes second horizontal connecting rod and second horizontal constant force spring; one end of the support opposite to the first vertical slide rail is provided with second vertical slide rail, and the second vertical slide rail is arranged in parallel with the first vertical slide rail; one end of the second horizontal constant force spring is slidably connected with the second vertical slide rail, and the other end is fixedly connected with the second horizontal connecting rod; the other end of the second horizontal connecting rod is hinged with the lower part of the vertical support rod.

[0007] Further, one side of the first horizontal constant force spring towards the first vertical slide rail is provided with first sliding block mounting seat; the first sliding block mounting seat is fixedly provided with first sliding block; the first sliding block is slidably matched with the first vertical slide rail; one side of the second horizontal constant force spring towards the second vertical slide rail is provided with second sliding block mounting seat; the second sliding block mounting seat is fixedly provided with second sliding block; the second sliding block is slidably matched with the second vertical slide rail.

[0008] Further, the first horizontal constant force spring, the second horizontal constant force spring and the vertical constant force spring each comprise a combined disc spring; the combined disc spring comprises a main spring, a secondary spring, a housing and a connecting rod shaft; the main spring and the secondary spring are arranged in series in the housing to combine so that the output force remains constant; the housing of the first horizontal constant force spring is fixedly arranged on the first slider mounting seat, one end of the connecting rod shaft is arranged axially through the main spring and the secondary spring, and the other end is fixedly connected with the first horizontal connecting rod; the housing of the second horizontal constant force spring is fixedly arranged on the second slider mounting seat, one end of the connecting rod shaft is arranged axially through the main spring and the secondary spring, and the other end is fixedly connected with the second horizontal connecting rod; the housing of the vertical constant force spring is fixedly arranged on the vertical mounting seat, one end of the connecting rod shaft is arranged axially through the main spring and the secondary spring, and the other end is fixedly connected with the vertical support rod.

[0009] Further, the support is provided with a vertical hinge support; the vertical support rod is hinged with the support through the vertical hinge support; the vertical support rod is provided with a horizontal hinge support on both sides of the first horizontal connecting rod and the second horizontal connecting rod; the first horizontal connecting rod and the second horizontal connecting rod are hinged with the vertical support rod through the horizontal hinge support, and the first horizontal constant force spring, the first horizontal connecting rod, the second horizontal connecting rod and the second horizontal constant force spring are located on the same horizontal line.

[0010] Further, the drive wheel at the bottom of the buffer unit comprises a drive motor, a roller, a roller mounting shaft and a roller mounting frame; the drive motor is used to drive the roller to rotate; the roller is rotatably connected to the roller mounting frame through the roller mounting shaft; the roller mounting frame is fixedly connected with the vertical mounting seat.

[0011] Further, the rotating support comprises a first force arm, a second force arm and a rotating part; the rotating part is rotatably connected with the base through a rotating shaft; the included angle between the first force arm and the second force arm is 90°; one end of the first force arm and one end of the second force arm are fixedly connected with the rotating part respectively; the drive wheel is arranged on the other end of the first force arm; the second force arm is provided with a connecting rod hinge support at the end away from the rotating part; a connecting rod is hinged on the connecting rod hinge support; the other end of the connecting rod is connected with the constant force member.

[0012] Further, the constant force member comprises a constant force spring and a fixed seat; the fixed seat is fixedly connected with the base; the constant force spring comprises an extension part and a winding part; the end of the extension part is hinged with the connecting rod; the winding part is rotatably arranged in the fixed seat through a bearing; the extension part is horizontally arranged; the fixed seat is provided with a sliding groove; the extension part of the constant force spring moves in the sliding groove.

[0013] Further, the constant force component comprises a first constant force spring, a second constant force spring, a connecting piece and a fixing base; the first constant force spring and the second constant force spring each comprise an extension part and a winding part; the winding parts of the first constant force spring and the second constant force spring are rotatably arranged in the fixing base through bearings; the extension parts of the first constant force spring and the second constant force spring are arranged in parallel with each other in the fixing base, and the ends are fixedly connected with the two ends of the connecting piece respectively; the connecting rod is hinged with the middle part of the connecting piece.

[0014] Further, a pair of sliding grooves are arranged on the upper and lower sides of the fixing base respectively, and are matched and connected with the extension parts of the first constant force spring and the second constant force spring respectively; the two ends of the connecting piece move synchronously in the sliding grooves following the extension parts of the first constant force spring and the second constant force spring; the winding parts of the first constant force spring and the second constant force spring are distributed in the horizontal direction in the fixing base; the extension parts of the first constant force spring and the second constant force spring are arranged in the horizontal direction.

[0015] Further, the constant force component comprises a combined disc spring; the combined disc spring comprises a main spring, a secondary spring, a shell and a connecting rod shaft; the shell is fixedly arranged on the base; the main spring and the secondary spring are arranged in series in the shell to combine so that the output force remains constant; one end of the connecting rod shaft is arranged axially through the main spring and the secondary spring, and the other end is hinged with the connecting rod.

[0016] Further, the drive wheel of the damping unit comprises a drive motor and a roller; the drive motor and the roller are arranged on the two sides of one end of the first force arm away from the rotating part respectively; the drive motor is used for driving the roller to rotate.

[0017] A robot comprises the adaptive constant force damping mechanism base.

[0018] The beneficial effects of the present application are: By arranging two groups of buffer units and constant force buffer assemblies on the base of the wheeled robot, and installing the drive motor and the roller on the two groups of buffer units and damping units, the reaction force exerted by the two groups of buffer units and damping units on the base of the wheeled robot offsets the gravity of the base and the upper structure of the wheeled robot, so that the base and the upper part do not move up and down in the vertical direction during movement, and the problems such as bolt loosening, wire harness interface loosening and long-term stress fatigue of materials caused by vibration of the upper structure of the wheeled robot are reduced. BRIEF DESCRIPTION OF DRAWINGS

[0019] Figure 1 is a structural schematic diagram of the present application; Figure 2is a structural schematic diagram of the buffer unit of the present application; Figure 3 is Figure 2 a sectional view; Figure 4 is a force analysis diagram of the buffer unit of the present application; Figure 5 is a structural schematic diagram of the damping unit of the present application; Figure 6 is a schematic diagram of the constant force member comprising the first constant force spring and the second constant force spring of the present application; Figure 7 is a structural schematic diagram of the constant force member being a combined disc spring of the present application; Figure 8 is a force analysis diagram of the present application on a horizontal road surface; Figure 9 is a force analysis diagram of the present application when encountering an obstacle; In the drawings: 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 sliding rail; 108, second horizontal connecting rod; 109, second horizontal constant force spring; 110, second vertical sliding rail; 111, vertical hinge support; 112, horizontal hinge support; 113, first sliding block mounting seat; 114, first sliding block; 115, second sliding block mounting seat; 116, second sliding block; 12, roller; 117, roller mounting frame; 301, rotating bracket; 302, first force arm; 303, second force 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 DESCRIPTION

[0020] The present application will be further described in conjunction with the drawings and specific embodiments, but the present application is not limited to the following embodiments.

[0021] In the description of the present application, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and therefore cannot be understood as indicating or implying that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application.

[0022] In the description of the application, "first feature", "second feature" can include one or more of the features.

[0023] In the description of the application, "a plurality of" means two or more.

[0024] In the description of the application, "above" or "below" of a first feature to a second feature can include that the first and second features are in direct contact, or can include that the first and second features are not in direct contact but are in contact through another feature between them.

[0025] In the description of the application, "above", "over" and "on" of a first feature to a second feature include that the first feature is directly above and obliquely above the second feature, or only means that the first feature is higher than the second feature in horizontal height.

[0026] In the description of the application, the description with reference to the terms "one embodiment", "some embodiments", "exemplary embodiment", "example", "specific example", "some examples" and the like means that the specific features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the application. In the description of the application, the exemplary description of the above terms does not necessarily mean the same embodiment or example. Moreover, the described specific features, structures, materials or characteristics can be combined in any one or more embodiments or examples in a suitable manner.

[0027] Embodiment 1 See attached Figures 1-9The embodiment discloses a self-adaptive constant force damping mechanism base, which comprises two groups of buffer units and a plurality of driving wheels, and the number of the driving wheels corresponds to the buffer units one by one. The base 11 serves as the mounting basis of the whole mechanism, and the bottom of the base 11 is fixedly connected with the support 101 of each buffer unit in a mode such as bolt fastening, so that no relative displacement is caused between the support 101 and the base 11, and stable support is provided for subsequent transmission of the buffer force. Each driving wheel is connected with the base 11 through a corresponding buffer unit, the buffer unit serves as a core component for force transmission and buffering, and is used for bearing vertical gravity compensation and providing the function of buffering, so that the vertical stability of the base 11 and the upper structure thereof during movement is finally realized. The support 101 is an intermediate bearing component of the buffer unit, the top of the support 101 is fixedly connected with the base 11, the lower middle part of the support 101 is provided with a vertical hinge support 111 for mounting a vertical buffering structure, and a first vertical sliding rail 107 and a second vertical sliding rail 110 are arranged at both ends of the support 101 respectively. The two sliding rails are distributed on the two sides of the vertical hinge support 111 in parallel and symmetry, and provide guidance for sliding of a horizontal buffering structure. Correspondingly, a horizontal hinge support 112 is arranged at the lower part of the vertical support rod 102 on both sides, and is used for realizing hinged cooperation with the horizontal buffering structure. The specific vertical buffering structure is composed of the vertical support rod 102 and a vertical constant force spring 103, the top of the vertical support rod 102 is hingedly connected with the support 101 through the vertical hinge support 111 on the support 101, the hinge structure allows the vertical support rod 102 to swing within a certain range, so as to adapt to the force transmission angle under different road conditions. The bottom of the vertical support rod 102 is fixedly connected with the top end of the vertical constant force spring 103, and the fixed connection can be realized by welding or screw connection, the bottom of the vertical constant force spring 103 is fixedly provided with a vertical mounting seat 104, and the vertical mounting seat 104 serves as a mounting carrier of the driving wheel and is connected with the driving wheel in a mode such as bolt.

[0028] In one embodiment, the horizontal buffering structure comprises 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 with the first vertical sliding rail 107 through a first sliding block mounting seat 113, a first sliding block 114 fixedly arranged on the first sliding block mounting seat 113 is in sliding cooperation with the first vertical sliding rail 107, so that the first horizontal constant force spring 106 can slide along the vertical direction flexibly, and the other end of the first horizontal constant force spring 106 is fixedly connected with the first horizontal connecting rod 105, and the other end of the first horizontal connecting rod 105 is hingedly connected with the lower part of the vertical support rod 102 through the horizontal hinge support 112 on the vertical support rod 102.

[0029] 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.

[0030] 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.

[0031] In one embodiment, the drive wheel of the buffer unit 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.

[0032] The working principle of the buffer unit of the present invention is as follows: See Figure 2When 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.

[0033] See Figure 4 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 and second constant force springs, 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.

[0034] In one embodiment, the base 11 comprises two damping units and several drive wheels, the number of drive wheels corresponding one-to-one with the damping units. The base 11 serves as an integral load-bearing foundation, its bottom rotatably connected to the rotating bracket 301 of each damping unit, and a constant force component fixedly connected to each damping unit. The rotating bracket 301 includes a first lever arm 302, a second lever arm 303, and a rotating part 304. Two 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 damping units, also two, each connected to the first lever arm 302 of the corresponding 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 being interference-fitted, and the shaft and the rotating part 304 being 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 being integrally formed or fixed by welding to ensure efficient force transmission.

[0035] 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.

[0036] 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.

[0037] 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.

[0038] 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.

[0039] The working principle of the vibration reduction unit of the present invention is as follows: See Figure 8 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*M １ cosθ = F0*M2cosθ, thus obtaining; F = F0*M2 / M １ , since F0, M ２ and M １ are all invariants, therefore, F is also an invariant, that is, the force F remains constant when no obstacle is encountered.

[0040] See Figure 9 , when encountering an obstacle, the position of the roller 12 floats up and down relative to the obstacle, that is, the rotating bracket 301 rotates 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 invariants, therefore, F’ = F is also an invariant, that is, during the rotation of the rotating bracket 301, the reaction force F on the roller 12 from the ground remains constant, ensuring the smoothness of the moving process.

[0041] 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.

[0042] 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.

[0043] Example 2 Embodiment 1 above discloses an adaptive constant force vibration damping mechanism base. This embodiment also discloses a robot, which includes the aforementioned adaptive constant force vibration damping mechanism base. The adaptive constant force vibration damping mechanism base is installed at the bottom of the robot as a movement and buffer support component. Preferably, the buffer unit and the vibration damping unit are respectively located at the four corners of the robot's bottom to provide stable support. After applying this adaptive constant force buffer base, when the robot moves on complex road surfaces, such as gravel roads, slopes, and stepped transition surfaces, the robot body remains stable and will not experience vertical bumps or lateral tilting. This effect can effectively protect the precision components inside the robot body and avoid component damage or malfunctions caused by vibration, such as loose bolts, loose wiring harness interfaces, and material strain fatigue.

[0044] 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 base for an adaptive constant force vibration damping mechanism, characterized in that: The base (11) has two sets of buffer units and vibration damping units at its front and rear ends respectively; both the buffer unit and the vibration damping unit are equipped with drive wheels; the buffer unit includes a horizontal buffer structure, a vertical buffer structure and a support (101); the horizontal buffer structure and the support (101) are slidably connected in the vertical direction; the top of the vertical buffer structure is hinged to the support (101) and the bottom is fixedly connected to the drive wheel; the support (101) is fixedly connected to the base (11); the vibration damping unit includes a rotating bracket (301) and a constant force component; the rotating bracket (301) is rotatably connected to the base (11); the rotating bracket (301) connects the drive wheel and the constant force component respectively.

2. The adaptive constant force vibration damping mechanism base according to claim 1, characterized in that: The vertical buffer structure includes a vertical support rod (102) and a vertical constant force spring (103); the top of the vertical support rod (102) is hinged to the middle of the support (101); the bottom of the vertical support rod (102) is fixedly connected to the top of the vertical constant force spring (103); the bottom of the vertical constant force spring (103) is provided with a vertical mounting seat (104); the drive wheel is mounted on the vertical mounting seat (104).

3. The adaptive constant force vibration damping mechanism base according to claim 2, characterized in that: The horizontal buffer structure includes a first horizontal connecting rod (105) and a first horizontal constant force spring (106); one end of the support (101) is provided with a first vertical slide rail (107); one end of the first horizontal constant force spring (106) is slidably connected to the first vertical slide rail (107), and the other end 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); the horizontal buffer structure includes a second horizontal connecting rod (105) and a first horizontal constant force spring (106). 08) and a second horizontal constant force spring (109); the support (101) is provided with a second vertical slide rail (110) at one end relative to the first vertical slide rail (107), and is arranged parallel to the first vertical slide rail (107); one end of the second horizontal constant force spring (109) is slidably connected to the second vertical slide rail (110), and the other end is fixedly connected to the second horizontal connecting rod (108); the other end of the second horizontal connecting rod (108) is hinged to the lower part of the vertical support rod (102).

4. The adaptive constant force vibration damping mechanism base according to claim 3, characterized in that: The first horizontal constant force spring (106) is provided with a first slider mounting seat (113) on the side facing the first vertical slide rail (107); a first slider (114) is fixedly mounted on the first slider mounting seat (113); the first slider (114) is slidably engaged with the first vertical slide rail (107); the second horizontal constant force spring (109) is provided with a second slider mounting seat (115) on the side facing the second vertical slide rail (110); a second slider (116) is fixedly mounted on the second slider mounting seat (115); the second slider (116) is slidably engaged with the second vertical slide rail (110).

5. The adaptive constant force vibration damping mechanism base according to claim 4, characterized in that: The first horizontal constant force spring (106), the second horizontal constant force spring (109), and the vertical constant force spring (103) all include a combined disc spring (310); the combined disc spring (310) includes a main spring, a secondary spring, a housing, and a connecting rod shaft; the main spring and the secondary spring are connected in series in the housing to keep their output force constant; the housing of the first horizontal constant force spring (106) is fixedly mounted on the first slider mounting base (113), and one end of the connecting rod shaft axially passes through the main spring and the secondary spring, while the other end... The end is fixedly connected to the first horizontal connecting rod (105); the housing of the second horizontal constant force spring (109) is fixedly mounted on the second slider mounting seat (115), one end of the connecting rod shaft passes axially through the main spring and the auxiliary spring, and the other end is fixedly connected to the second horizontal connecting rod (108); the housing of the vertical constant force spring (103) is fixedly mounted on the vertical mounting seat (104), one end of the connecting rod shaft passes axially through the main spring and the auxiliary spring, and the other end is fixedly connected to the vertical support rod (102).

6. The adaptive constant force vibration damping mechanism base according to claim 5, characterized in that: The rotating support (301) includes a first lever arm (302), a second lever arm (303), and a rotating part (304); the rotating part (304) is rotatably connected to the base (11) via a rotating shaft; the included angle between the first lever arm (302) and the second lever arm (303) is 90°; one end of the first lever arm (302) and the second lever arm (303) are respectively fixedly connected to the rotating part (304); the driving wheel is disposed on the other end of the first lever arm (302); a connecting rod hinge support (305) is provided at the end of the second lever arm (303) away from the rotating part (304); a connecting rod is hinged on the connecting rod hinge support (305); the other end of the connecting rod is connected to the constant force component.

7. The adaptive constant force vibration damping mechanism base according to claim 6, characterized in that: The constant force component includes a constant force spring and a fixed seat (306); the fixed seat (306) is fixedly connected to the base (11); the constant force spring includes a telescopic part and a winding part; the end of the telescopic part is hinged to the connecting rod; the winding part is rotatably disposed in the fixed seat (306) through a bearing; the telescopic part is arranged horizontally; a sliding groove is provided in the fixed seat (306); the telescopic part of the constant force spring moves in the sliding groove.

8. The adaptive constant force vibration damping mechanism base according to claim 6, characterized in that: The constant force component includes a first constant force spring (307), a second constant force spring (308), a connecting member (309), and a fixed base (306); both the first constant force spring (307) and the second constant force spring (308) include a telescopic part and a winding part; the winding part of the first constant force spring (307) and the second constant force spring (308) is rotatably disposed in the fixed base (306) through a bearing; the telescopic parts of the first constant force spring (307) and the second constant force spring (308) are arranged parallel to each other in the fixed base (306), and their ends are respectively fixedly connected to both ends of the connecting member (309); the connecting rod is hinged to the middle of the connecting member (309).

9. The adaptive constant force vibration damping mechanism base according to claim 8, characterized in that: The fixed base (306) has a pair of sliding grooves on its upper and lower sides, which are respectively connected to the telescopic parts of the first constant force spring (307) and the second constant force spring (308); the two ends of the connecting member (309) move synchronously in the sliding grooves following the telescopic parts of the first constant force spring (307) and the second constant force spring (308); the winding parts of the first constant force spring (307) and the second constant force spring (308) are distributed horizontally in the fixed base (306); the telescopic parts of the first constant force spring (307) and the second constant force spring (308) are arranged horizontally.

10. A robot, characterized in that: The base of the adaptive constant force vibration damping mechanism as described in any one of claims 1 to 9.

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