A mobile robot drive wheel set with active and passive buffering functions

Abstract

This invention discloses a mobile robot drive wheel assembly with active and passive cushioning functions, relating to the field of mobile robots. It includes a cushioning mechanism and a drive wheel assembly mechanism. The drive wheel assembly mechanism has a hollow structure, and the cushioning mechanism is swayably connected to the hollow center of the drive wheel assembly mechanism via a rotating joint. This invention is ingeniously conceived and compactly laid out. By coordinating air pressure and mechanical springs, it addresses various load requirements and provides both active and passive cushioning functions. The installation method of the cushioning mechanism and the drive wheel assembly mechanism is more compact, significantly reducing the overall height of the wheel assembly.

Description

Technical Field

[0001] This invention relates to the field of mobile robots, and more particularly to a mobile robot drive wheel set with active and passive buffering functions. Background Technology

[0002] With the continuous development of unmanned factories, intelligent logistics, and unmanned parking in recent years, mobile robots have been widely used in these fields due to their adaptability and intelligence. However, in actual working scenarios, in order to ensure the stability and continuity of the operation process, certain requirements are placed on the shock absorption, posture adjustment, and overall height of mobile robots. To address these issues, existing mobile robots incorporate spring shock absorption structures in their wheel assembly. When traveling on uneven surfaces, the pressure-reducing springs undergo elastic deformation as the drive wheels move, mitigating the impact of the road surface on the vehicle body, thereby achieving shock absorption.

[0003] Chinese utility model patent application number CN202121567073.0, entitled "A Suspension Shock Absorption Device for an AGV," describes a device that uses shock-absorbing springs above and on both sides of the wheel box. By applying pressure in the vertical direction, the springs achieve shock absorption on uneven road surfaces. Another Chinese utility model patent application number CN201920084736.X, entitled "A Shock Absorption Drive Device for an AGV and an AGV," describes a device that uses shock-absorbing springs on the side of the drive wheel to elastically press the rotating arm against the road surface, ensuring the drive wheel maintains a certain wheel pressure in contact with the ground and reducing vibration on uneven surfaces. However, mechanical springs can only passively buffer vibrations, and their fixed stiffness can only handle a single load requirement. Furthermore, during heavy load operation, the springs are pre-compressed, sacrificing their shock absorption capacity.

[0004] A Chinese invention patent, application number CN202310935967.8, entitled "A Multi-Cavity Air Spring," uses the interior of an airbag as the first air chamber, the interior of a piston as the second air chamber, and an external air tank as the third air chamber. This increases the volume of the second and third air chambers, effectively providing a lower deflection frequency and improving vehicle ride comfort. However, air springs are mainly used in the automotive field, and their complex overall structure and large size cannot meet the working requirements of mobile robots.

[0005] In summary, mechanical springs can only provide passive cushioning and cannot adjust posture. Their fixed stiffness can only handle a single load requirement, and they produce abnormal noises under multiple loads. Furthermore, the springs are pre-compressed during operation, sacrificing their shock absorption capacity. Air springs, primarily designed for the automotive industry, are too complex and bulky to meet the operational requirements of mobile robots. Therefore, addressing the shortcomings of existing technologies, developing a mobile robot drive wheel assembly with both active and passive cushioning functions to solve the problems of single load bearing, limited cushioning modes, inability to adjust posture, and complex overall structure has become a pressing technical challenge for those skilled in the art. Summary of the Invention

[0006] The purpose of this invention is to provide a mobile robot drive wheel set with active and passive buffering functions, which solves the problems of existing technologies such as single load bearing, single buffering mode, inability to adjust posture, and complex overall structure.

[0007] To solve the above-mentioned technical problems, the present invention adopts the following technical solution:

[0008] The present invention provides a mobile robot drive wheel assembly with active and passive buffering functions, comprising a buffering mechanism and a drive wheel assembly mechanism. The drive wheel assembly mechanism is a hollow structure, and the buffering mechanism is swayably connected to the hollow position in the middle of the drive wheel assembly mechanism via a rotating joint.

[0009] Preferably, the drive wheel assembly mechanism comprises two drive wheel assembly units spliced ​​together. Each drive wheel assembly unit includes a reducer, a servo motor, a bracket, and a wheel. The bracket is L-shaped and includes three vertical surfaces and one horizontal surface. The servo motor is connected to the reducer and mounted on the horizontal surface. The output shaft of the reducer passes through a through hole on the smaller vertical surface and is connected to a synchronous pulley. A first mounting hole is provided on one of the vertical surfaces flush with the smaller vertical surface. A wheel axle bearing is installed in the first mounting hole, and a wheel axle is installed in the wheel axle bearing. The other end of the wheel axle passes through a wheel axle support frame and is positioned and connected to the wheel. A synchronous belt tooth is provided at one end of the wheel axle located inside the wheel axle support frame. The synchronous belt tooth is connected to the synchronous pulley via a synchronous belt. Each servo motor individually drives the corresponding wheel to rotate independently. A second mounting hole is provided on the other vertical surface of the bracket, and the rotating joint is mounted in the second mounting hole.

[0010] Preferably, a timing belt retainer is connected to the outer side of the timing belt pulley on the output shaft of the reducer, and a wheel retainer is bolted to the end of the axle on the side where the wheel is mounted; the timing belt pulley is connected to the output shaft of the reducer by a key.

[0011] Preferably, the drive wheel assembly is placed in a position where it is rotated 180 degrees and overlaps, and the two brackets are connected together by bolts after being overlapped and aligned.

[0012] Preferably, the buffer mechanism includes a cylinder, a crossed roller bearing, and a piston. The piston is disc-shaped and is vertically movable within the inner cavity of the cylinder, dividing the inner cavity into an upper chamber and a lower chamber. A cover plate is connected to the opening of the upper chamber of the cylinder. Multiple connecting posts are connected to the top surface of the piston, and the top ends of the connecting posts are connected to the inner ring of the crossed roller bearing. The outer ring of the crossed roller bearing is installed at the bottom of the mobile robot. Two rotating joints are symmetrically arranged, with one end connected to the outer surface of the cylinder and the other end rotatably installed in a second mounting hole on the bracket. The axis of the rotating joint is perpendicular to the axis of the wheel axle. An air pipe interface is installed on the side of the lower chamber of the cylinder, and the air pipe interface is connected to an external air circuit through a pipe. During operation, the external air circuit inflates or deflates the lower chamber through the air pipe interface, changing the air pressure in the lower chamber and driving the piston to move up and down, maintaining the distance between the cylinder and the chassis of the mobile robot, and realizing active buffering and posture adjustment.

[0013] Preferably, there are seven connecting posts, one at the center and six evenly distributed around the outer ring; the cover plate has seven mounting slots, each containing a copper sleeve, and the connecting posts pass through the inner hole of the copper sleeves and move up and down along the copper sleeves.

[0014] Preferably, the piston has multiple protrusions on its bottom surface, each protrusion connected to a spring with a rubber head at its front end. A disc spring is located at the bottom of the lower chamber of the cylinder, positioned by a pressure plate, and its position corresponds to the annular center line of the multiple springs. When the lower chamber of the cylinder is not inflated, the piston descends and causes the rubber head to contact the disc spring, applying a light load. The spring is compressed, performing passive buffering under light load conditions. As the load increases until the spring is compressed to its limit, the disc spring compresses, performing passive buffering under heavy load conditions.

[0015] Preferably, a groove is formed on the outer peripheral sidewall of the piston, and a sealing ring is installed in the groove, with the outer peripheral surface of the sealing ring abutting against the inner peripheral surface of the cylinder.

[0016] Preferably, the system further includes a measurement system comprising an angle sensor and a distance sensor. The distance sensor is mounted on the top surface of the cover plate and located on one side of the cylinder. The distance sensor measures the real-time distance between the mobile robot chassis and the cylinder. The angle sensor comprises a circular grating sensor stator and a circular grating sensor rotor. The circular grating sensor rotor is mounted on the top of the connecting column in the middle position. The circular grating sensor stator is mounted on the bottom of the mobile robot and is arranged coaxially with the circular grating sensor rotor.

[0017] Compared with the prior art, the beneficial technical effects of the present invention are as follows:

[0018] This invention discloses a mobile robot drive wheel assembly with active and passive buffering functions, comprising a buffering mechanism and a drive wheel assembly mechanism. The buffering mechanism is oscillatingly connected to the hollow center of the drive wheel assembly mechanism via a rotary joint. For the first time, the rotary joint design allows the buffering mechanism and the drive wheel assembly mechanism to swing relative to each other, while the cylinder of the buffering mechanism effectively reduces the overall height.

[0019] Secondly, the buffer mechanism includes a cylinder, a cross roller bearing, and a piston. The piston is installed vertically into the inner cavity of the cylinder, dividing the inner cavity into an upper chamber and a lower chamber. The piston is connected to the inner ring of the cross roller bearing via a connecting column, and the outer ring of the cross roller bearing is installed at the bottom of the mobile robot. An air pipe interface is installed on the side of the lower chamber of the cylinder, which is connected to an external air circuit via a pipe. By inflating and adjusting the air pressure in the lower chamber, the mobile robot can be actively adjusted in the height direction, and buffering can be achieved in the height direction.

[0020] Furthermore, the mechanical spring assembly composed of springs and disc springs can not only provide passive cushioning under light and heavy load requirements, but also serve as a safety device when the pneumatic active cushioning system fails, preventing the piston from rapidly descending and rigidly colliding with the cylinder.

[0021] The robot achieves attitude adjustment. The six connecting posts on the upper outer ring of the piston are fixed to the inner ring of the cross roller bearing. The connecting post at the center is equipped with a circular grating sensor rotor. The circular grating sensor stator and the outer ring of the cross roller bearing are fixed to the bottom of the mobile robot to further detect the rotation angle of the wheel set and control the steering of the wheel set through feedback. The bottom of the mobile robot is equipped with multiple drive wheel sets. The distance sensor installed on the cover plate is used to detect the distance between the cylinder and the chassis of the mobile robot. In conjunction with the mobile robot's own attitude sensor, the active adjustment of the mobile robot's attitude can be achieved by controlling the air pressure in the lower chamber of each drive wheel set.

[0022] In summary, this invention is ingeniously conceived and compactly laid out. By cooperating with air pressure and mechanical springs, it can meet the working requirements of various loads and has both active and passive buffering functions. At the same time, the air pressure, in conjunction with the measurement system, enables attitude adjustment. The installation method of the buffering mechanism and the drive wheel assembly mechanism greatly reduces the overall height of the wheel assembly. Attached Figure Description

[0023] The present invention will be further described below with reference to the accompanying drawings.

[0024] Figure 1 This is an isometric view of the drive wheel assembly of the mobile robot with active and passive buffering functions according to the present invention.

[0025] Figure 2 This is a partial cross-sectional view of the drive wheel assembly of the mobile robot with active and passive buffering functions according to the present invention.

[0026] Figure 3 This is a half-sectional view of the buffer mechanism of the present invention;

[0027] Figure 4 This is a schematic diagram of the support structure of the present invention;

[0028] Figure 5 This is a partial sectional view of the drive wheel assembly mechanism of the present invention;

[0029] Figure 6 This is a schematic diagram of the drive wheel assembly mechanism of the present invention;

[0030] Explanation of reference numerals in the attached drawings: 1. Buffer mechanism; 11. Rotary joint; 12. Cylinder; 13. Crossed roller bearing; 14. Circular grating sensor stator; 15. Circular grating sensor rotor; 16. Piston; 1601. Connecting column; 1602. Boss; 17. Distance sensor; 18. Cover plate; 19. Copper sleeve; 110. Sealing ring; 111. Spring; 112. Rubber head; 113. Air pipe interface; 114. Disc spring; 115. Pressure plate; 2. Drive wheel assembly mechanism; 21. Wheel retainer ring; 22. Synchronous belt pulley; 23. Synchronous belt retainer ring; 24. Synchronous belt; 25. Reducer; 26. Servo motor; 27. Bracket; 28. Wheel; 29. ​​Wheel axle fixing bracket; 210. Wheel axle; 211. Wheel axle bearing. Detailed Implementation

[0031] To make the technical problems to be solved, the technical solutions, and the beneficial effects of the present invention clearer, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0032] like Figure 1-6As shown, a mobile robot drive wheel assembly with active and passive buffering functions includes a buffering mechanism 1 and a drive wheel assembly mechanism 2. The drive wheel assembly mechanism 2 is a hollow structure, and the buffering mechanism 1 is swayably connected to the hollow position in the middle of the drive wheel assembly mechanism 2 via a rotating joint 11.

[0033] like Figure 4-6 As shown, the drive wheel assembly mechanism 2 includes two drive wheel assembly units spliced ​​together. Each drive wheel assembly unit includes a reducer 25, a servo motor 26, a bracket 27, and a wheel 28. The bracket 27 is L-shaped and includes three vertical surfaces and one flat surface. The servo motor 26 is connected to the reducer 25 and mounted on the flat surface. The output shaft of the reducer 25 passes through a through hole on the small vertical surface and is connected to a synchronous pulley 22. A first mounting hole is provided on a vertical surface flush with the small vertical surface. A wheel axle bearing 211 is installed in the first mounting hole. A wheel axle 210 is installed in the wheel axle bearing 211. The other end of the wheel axle 210 passes through the wheel axle. The support frame 29 is positioned and connected to the wheel 28. One end of the wheel axle 210, located inside the support frame 29, is equipped with synchronous belt teeth. These teeth are connected to the synchronous pulley 22 via a synchronous belt 24. Each servo motor 26 independently drives the corresponding wheel 28 to rotate. Specifically, the support frame 29 provides positioning and support for the wheel axle 210. A second mounting hole is provided on the other side of the bracket 27. The rotating joint 11 is installed in this hole. Specifically, a bearing is installed in the second mounting hole, and the rotating joint 11 is mounted within the bearing to ensure smooth rotation and extend its service life. Specifically, a synchronous belt retainer 23 is connected to the outer side of the synchronous pulley 22 on the output shaft of the reducer 25 to prevent the synchronous belt from moving and coming off. A wheel retainer 21 is bolted to the end of the wheel axle where the wheel 28 is mounted to prevent the wheel 28 from coming off. The synchronous pulley 22 is keyed to the output shaft of the reducer 25 to achieve synchronous rotation.

[0034] The drive wheel assembly is positioned with the individual units rotated 180 degrees and overlapped. The two brackets 27 are then aligned and fastened together with bolts. During assembly, all parts on one side are installed onto the individual L-shaped bracket 27 and then positioned according to the specified location before being assembled together.

[0035] like Figure 2 , 3As shown, the buffer mechanism 1 includes a cylinder 12, a crossed roller bearing 13, and a piston 16. The piston 16 is disc-shaped and is vertically movable within the inner cavity of the cylinder 12, dividing the inner cavity of the cylinder 12 into an upper chamber and a lower chamber. A cover plate 18 is connected to the opening of the upper chamber of the cylinder 12. Multiple connecting posts 1601 are connected to the top surface of the piston 16. The top ends of the connecting posts 1601 are connected to the inner ring of the crossed roller bearing 13. The outer ring of the crossed roller bearing 13 is installed at the bottom of the mobile robot. Two rotating joints 11 are symmetrically arranged, and one end of the rotating joint 11... The rotating joint 11 is connected to the outer side of the cylinder 12, and the other end is rotatably mounted in the second mounting hole on the bracket 27. The axis of the rotating joint 11 is perpendicular to the axis of the wheel axle 210. An air pipe interface 113 is installed on the side of the lower chamber of the cylinder 12. The air pipe interface 113 is connected to an external air circuit through a pipe. During operation, when the load changes, the external air circuit inflates or deflates the lower chamber through the air pipe interface 113, changing the air pressure in the lower chamber and driving the piston 16 to move up and down, maintaining the distance between the cylinder 12 and the mobile robot chassis, and realizing active buffering operation and posture adjustment.

[0036] Specifically, seven connecting posts 1601 are provided, one at the center and six evenly distributed around the outer ring; the cover plate 18 has seven mounting slots, and copper sleeves 19 are connected to the mounting slots. The connecting posts 1601 pass through the inner holes of the copper sleeves 19 and move up and down along the copper sleeves 19. Specifically, the connecting posts 1601 and the copper sleeves 19 form multiple sets of guide components, which play a positioning and guiding role, further ensuring the stability of up and down movement during active buffering.

[0037] Specifically, the piston 16 has multiple protrusions 1602 on its bottom surface, and each protrusion 1602 is connected to a spring 111. A rubber head 112 is mounted on the front end of each spring 111. During operation, the rubber head 112 and the protrusion 1602 act as a limiting force to prevent the spring 111 from being completely compressed and damaged. A disc spring 114 is located at the bottom of the lower chamber of the cylinder 12. The disc spring 114 is positioned by a pressure plate 115. This disc spring 114 is annular and placed in the lower chamber of the cylinder 12. Within the annular groove of the chamber, the disc spring 114 corresponds to the annular centerline of the plurality of springs 111. When the lower chamber of the cylinder 12 is not inflated, the piston 16 descends and drives the rubber head 112 to contact the disc spring 114, applying a light load. The spring 111 is in a compressed state, completing the passive buffering operation under light load conditions. As the load increases until the spring 111 is compressed to its limit, the disc spring 114 is compressed to complete the passive buffering operation under heavy load conditions. Specifically, there are two, three, four, or more bosses 1602 and springs 111, evenly distributed circumferentially. The appropriate number is selected as needed to achieve the optimal buffering effect.

[0038] Specifically, a groove is provided on the outer peripheral sidewall of the piston 16, and a sealing ring 110 is installed in the groove. The outer peripheral surface of the sealing ring 110 abuts against the inner peripheral surface of the cylinder 12, thereby sealing the lower chamber.

[0039] like Figure 3 As shown, it also includes a measurement system, which includes an angle sensor and a distance sensor 17. The distance sensor 17 is installed on the top surface of the cover plate 18 and located on one side of the cylinder. The distance sensor 17 measures the real-time distance between the mobile robot chassis and the cylinder 12, so that the distance value is maintained within a set value. The angle sensor includes a circular grating sensor stator 14 and a circular grating sensor rotor 15. The circular grating sensor rotor 15 is installed at the top of the connecting column 1601 in the middle position. The circular grating sensor stator 14 is installed at the bottom of the mobile robot and is arranged coaxially with the circular grating sensor rotor 15.

[0040] The process of using this invention is as follows:

[0041] First, the buffer mechanism 1 is swayably connected to the hollow center of the drive wheel assembly mechanism 2 via the rotating joint 11 to form a complete drive wheel assembly unit; then, multiple drive wheel assembly units are assembled together with the mobile robot chassis.

[0042] The mobile robot moves by bolting together two identical drive mechanism components to form a complete drive wheel assembly 2. The servo motor 26 starts, and after being reduced in speed by the reducer 25, it drives the synchronous pulley 22 to rotate. The synchronous belt 24 further drives the wheel axle 210 to rotate, which in turn drives the wheel 28 to rotate. The two servo motors 26 can work independently, thus enabling functions such as rotating in place, differential turning, and straight-line travel.

[0043] The passive buffering function is achieved when the lower chamber of cylinder 12 is not filled with air. The piston 16 descends, causing the rubber head 112 to contact the disc spring 114. At this time, a light load is applied, and the spring 111 is compressed to buffer, thus achieving passive buffering under light load conditions. Furthermore, as the load increases, the spring 111 is continuously compressed. When the spring 111 reaches its limit, the disc spring 114 continues to compress to buffer, thereby achieving passive buffering under heavy load conditions. In addition to providing passive buffering under light and heavy load operation requirements, the mechanical spring assembly composed of spring 111 and disc spring 114 can also serve as a safety device when the pneumatic active buffering system fails, preventing the piston 16 from descending rapidly and colliding rigidly with cylinder 12.

[0044] To achieve the active buffering function, piston 16 divides the inner cavity of cylinder 12 into an upper chamber and a lower chamber. When the load on the mobile robot changes, piston 16 will also move up and down, causing the distance between cylinder 2 and the mobile robot chassis to change. The distance sensor 17 detects and controls the distance between cylinder 12 and the mobile robot chassis. By changing the air pressure in the lower chamber, piston 16 is moved to maintain the distance between cylinder 12 and the mobile robot chassis, thus achieving the active buffering function.

[0045] The mobile robot's posture is adjusted by installing multiple drive wheel sets of the present invention at the bottom of the mobile robot. A distance sensor 17 is installed on the cover plate 18 to detect the distance between the cylinder 12 and the chassis of the mobile robot. By changing the air pressure in the lower chamber, the piston 16 is moved. In conjunction with the mobile robot's own posture sensor, the active posture adjustment is effectively realized.

[0046] The rotation angle is detected by the cooperation of the circular grating sensor rotor 15 and the circular grating sensor stator 14. This is used to detect the rotation angle of the wheel set, and the specific rotation angle of the drive wheel set can be controlled based on the feedback.

[0047] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.

[0048] The embodiments described above are merely preferred embodiments of the present invention and are not intended to limit the scope of the present invention. Various modifications and improvements made by those skilled in the art to the technical solutions of the present invention without departing from the spirit of the present invention should fall within the protection scope defined by the claims of the present invention.

Claims

1. A drive wheel set for a mobile robot with active and passive buffering functions, characterized in that: It includes a buffer mechanism (1) and a drive wheel assembly mechanism (2). The drive wheel assembly mechanism (2) is a hollow structure. The buffer mechanism (1) is swayably connected to the hollow position in the middle of the drive wheel assembly mechanism (2) through a rotating joint (11). The buffer mechanism (1) includes a cylinder (12), a cross roller bearing (13), and a piston (16). The piston (16) is disc-shaped and is vertically movable within the inner cavity of the cylinder (12), dividing the inner cavity of the cylinder (12) into an upper chamber and a lower chamber. A cover plate (18) is connected to the opening of the upper chamber of the cylinder (12). Multiple connecting posts (1601) are connected to the top surface of the piston (16). The top ends of the connecting posts (1601) are connected to the inner ring of the cross roller bearing (13), and the outer ring of the cross roller bearing (13) is installed at the bottom of the mobile robot. The rotating joint ( 11) Two symmetrical joints are arranged, and one end of the rotating joint (11) is connected to the outer side of the cylinder (12), while the other end is rotatably mounted on the bracket (27) of the drive wheel assembly (2); an air pipe interface (113) is installed on the side of the lower chamber of the cylinder (12), and the air pipe interface (113) is connected to the external air passage through a pipe; during operation, the external air passage inflates or deflates the lower chamber through the air pipe interface (113), changes the air pressure in the lower chamber and drives the piston (16) to move up and down, maintains the distance between the cylinder (12) and the mobile robot chassis, and realizes active buffering operation and posture adjustment; The piston (16) has multiple bosses (1602) on its bottom surface. Each boss (1602) is connected to a spring (111). The front end of the spring (111) is equipped with a rubber head (112). A disc spring (114) is provided at the bottom of the lower chamber of the cylinder (12). The disc spring (114) is positioned by a pressure plate (115). The position of the disc spring (114) corresponds to the position of the annular center line of the multiple springs (111). When the lower chamber of the cylinder (12) is not filled with air, the piston (16) descends and drives the rubber head (112) to contact the disc spring (114). At this time, a light load is applied, and the spring (111) is in a compressed state to complete the passive buffering operation under light load. When the load is continuously increased until the spring (111) is compressed to the limit, the disc spring (114) is compressed to complete the passive buffering operation under heavy load.

2. The mobile robot drive wheel set with active and passive buffering functions according to claim 1, characterized in that: The drive wheel assembly (2) includes two drive wheel assembly units spliced ​​together. Each drive wheel assembly unit includes a reducer (25), a servo motor (26), a bracket (27), and a wheel (28). The bracket (27) is L-shaped and includes three vertical surfaces and one flat surface. The servo motor (26) is connected to the reducer (25) and mounted on the flat surface. The output shaft of the reducer (25) passes through a through hole on the small vertical surface and is connected to a synchronous pulley (22). The small vertical surface is perpendicular to the short side of the flat surface. A first mounting hole is provided on a vertical surface that is flush with the small vertical surface and located on the same straight line. A wheel axle bearing (211) is installed in the first mounting hole. 11) An axle (210) is installed inside. The other end of the axle (210) passes through the axle support frame (29) and is positioned and connected to the wheel (28). One end of the axle (210) located inside the axle support frame (29) is provided with a synchronous belt tooth. The synchronous belt tooth is connected to the synchronous belt pulley (22) through the synchronous belt (24). A single servo motor (26) drives the corresponding wheel (28) to rotate independently. A second mounting hole is opened on another vertical surface of the bracket (27) that is perpendicular to the small vertical surface. The rotating joint (11) is installed in the second mounting hole, and the axis of the rotating joint (11) is perpendicular to the axis of the axle (210).

3. The mobile robot drive wheel set with active and passive buffering functions according to claim 2, characterized in that: A timing belt retainer (23) is connected to the outside of the timing belt pulley (22) of the output shaft of the reducer (25), and a wheel retainer (21) is bolted to the end of the wheel axle on which the wheel (28) is mounted; the timing belt pulley (22) is connected to the output shaft of the reducer (25) by a key.

4. The mobile robot drive wheel set with active and passive buffering functions according to claim 2, characterized in that: The drive wheel assembly is placed in a position where it is rotated 180 degrees and overlaps, and the two brackets (27) are connected together by bolts after being overlapped and aligned.

5. The mobile robot drive wheel set with active and passive buffering functions according to claim 1, characterized in that: The connecting post (1601) is provided with seven posts, one of which is located at the center and six are evenly distributed around the outer ring; the cover plate (18) is provided with seven mounting slots, and a copper sleeve (19) is connected in the mounting slot. The connecting post (1601) is connected through the inner hole of the copper sleeve (19) and moves up and down along the copper sleeve (19).

6. The mobile robot drive wheel set with active and passive buffering functions according to claim 1, characterized in that: The piston (16) has a groove on its outer peripheral sidewall, and a sealing ring (110) is installed in the groove. The outer peripheral surface of the sealing ring (110) abuts against the inner peripheral surface of the cylinder (12).

7. The mobile robot drive wheel set with active and passive buffering functions according to claim 1, characterized in that: It also includes a measurement system, which includes an angle sensor and a distance sensor (17). The distance sensor (17) is mounted on the top surface of the cover plate (18) and located on one side of the cylinder (12). The distance sensor (17) measures the real-time distance between the mobile robot chassis and the cylinder (12). The angle sensor includes a circular grating sensor stator (14) and a circular grating sensor rotor (15). The circular grating sensor rotor (15) is installed at the top of the connecting column (1601) in the middle position. The circular grating sensor stator (14) is installed at the bottom of the mobile robot and is arranged coaxially with the circular grating sensor rotor (15).

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