Adaptive shock absorbing robotic intelligent mobile base

Abstract

The application relates to a robot intelligent mobile base with self-adaptive damping, and effectively solves the problems that a current robot base damping system is single in function and cannot meet the use requirements when fragile objects are transported, and the solution comprises a vehicle frame, a bearing plate arranged on the vehicle frame, a damping assembly arranged between the bearing plate and the vehicle frame, a fluid storage assembly matched with the damping assembly, and a self-adaptive constraint assembly arranged on the bearing plate; the base can adjust the damping strength of the base in real time according to the road conditions of the road to be traveled, so that the high-efficiency transport process is realized under the condition that the safety of the transported objects is ensured, the transport time is shortened (the work efficiency is improved), and in addition, the constraint pre-tightening force applied to the transported objects can be adjusted according to the vibration amplitude of the base during the transport process, unnecessary damage of the objects caused by the constraint pre-tightening force is avoided as much as possible under the condition that the transported objects are stable.

Description

Technical Field

[0001] This invention relates to the field of intelligent robot technology, and in particular to an adaptive shock-absorbing intelligent mobile base for robots. Background Technology

[0002] A transfer robot is a robot that can automatically or semi-automatically move from one place to another. Such robots are commonly used in logistics, production lines, airport baggage transportation and other fields. Their main function is to move items from the starting position to the target position. They can achieve autonomous handling by being equipped with devices such as sensors, controllers and actuators, or by being manually controlled to move items.

[0003] Currently, during the transport of goods, the robots experience significant bumps when traversing uneven surfaces. Furthermore, the shock absorption system on their base cannot adjust accordingly to road conditions (the softer the suspension, the better the shock absorption, and vice versa). This is especially problematic when handling fragile items. The flexibility and intelligence of the robot's base shock absorption system directly determine whether the items can be safely and intactly transported to their destination. In actual transport processes, these issues manifest themselves primarily in the following ways:

[0004] While a softer suspension provides better shock absorption, it also significantly reduces the robot's lateral support when it is moving quickly on a flat surface, which is detrimental to its stability. On the other hand, a stiffer suspension, while providing better stability, cannot effectively filter vibrations when the robot is traveling on bumpy surfaces, which can cause the transported items to be damaged by the vibrations.

[0005] In view of this, this application provides an adaptive shock-absorbing intelligent mobile base for robots to solve the above problems. Summary of the Invention

[0006] This invention provides an adaptive shock-absorbing intelligent mobile base for robots. The base can adjust its shock absorption intensity in real time according to the road conditions, so as to achieve a high-efficiency transfer process while ensuring the safety of the transferred items, thereby shortening the transfer time (improving work efficiency). In addition, during the transfer process, the constraint preload applied to the transferred items can be adjusted according to the vibration amplitude of the base, so as to ensure the stability of the transferred items and avoid unnecessary damage to the items caused by the constraint preload as much as possible.

[0007] An adaptive shock-absorbing intelligent mobile base for robots includes a frame with wheels on the frame. The frame has a support plate and a shock-absorbing assembly connects the support plate and the frame. An annular bladder is fitted onto the outer circumference of each wheel and is connected to a fluid storage assembly on the frame. The fluid storage assembly and the shock-absorbing assembly work together to adjust the damping strength of the shock-absorbing assembly. The number of fluid storage components and shock-absorbing components corresponds to the number of wheels.

[0008] The bearing plate is provided with two sets of adaptive constraint members at intervals. The adaptive constraint members include bearing cylinders located on both sides of the bearing plate and corresponding to each other. The bearing cylinders are provided with fastening components, and the two fastening components that cooperate with each other are connected by ropes. The fastening components are connected to the corresponding shock-absorbing components. When the bearing plate shakes vertically, the shock-absorbing components drive the fastening components to move and further tighten the ropes connecting the two fastening components.

[0009] The vehicle frame is equipped with a vibration monitor, which is connected to a microcontroller. The microcontroller controls the operation of the fluid storage component.

[0010] The beneficial effects of the above technical solution are as follows:

[0011] (1) In this solution, the base can adjust the shock absorption strength of the base in real time and accordingly according to the road conditions of the road surface to achieve a high-efficiency transfer process while ensuring the safety of the transferred items, so as to shorten the transfer time (improve work efficiency).

[0012] (2) The base in this solution can adjust the pre-tightening force applied to the transported items according to the magnitude of its own vibration during the transport process, so as to avoid unnecessary damage to the items caused by the pre-tightening force while ensuring the stability of the transported items. Attached Figure Description

[0013] Figure 1 This is a schematic diagram of the overall structure of the present invention;

[0014] Figure 2 This is a schematic diagram of the structure of the annular cyst of the present invention when it bulges.

[0015] Figure 3 This is a bottom view of the overall structure of the present invention;

[0016] Figure 4 This is a schematic diagram of the structure of the annular capsule of the present invention when it is deflated;

[0017] Figure 5 This is a schematic diagram of the internal structural relationship of the walking wheel of the present invention after cross-section;

[0018] Figure 6This is a schematic diagram showing the state of the annular capsule of the present invention when it is bulging and deflated.

[0019] Figure 7 This is a schematic diagram of the walking wheel structure of the present invention;

[0020] Figure 8 This is an exploded view of the components of the walking wheel structure of the present invention. Detailed Implementation

[0021] The foregoing and other technical contents, features and effects of the present invention are described in conjunction with the appendix below. Figures 1 to 8 As will be clearly shown in the detailed description of the embodiments, the structural contents mentioned in the following embodiments are all based on the accompanying drawings.

[0022] Example 1: Currently, the shock absorption system of the base of transport robots is usually not adjustable in terms of stiffness. It cannot adjust the shock absorption level according to the road conditions, especially when transporting fragile items. A softer shock absorption system helps filter vibrations better on bumpy roads, ensuring the safety of the transported items. However, a softer shock absorption system significantly reduces the lateral support of the robot base, thus reducing its driving stability. This is particularly true on relatively flat roads, where a softer shock absorption system severely affects the robot's stability during high-speed travel (robots accelerate appropriately on flat roads to improve transport efficiency), hindering the safe transport of items. Therefore, this application provides an adaptive shock absorption intelligent mobile robot base, as follows:

[0023] like Figure 1 As shown, the vehicle includes a frame 1 on which four wheels 2 are mounted (each wheel 2 is driven by a separate motor 33, such as...). Figure 3 As shown), a load-bearing plate 3 is provided on the frame 1, and a shock-absorbing assembly is connected between the load-bearing plate 3 and the frame 1 (a total of four shock-absorbing assemblies are provided, and each shock-absorbing assembly corresponds to a driving wheel 2), as shown. Figure 4 , 5 As shown, an annular bladder 4 is fitted on the outer circumference of the walking wheel 2, and the annular bladder 4 is connected to a fluid storage component (four of them are provided and each contains a fluid medium) on the frame 1. A vibration monitor (not shown in the figure) is provided on the frame 1 to monitor the vibration intensity of the robot base during the driving process. The vibration monitor is connected to a microcontroller, and the microcontroller controls the operation of the fluid storage component. Under the cooperation of the fluid storage component and the corresponding shock absorption component, the damping strength of the shock absorption component is adjusted (i.e., the stiffness of the shock absorption component is adjusted).

[0024] like Figure 1As shown, two sets of adaptive constraint members are spaced apart on the support plate 3. Each adaptive constraint member includes a support cylinder 5 located on both sides of the support plate 3 and corresponding to each other. Fastening components are installed inside the support cylinder 5, and the two fastening components are connected by a rope 6. The fastening components are connected to corresponding shock-absorbing components. When the support plate 3 shakes vertically, the shock-absorbing components drive the fastening components to move, thereby increasing the preload applied to the rope 6 (further tightening the rope 6 connected between the two fastening components). This improves the securing effect on items placed on the support plate 3 (preventing displacement and shaking of the transported items relative to the support plate 3 during large bumps, thus avoiding unnecessary losses). In specific implementation of this embodiment, the process is as follows:

[0025] First, the staff places the items to be transported (note: the items mentioned in this plan are fragile items) on the support plate 3. Then, by adjusting the fastening components, the rope 6 is tightened to secure the items, ensuring they are stably placed on the support plate 3. Subsequently, the robot, with the assistance of manual operation or its own onboard sensors, controllers, actuators, and other equipment, completes the transport process. When traveling on relatively flat roads, the shock-absorbing components on the base are in a relatively stiff state (due to the relatively flat road surface, the travel is relatively stable and does not generate significant vibration). At this time, the annular bladder 4 fitted onto the wheels 2 is in a deflated state (e.g., Figure 4 As shown, the annular bladder 4 is in contact with the outer circumference of the walking wheel 2. At this time, the walking wheel 2 is equivalent to a "rigid wheel". This can appropriately increase the speed of the robot base, thereby helping to improve the efficiency of transporting items. The relatively stiff shock absorption system and the rigidity of the walking wheel 2 undoubtedly provide a strong guarantee for the stability of the robot base when it is moving at high speed.

[0026] When driving on bumpy roads, the vibration amplitude of the frame 1 increases. The vibration monitoring device installed on the frame 1 detects this increase (when it increases to a set parameter range), and then controls the fluid storage component via the microcontroller to deliver a predetermined amount of fluid medium into the annular bladder 4, causing the originally deflated annular bladder 4 to begin to expand (e.g., Figure 4 The dotted line in the image shows the expanded annular cyst 4), until it reaches the point where... Figure 2 As shown in the diagram, it is worth noting that the annular bladder 4 in this design has a certain degree of elasticity (it can be made of rubber material). When fluid medium is supplied into the annular bladder 4, it can expand. When the fluid medium inside is transferred out, it can return to its original shape (fitting against the outer circumference of the traveling wheel 2). In addition, it must have good wear resistance to ensure the strength of its own structure during the rotation of the traveling wheel 2.

[0027] like Figure 6The right-hand view shows the relationship between the annular bladder 4 and the walking wheel 2 when no fluid medium is supplied into the annular bladder 4. The left-hand view shows the relationship between the annular bladder 4 and the walking wheel 2 after a certain amount of fluid medium is supplied into the annular bladder 4. At this time, the outer circumference of the walking wheel 2 no longer contacts the road surface. Instead, the annular bladder 4 filled with fluid medium contacts the road surface, which changes the walking wheel 2 from a "rigid wheel" to a "flexible wheel". When the walking wheel 2 (equivalent to a flexible wheel) travels on a bumpy road, it can better reduce vibration (the flexible wheel can deform when impacted by a bumpy road surface, and use the elastic deformation of its own material to absorb the impact caused by the uneven road surface, better adapt to changes in the road surface, and effectively reduce the vibration of the robot base on a bumpy road surface). This minimizes the transmission of vibration generated during travel to the support plate 3, making the support plate 3 and the transported items on the support plate 3 less affected by vibration (providing a guarantee for the safe transport of items).

[0028] When the microcontroller controls the fluid storage component to deliver fluid medium to the corresponding annular bladder 4, it will simultaneously adjust the damping strength of the shock absorber component, making the shock absorber component, which was originally in a relatively stiff state, become more flexible. At this time, the shock absorber component, which is adjusted to a flexible state, can further filter and buffer the small amount of vibration transmitted from the frame 1 to the load plate 3, thereby minimizing the vibration energy finally transmitted to the load plate 3 (to obtain a better vibration filtering effect).

[0029] It is worth noting that when the walking wheel 2 is changed from a "rigid wheel" to a "flexible wheel", although a better shock absorption effect is achieved, the contact area between the walking wheel 2 and the road surface is increased as the walking wheel 2 rotates because the flexible wheel 4 (and the fluid medium inside it) is in direct contact with the road surface. (Because it has good deformation ability, it can better adapt to the irregularity and bumps of the road surface. This deformation makes the contact between the "flexible wheel" and the road surface tighter, that is, the contact area is increased, which in turn increases the rolling resistance.) As a result, under the same power of motor 33, the rotation speed of the "flexible wheel" is lower than that of the "rigid wheel", which leads to a decrease in the travel speed of the robot base (which prolongs the time spent on the transfer of items) and thus affects the efficiency of transferring items.

[0030] Although the application scheme involves a transition between "rigid wheels" and "flexible wheels", such as Figure 6As shown, when the walking wheel 2 changes from a "rigid wheel" to a "flexible wheel", the diameter of the walking wheel 2 increases (due to the expansion of the annular bladder 4 caused by the delivery of a set amount of fluid medium into the annular bladder 4, the diameter of the walking wheel 2 increases). Although the rotation speed of the walking wheel 2 will decrease at this time, the distance that the robot base travels along the road surface increases after the walking wheel 2 rotates once. This can just make up for the problem of the decrease in travel speed caused by the increase in resistance after the walking wheel 2 changes from a "rigid wheel" to a "flexible wheel". That is, although the travel speed decreases after the walking wheel 2 changes from a "rigid wheel" to a "flexible wheel", the distance that the robot base travels after the walking wheel 2 rotates once is extended. Therefore, under the same operating power of the motor 33, the efficiency of transporting items will not be greatly affected.

[0031] Simultaneously with the above process, as the fluid storage component delivers fluid medium into the corresponding annular bladder 4, the damping strength provided by the shock-absorbing component is simultaneously adjusted (resulting in a reduced damping strength, thus making the shock-absorbing component more flexible). This further filters and buffers the vibration energy transmitted to the frame 1, ensuring that items placed on the support plate 3 are affected by vibration as little as possible. Due to the reduced damping of the shock-absorbing component, when driving on bumpy roads, the vertical swaying amplitude of the support plate 3 relative to the frame 1 will increase. At this time, in order to strengthen the securing effect on the items located on the support plate 3, the preload applied to the cable 6 is adjusted by the vertically reciprocating swaying support plate 3 in conjunction with the fastening component located in the support cylinder 5 (i.e., increasing the pulling force applied to the cable 6, thereby increasing the constraint on the items). The pre-tension force ensures that the transported items are more securely placed on the support plate 3, preventing relative displacement between the transported items and the support plate 3 even under significant vertical vibrations (to avoid damage or falling of the items due to relative movement between them). It is worth noting that when initially loading the items, the staff should adjust the constraint and pre-tension force applied to the items by the rope 6 to a suitable range (neither too large nor too small). If the initial constraint and pre-tension force is too large, the items (fragile and fragile items) are easily damaged due to the large constraint force. If the initial constraint and pre-tension force is too small, the vibrations generated when traveling on bumpy roads can easily cause the transported items to slide relative to the support plate 3 (resulting in serious cases of falling).

[0032] In this embodiment, under the action of the corresponding fastening component, the rope 6 can adjust the constraint and pre-tension force applied to the transported item according to the vertical sway amplitude of the support plate 3, so as to minimize unnecessary damage to the transported item caused by the application of constraint and pre-tension force while ensuring that the transported item can be stably placed on the support plate 3.

[0033] Similarly, when the robot base moves from a bumpy road to a relatively flat road (the vibration monitor detects that the vibration level of the frame 1 has decreased to the set parameter range), the microcontroller will control the fluid storage component to draw the fluid medium that was originally delivered to the annular bladder 4 back into the fluid storage component, so that the walking wheel 2 changes from a "flexible wheel" to a "rigid wheel" again (at the same time, the damping strength provided by the shock absorption component is also increased). Since the walking wheel 2 can be driven on a relatively flat road at this time, the speed can be appropriately increased, thereby improving the efficiency of transporting items. The fact that the walking wheel 2 changes from a "flexible wheel" to a "rigid wheel" again undoubtedly provides a safety guarantee for the speed increase of the walking wheel 2 (making the robot base have better driving stability at this time, ensuring stability when driving at high speed).

[0034] Example 2, based on Example 1, provides a specific structure for a shock-absorbing component, such as... Figure 4 As shown, the shock absorption assembly includes a damping cylinder 7 mounted on the frame 1 and a damping piston 8 inside the damping cylinder 7. A fluid storage assembly is located inside the damping cylinder 7 and in the space below the damping piston 8. A damping spring 9 is provided between the damping piston 8 and the fluid storage assembly. The damping piston 8 is fixedly connected to the support plate 3 and supports the support plate 3.

[0035] The fluid storage component is connected to the annular bladder 4 via the control tube 10 and the control tube 10 is equipped with a pump assembly, which is connected to the microcontroller.

[0036] When the robot base travels on a relatively flat surface, the fluid storage component does not supply fluid medium to the corresponding annular bladder 4, and the amount of fluid medium in the longitudinal direction of the fluid storage component is at its maximum (the upper end face of the damping piston 8 abuts against the top wall of the damping cylinder 7). This causes the damping spring 9 connected between the fluid storage component and the damping piston 8 to be compressed to its maximum extent, which in turn makes the shock absorption component in a relatively stiff state and difficult to be further compressed (the lateral support of the robot base is good). This helps the robot base to travel at a faster speed on a relatively flat surface and provides better driving stability.

[0037] When the robot base travels on a relatively bumpy road, the microcontroller controls the fluid storage component to deliver a set amount of fluid medium into the corresponding annular bladder 4, thereby reducing the amount of fluid medium in the fluid storage medium. At this time, the damping spring 9 connected between the damping piston 8 and the fluid storage component is compressed less (the damping spring 9 is more easily compressed at this time), thus making the shock absorption component in a softer state (when the robot base is vibrating during travel, the support plate 3 shakes vertically and simultaneously drives the damping piston 8 to move within the damping cylinder 7, thereby buffering and filtering the vibration by squeezing the damping spring 9). If the shock absorption component is still in a stiffer state at this time, the damping spring 9 is compressed to a great extent, which is equivalent to a "rigid" structure (difficult to be further compressed), thus failing to provide a good vibration filtering effect.

[0038] The fluid storage component is connected to the corresponding annular bladder 4 via a control pipe 10, and a pump assembly (connected to a microcontroller) is mounted on the control pipe 10. When the vibration monitor detects an increase in the vibration level of the frame 1 (reaching a set parameter), the microcontroller controls the pump assembly to start and delivers a set amount of fluid medium into the corresponding annular bladder 4 through the control pipe 10 (the control pipe 10 is in a non-conductive state when the pump assembly is not working), thereby changing the relationship between the annular bladder 4 and the wheels 2. Figure 6 The right-side view in the image is transformed into the state shown in the left-side view. At this time, the walking wheel 2 can be regarded as a "flexible wheel", which can filter out most of the vibrations generated when driving on bumpy roads, so as to minimize the vibrations transmitted to the bearing plate 3.

[0039] Example 3, based on Example 2, such as Figure 5 As shown, this embodiment provides a specific structure of a fluid storage component and a specific structure of its connection with the corresponding annular capsule 4, as follows:

[0040] A transition cavity 12 is coaxially provided inside the walking wheel 2, and a plurality of holes (not shown in the figure) communicating with the annular bladder 4 are evenly distributed on the outer circumferential wall of the transition cavity 12. One side of the transition cavity 12 is connected to the control tube 10 via a first rotating connector. This embodiment provides a structure for a first rotating assembly, such as... Figure 7 , 8 As shown, a first rotating ring 26 is rotatably mounted on one side of the transition cavity 12 (a sealing rubber ring is provided at the rotating engagement part of the first rotating ring 26 and the transition cavity 12 to ensure sealing). The first rotating ring 26 is fixedly connected to the control pipe 10 (the control pipe 10 is fixedly mounted on the frame 1). When the driving wheel 2 rotates, the first rotating ring 26 rotates synchronously relative to the transition cavity 12, thereby realizing the rotational connection between the control pipe 10 and the transition cavity 12.

[0041] like Figure 2 As shown, the fluid storage assembly includes an adjusting piston 13 disposed within the damping cylinder 7, and a damping spring 9 connected between the adjusting piston 13 and the damping piston 8. The fluid medium is stored in the space of the damping cylinder 7 located below the adjusting piston 13 (one end of the control tube 10 is rotatably connected to the transition cavity 12, and the other end is connected to the bottom of the damping cylinder 7). In specific implementation of this embodiment, the process is as follows:

[0042] like Figure 4 As shown, when the robot base travels on a relatively flat surface, the damping cylinder 7 located below the adjusting piston 13 stores the largest amount of fluid medium, causing the adjusting piston 13 to be in a higher position within the damping cylinder 7 (so that the damping spring 9 connecting the damping piston 8 and the adjusting piston 13 is in a state of maximum compression). At this time, the shock absorption components of the robot base are relatively stiff and have good driving stability. When the robot base travels on a more bumpy surface, the microcontroller controls the pump assembly to start and draws the fluid medium stored in the damping cylinder 7 located below the adjusting piston 13 into the corresponding transition chamber 12 through the control pipe 10, and then finally into the annular bladder 4 (causing the annular bladder 4 to expand to a certain extent, such as...). Figure 5 (As shown), Note: After the pump body assembly delivers a set amount of fluid medium into the transition chamber 12, the pump body assembly stops working under the action of the microcontroller and the control tube 10 is in a non-conductive state (at this time, the adjusting piston 13 cannot continue to move in the damping cylinder 7 and remains in the current position).

[0043] As the adjusting piston 13 moves downward within the damping cylinder 7, the degree of compression of the damping spring 9 connected between the damping piston 8 and the adjusting piston 13 gradually decreases (from... Figure 4 The state shown in the figure transforms into Figure 2 In the state shown in the figure, the damping spring 9 is more easily squeezed and compressed (the damping piston 8 is set to still be against the top wall of the damping cylinder 7, that is, when subjected to vibration, the damping piston 8 can only move back and forth within the damping cylinder 7 and will not exceed the limit of the top wall of the damping cylinder 7). When the robot base travels on a bumpy road, a lot of vibration will be generated. With the cooperation of the walking wheel 2, the annular bladder 4 and the fluid medium, most of the vibration can be filtered and buffered, thereby greatly reducing the vibration energy transmitted to the frame 1. At this time, through the cooperation between the "softened" damping spring 9 and the damping piston 8, the vibration transmitted to the frame 1 can be further filtered and buffered, so that the vibration finally transmitted to the bearing plate 3 is further reduced (to ensure the safety of the transported items).

[0044] When the vibration monitor detects that the vibration amplitude of the frame 1 has decreased (down to within the set parameter range) (while driving on a relatively flat road), the microcontroller controls the pump assembly to start and draw the fluid medium that was originally drawn into the transition chamber 12 back into the damping cylinder 7. As the fluid medium continues to flow back, it forces the adjusting piston 13 to move upwards continuously within the damping cylinder 7, and continuously compresses the damping spring 9 connected between the damping piston 8 and the adjusting piston 13, until it returns to its original position. Figure 4 In the state shown, the damping spring 9 becomes stiffer again and is considered a "rigid" structure (difficult to be further compressed), thus providing better driving stability for the robot base (allowing the robot base to accelerate appropriately when traveling on flat roads, thereby improving transfer efficiency).

[0045] Example 4, based on Example 3, provides a specific structure for connecting the fastening component and the shock-absorbing component, as follows:

[0046] like Figure 5 As shown, a one-way pipe 14 extending downwards from the bottom of the damping cylinder 7 is provided on the adjusting piston 13 (it has a one-way valve inside, so that gas can only move from the damping cylinder 7 to the fastening assembly, and is not connected in the opposite direction). This one-way pipe 14 is connected to the damping cylinder 7 located above the adjusting piston 13, and the other end of the one-way pipe 14 is connected to the fastening assembly, as shown. Figure 5 As shown, the damping cylinder 7 in this scheme has a hole on its top wall that communicates with the outside, and a solenoid valve (connected to a microcontroller) and a one-way valve are respectively installed on the damping piston 8. (The one-way valve allows gas to move only from the outside into the damping cylinder 7 between the damping piston 8 and the adjusting piston 13, and prevents it from moving in the opposite direction.) In this embodiment, the specific implementation process is as follows:

[0047] When the robot base travels on a bumpy road, the bearing plate 3 vibrates, causing the damping piston 8 to reciprocate within the damping cylinder 7. When the damping piston 8 moves from top to bottom, the gas between the damping piston 8 and the adjusting piston 13 is transported to the fastening assembly via a one-way pipe 14 connected to the adjusting piston 13. When the damping piston 8 moves from bottom to top, air from the outside environment enters the space between the damping piston 8 and the adjusting piston 13 through a one-way valve on the damping piston 8 (note: the solenoid valve on the damping piston 8 is closed at this time). This vibration, combined with the continuous reciprocating movement of the damping piston 8 within the damping cylinder 7, prevents air from entering the space between the damping piston 8 and the adjusting piston 13. Gas is continuously supplied into the fastening components, thereby causing the two cooperating fastening components to continuously increase the constraint and preload applied to the corresponding cable 6 (further increasing the tightness of the cable 6 on the items on the support plate 3), so as to improve the stability of the items transferred on the support plate 3 when the robot base travels on bumpy roads. When the constraint and preload applied to the cable 6 by the fastening components reach the predetermined range, as the damping piston 8 continues to reciprocate in the damping cylinder 7, the fastening components no longer increase the constraint and preload applied to the corresponding cable 6 and keep the constraint and preload applied to the cable 6 within the set range.

[0048] When the robot base moves to a relatively flat surface and begins to transfer the fluid medium in the annular bladder 4 back into the damping cylinder 7, the microcontroller first controls the solenoid valve on the damping piston 8 to open, then controls the pump assembly to start and begin delivering the fluid medium into the damping cylinder 7. As the fluid medium continuously flows back, it forces the adjusting piston 13 to move upwards continuously within the damping cylinder 7, thereby causing the gas between the damping piston 8 and the adjusting piston 13 to be discharged outwards through the opened solenoid valve. When the microcontroller controls the pump assembly to stop working, it simultaneously controls the solenoid valve on the damping piston 8 to close.

[0049] Example 5, based on Example 4, provides a specific structure for a fastening assembly, as follows:

[0050] like Figure 2 As shown, a partition 15 is provided inside the bearing cylinder 5, dividing it into two cavities (the two cavities are far apart from each other, and both are connected to the outside at one end). A constraint plate 16 slides in the cavity located above the partition 15 (the constraint plate 16 slides in contact with the inner wall of the cavity, and a through hole is provided on the constraint plate 16, such as...). Figure 4(As shown in the diagram) The constraint plate 16 is connected to a telescopic assembly placed outside the bearing cylinder 5. The telescopic assembly is connected to the cable 6. A constraint piston 17 is provided in the cavity located below the partition plate 15, and the constraint piston 17 drives an adjusting plate 18 located in another cavity. A constraint spring 19 is connected between the adjusting plate 18 and the constraint plate 16. The other end of the one-way tube 14 communicates with the cavity located between the partition plate 15 and the constraint piston 17. Figure 2 As shown, a pressure valve 30 is provided in the lower cavity near the partition 15, and the pressure valve 30 is electrically connected to the microcontroller (when the air pressure in the cavity between the partition 15 and the constraint piston 17 reaches the set parameter, the microcontroller controls the pressure valve 30 to open to release pressure; when the air pressure in the cavity between the partition 15 and the constraint piston 17 drops to the set parameter, the microcontroller controls the pressure valve 30 to close). In this embodiment, the process is as follows:

[0051] When loading the transported items, the staff first places the items to be transported on the support plate 3. Then, by adjusting the telescopic components located on both sides of the support plate 3, the rope 6 connected between the two telescopic components is tightened around the surface of the transported items. The constraint and preload applied by the rope 6 are controlled by adjusting the length of the telescopic components. Note: At this time, the constraint plate 16 connected to the telescopic components abuts against the top of the support cylinder 5 (the top of the support cylinder 5 limits the constraint plate 16, thereby limiting the telescopic components, and then the rope 6 connected between the two telescopic components is used to constrain the transported items).

[0052] When the robot base travels on a relatively flat surface, the relative positions of the adjusting piston 13, damping spring 9, and damping cylinder 7, as well as the state of the traveling wheel 2 and the annular bladder 4, are as follows: Figure 4 As shown, the damping spring 9 is in a state of maximum compression at this time (the damping spring 9 is relatively stiff and difficult to compress further), which makes the robot base have good lateral support (good driving stability), which helps the robot base to move at a higher speed on a relatively flat road surface (to improve the efficiency of transporting items).

[0053] When the robot's base travels on a relatively bumpy surface, the microcontroller controls the pump assembly to start and delivers a set amount of fluid medium to the corresponding transition chamber 12 through the control pipe 10. At this time, the relative positions of the adjusting piston 13, damping spring 9, and damping cylinder 7, as well as the state between the walking wheel 2 and the annular bladder 4, are in a state as follows: Figure 2 As shown in the diagram, the damping spring 9 is compressed less (the damping spring 9 becomes softer, making it easier to further compress and elastically deform the bearing plate 3 when it is subjected to vibration), as... Figure 5As shown, when the bearing plate 3 shakes vertically, it synchronously drives the damping piston 8 to shake within the damping cylinder 7 and compresses the damping spring 9. When the damping piston 8 moves from top to bottom, the gas between the damping piston 8 and the adjusting piston 13 is transported through the one-way pipe 14 to the cavity between the partition plate 15 and the constraint piston 17 (e.g., Figure 4 As shown, a one-way pipe 14a is provided on the bearing cylinder 5, and a one-way pipe 14b is provided at one end of the one-way pipe 14 connected to the adjusting piston 13. The two ports a and b are connected by a pressure-resistant hose (used to cooperate with the vertical movement of the bearing plate 3, which is equivalent to the vertical movement of the frame 1). As gas enters, it forces the constraint piston 17 to move downward in the corresponding cavity, thereby synchronously driving the adjusting plate 18 to move in the direction of the stretching constraint spring 19. As the constraint spring 19 is stretched, the force it applies to the constraint plate 16 gradually increases, and then through the telescopic assembly... The constraint and preload applied to the cable 6 are gradually increased. That is, when the robot base travels on a bumpy road and the support plate 3 swings back and forth vertically, the constraint and preload applied to the cable 6 are continuously increased through the cooperation between the constraint piston 17, the adjustment plate 18, the constraint plate 16, and the telescopic component (in order to improve the constraint effect on the transported items on the support plate 3, so that they can be more stable on the support plate 3 when subjected to large bumps and vibrations), and to prevent the transported items from shaking relative to the support plate 3 (causing unnecessary damage).

[0054] When the damping piston 8 moves from bottom to top, gas from the external environment enters the cavity between the damping piston 8 and the adjusting piston 13 through the one-way valve on the damping piston 8 (completing the gas replenishment process). When the damping piston 8 moves from top to bottom again, it continues to supply gas to the cavity between the partition 15 and the constraint piston 17. Note: As the number of vertical reciprocating movements of the damping piston 8 within the damping cylinder 7 increases, the amount of gas supplied to the cavity between the partition 15 and the constraint piston 17 gradually increases, until the gas pressure in the aforementioned cavity reaches the set parameters (at which point the rope 6 applies constraint and preload force to the transported item). When the maximum limit is reached, if the pressure continues to increase, there is a risk that the transported items will be damaged due to excessive constraint force. At this time, the microcontroller controls the pressure valve 30 to open and start to release air. When the air pressure in the above-mentioned cavity drops to the set parameter, the microcontroller controls the pressure valve 30 to close (stop releasing air). During the subsequent movement of the robot base along the bumpy road, as the damping piston 8 reciprocates in the damping cylinder 7, the pressure valve 30 is in a state of continuous opening and closing under the action of the microcontroller (in order to maintain the air pressure in the cavity between the partition 15 and the constraint piston 17 within the set parameter range).

[0055] like Figure 2 , 4 As shown, when the adjusting piston 13 is... Figure 4 The position shown is moved to Figure 2 When it is in the position shown, the one-way tube 14 connected to it moves a certain distance from top to bottom in sync. For this purpose, the one-way tube 14 with port b is vertically slidably installed on one side of the frame 1.

[0056] When the robot base moves from a bumpy road to a relatively flat road, the microcontroller controls the pressure valve 30 to open. The constraint piston 17 then moves rapidly under the action of the constraint spring 19, and the gas that was originally filled into the cavity between the partition 15 and the constraint piston 17 is discharged out through the pressure valve 30 (during this process, the constraint spring 19 is reset and the constraint plate also moves towards the initial position in the bearing cylinder until it abuts against the top of the bearing cylinder 5). This reduces the constraint and preload applied to the cable 6 to the initial set level (because the road surface is relatively flat and there will be no large shaking, there is no need to apply excessive constraint and preload to the transported items, so as to minimize unnecessary damage to the transported items caused by the application of constraint and preload).

[0057] Simultaneously with the above process, the microcontroller synchronously controls the pump assembly to start and draws the fluid medium delivered to the annular bladder 4 back into the damping cylinder 7 located below the adjusting piston 13, forcing the adjusting piston 13 to move from bottom to top within the damping cylinder 7. Figure 2 The state shown transforms into Figure 4 As shown, during the upward movement of the adjusting piston 13, the gas located between the damping piston 8 and the adjusting piston 13 is discharged outward through the solenoid valve located on the damping piston 8 (Note: When the microcontroller controls the pump assembly to start, it simultaneously controls the solenoid valve located on the damping piston 8 to open). When the pump assembly stops working, the microcontroller simultaneously controls the solenoid valve located on the damping piston 8 to close.

[0058] Example 6, based on Example 5, such as Figure 2 As shown, this embodiment provides a specific structure of a telescopic component. The telescopic component includes an adjusting rod 20 that is coaxially connected to the constraint plate 16 and extends outward from the bearing cylinder 5. The end of the adjusting rod 20 that extends outward is threaded and fitted with an internal threaded cylinder 21. An annular groove 32 is coaxially provided at the end of the internal threaded cylinder 21 away from the bearing cylinder 5, and a rotating plate 31 is rotatably installed in the annular groove 32. The rotating plate 31 and the rope 6 are fixedly connected. After the transported items are loaded, the workers can control the length of the telescopic component by screwing the internal threaded cylinder 21, thereby adjusting the tightness of the rope 6 (adjusting the constraint and pre-tension force applied by the rope 6 to an appropriate range).

[0059] In this embodiment, the rotating plate 31 and the annular groove 32 are designed to ensure that when the operator screws the internal threaded cylinder 21 to adjust the length of the telescopic component, the rope 6 will not rotate synchronously due to the rotation of the internal threaded cylinder 21 (to prevent the rope 6 from twisting or knotting).

[0060] Example 7: Based on Examples 1-6, this solution is further optimized, as follows: Figure 5 As shown, an adjustment cavity 35 is coaxially provided inside the traveling wheel 2 (the adjustment cavity 35 is spaced apart from the transition cavity 12 and is closer to the center of the traveling wheel 2), as... Figure 6 As shown, several magnets 22 are radially mounted in the adjustment cavity 35. Each magnet 22 is connected to a control component located in the adjustment cavity 35. In this embodiment, the fluid medium is set as magnetorheological fluid. Magnetorheological fluid is a smart material that includes magnetic particles, a carrier liquid, and additives. When an external magnetic field is applied, the magnetic particles in the magnetorheological fluid are magnetized and arranged along the direction of the magnetic field to form a chain structure. The change in the arrangement of these magnetic particles will increase the shear capacity of the magnetorheological fluid, thereby increasing the hardness of the magnetorheological fluid (making it harder). When the external magnetic field weakens or no magnetic field is applied, it returns to a softer fluid state.

[0061] Initially, magnet 22 is positioned away from the center of the walking wheel 2 under the action of its corresponding control component, such as... Figure 5 As shown (at this time, magnet 22 is closest to transition cavity 12), when the robot base travels on a flat road, the transition cavity 12 in the walking wheel 2 stores magnetorheological fluid (there is also a small amount of magnetorheological fluid inside the annular bladder 4). At this time, magnet 22 is closest to transition cavity 12, so the magnetic field strength it generates can act on the magnetorheological fluid in transition cavity 12 to the maximum extent. As a result, the magnetorheological fluid in transition cavity 12 and annular bladder 4 (a small amount) becomes harder due to the magnetic field, so that the walking wheel 2 is in a high "rigidity" state during the walking process, minimizing the resistance encountered during the walking process.

[0062] When the robot base travels on a bumpy road, a certain amount of magnetorheological fluid is filled into the annular bladder 4. As the magnetorheological fluid enters, the behavior of the walking wheels 2 becomes closer to that of "flexible wheels." At this time, the distance between the magnet 22 and the transition cavity 12 and the annular bladder 4 is still the closest. Therefore, the magnetorheological fluid in the annular bladder 4 also has a certain degree of hardness. As the robot travels on the bumpy wheels, the control components will adjust the position of the magnet 22 according to the degree of bumpiness of the frame 1, as follows:

[0063] If the vibration of the frame 1 is not significantly improved, the control component controls the magnet 22 to move closer to the center of the wheel 2, so that the magnetic field strength generated by the magnet 22 on the magnetorheological fluid in the transition cavity 12 and the annular bladder 4 gradually decreases. As the magnetic field strength decreases, the hardness of the magnetorheological fluid in the annular bladder 4 gradually decreases (begins to become softer). Because the softer the fluid medium in the annular bladder 4 (the higher the flexibility of the annular bladder 4, the fluid medium, and the wheel 2 as a whole), the better its vibration filtering effect on bumpy roads, thereby improving the vibration of the frame 1.

[0064] In order to achieve good vibration buffering and filtering, the "flexibility" of the walking wheel 2 and the ring bladder 4 as a whole is minimized as much as possible. Because the greater the flexibility, the greater the resistance encountered when the robot base moves. Under the same motor 33 power operation, the robot base's moving speed is reduced, which is not conducive to improving the transfer efficiency.

[0065] This embodiment provides a specific structure of a pump body assembly, such as... Figure 7 As shown, the control pipe 10 has two branch pipes, and each branch pipe is equipped with a solenoid valve and a pump body 11 (both connected to the microcontroller). Each branch pipe is responsible for conveying the fluid medium in different directions. When it is necessary to convey the fluid medium into the annular bladder 4 or into the damping cylinder 7, the microcontroller controls the corresponding solenoid valve to open and the pump body 11 to start (after the conveying is completed, the microcontroller controls the pump body 11 to stop and the solenoid valve to close synchronously). It is worth noting that the impeller inside the pump body in this scheme should be made of wear-resistant material.

[0066] Example 8, based on Example 7, such as Figure 2 As shown, when the robot base travels on a bumpy road and the damping piston 8 reciprocates continuously within the damping cylinder 7, the damping piston 8 continuously compresses the gas between the damping piston 8 and the adjusting piston 13, thus doing work on the gas. In addition, the continuous friction between the damping piston 8 and the inner wall of the damping cylinder 7 causes a significant increase in temperature in the area between the damping piston 8 and the adjusting piston 13 (the more times the damping piston 8 reciprocates, the higher the temperature). If the heat generated in the above process is not dissipated in time, it will accelerate the aging of the sealing rubber ring on the damping piston 8, and the high temperature environment will make the material of the damping cylinder 7 prone to oxidation, corrosion, and other chemical reactions (resulting in decreased sealing performance and affecting service life). This embodiment dissipates the heat generated in the above process and utilizes this heat in conjunction with the control component to drive the magnet 22 to move. This embodiment provides a control component structure, as detailed below:

[0067] like Figure 5 ,6 As shown, the control assembly includes a control cavity 23 disposed within the adjustment cavity 35, and a control piston 24 is disposed within the control cavity 23 (the control piston 24 and the control cavity 23 are elastically connected). One end of the control piston 24 extends outward from the control cavity 23 and is connected to the magnet 22, as shown. Figure 6 As shown, the control chamber 23 located at the end of the control piston 24 away from the center of the adjustment chamber 35 is connected to a gas assembly, and the control chamber 23 on the other side of the control piston 24 is provided with an exhaust passage 34 that communicates with the outside. In this embodiment, the process is as follows:

[0068] When the robot base travels on a bumpy road, if the reciprocating oscillation frequency of the damping piston 8 within the damping cylinder 7 does not improve significantly, it indicates that the combination of the annular bladder 4 and the traveling wheel 2 is insufficient in filtering vibrations from the road surface. This causes some vibrations to be transmitted to the frame 1, resulting in no improvement in the oscillation frequency of the bearing plate 3 (damping piston 8). (Insufficient vibration filtering causes the oscillation frequency of the damping piston 8 within the damping cylinder 7 to remain high, leading to a rapid temperature rise in the space between the damping piston 8 and the adjusting piston 13.) At this time, the gas assembly delivers a certain amount of gas to the space located at the end of the control piston 24 away from the adjusting chamber 35, thereby forcing the control piston 24 to drive the magnet 22 towards the distance... The movement away from the transition chamber 12 (as the control piston 24 moves, the gas in the other side chamber of the control piston 24 is discharged outward through the exhaust passage 34) reduces the magnetic field strength of the magnetorheological fluid in the annular bladder 4, thereby adjusting the hardness of the fluid in the annular bladder 4 (adjusting in the direction of softening). With the improvement of hardness, the annular bladder 4 and the traveling wheel 2 can filter more vibrations, thereby significantly reducing the vibration energy transmitted to the frame 1. The reduced vibration amplitude of the frame 1 causes the swaying frequency of the damping piston 8 in the damping cylinder 7 to also decrease significantly, thereby helping to suppress the continued rise in temperature (or causing the temperature in the damping cylinder 7 to begin to gradually decrease).

[0069] If the swaying frequency of the damping piston 8 in the damping cylinder 7 is still not improved (directly manifested as the ambient temperature in the damping cylinder 7 continuing to rise), the gas assembly will deliver more gas into the control chamber 23 and cause the control piston 24 to drive the magnet 22 to move a further distance, thereby further reducing the magnetic field strength of the magnetorheological fluid in the annular capsule 4 (resulting in a further reduction in the hardness of the magnetorheological fluid), so as to achieve better filtering of vibration.

[0070] If the oscillation frequency of the damping piston 8 in the damping cylinder 7 is significantly improved (reduced), the ambient temperature inside the damping cylinder 7 will also decrease. At this time, the gas assembly will draw back part of the gas that was originally delivered to the control chamber 23 to appropriately increase the "rigidity" of the annular bladder 4 and the walking wheel 2 as a whole. This is because the greater the "flexibility", the greater the resistance encountered by the robot base when it moves, which affects the transfer efficiency.

[0071] Example 9, based on Example 8, provides a specific mechanism for a gas assembly and describes in detail its interaction with changes in the ambient temperature inside the damping cylinder 7, as follows:

[0072] like Figure 2 As shown, a liquid storage cylinder 25 is fitted on the outer wall of the damping cylinder 7 (the liquid storage cylinder 25 is installed within the position range of the damping piston 8 reciprocating within the damping cylinder 7). A certain amount of carbon dioxide solution is stored in the liquid storage cylinder 25. A connecting pipe 29 is provided at the upper end of the liquid storage cylinder 25 and passes downward through the frame 1 and communicates with several control chambers 23 in the corresponding driving wheel 2.

[0073] When the robot base travels on a flat road, the damping spring 9 is compressed to a large degree (becoming quite "stiff" and difficult to compress), and the road surface is relatively flat. Therefore, the damping piston 8 hardly shakes inside the damping cylinder 7, so the ambient temperature inside the damping cylinder 7 does not fluctuate much.

[0074] When the robot base travels on a bumpy road, the damping spring 9 becomes "softer," causing the bearing plate 3 to vibrate and drive the damping piston 8 to oscillate back and forth within the damping cylinder 7. This causes the ambient temperature inside the damping cylinder 7 to rise. As the temperature rises, the carbon dioxide solution in the storage tank 25 absorbs the carbon dioxide, reducing its solubility in water and releasing a certain amount of carbon dioxide gas. The released carbon dioxide gas is then transported through the connecting pipe 29 to several control chambers 23 in the corresponding walking wheel 2, which in turn drives the control piston 24 to move, thereby adjusting the position of the magnet 22. If the ambient temperature inside the damping cylinder 7 continues to rise, more carbon dioxide gas is released, forcing the control piston 24 to move a greater distance, further increasing the distance between the magnet 22 and the magnetorheological fluid in the annular bladder 4 (improving the vibration filtering effect of the annular bladder 4 and the walking wheel 2 as a whole), minimizing the vibration energy transmitted to the frame 1, and reducing the oscillation frequency of the damping piston 8 within the damping cylinder 7 (thus suppressing the continued rise in temperature inside the damping cylinder 7).

[0075] In this embodiment, the carbon dioxide solution absorbs the heat inside the damping cylinder 7, thereby cooling the environment inside the damping cylinder 7. On the other hand, the carbon dioxide gas generated by the decomposition of the carbon dioxide solution drives the control cavity 23 to move, thereby adjusting the position of the magnet 22. Thus, the position of the magnet 22 can be adjusted according to the amount of carbon dioxide gas decomposed from the carbon dioxide solution.

[0076] The greater the amount of decomposition, the higher the ambient temperature inside the damping cylinder 7, the greater the shaking frequency of the damping piston 8, and the more vibration energy is transmitted to the frame 1. This causes the magnet 22 to move further away from the annular bladder 4, making the annular bladder 4 and the wheel 2 as a whole exhibit greater "flexibility", thereby achieving better filtering of vibration.

[0077] When the ambient temperature inside the damping cylinder 7 decreases, the solubility of carbon dioxide in water increases accordingly. This causes the carbon dioxide gas that originally entered the control chamber 23 to flow back into the storage cylinder 25 under the force of the control piston 24 and dissolve in the water again. This reduces the distance between the magnet 22 and the annular bladder 4, thereby appropriately reducing the "flexibility" of the annular bladder 4 and the traveling wheel 2 as a whole (indicating that the shaking frequency of the damping piston 8 is affected and improved. At this time, the annular bladder 4 and the traveling wheel 2 as a whole have sufficient filtering effect on vibration to cope with the current road conditions). This reduces the resistance encountered by the traveling wheel 2 during travel, and maximizes the efficiency of transporting goods while ensuring the shock absorption effect.

[0078] Example 10, based on Example 9, provides a specific structure in which a gas assembly and several control chambers 23 are connected, as follows:

[0079] like Figure 5 As shown, several control cavities 23 are all connected to a second rotating connecting member disposed outside the traveling wheel 2. The second rotating connecting member includes a second rotating cavity 27 coaxially fixed to one side of the traveling wheel 2, and a second rotating ring 28 (e.g., on the side opposite to the traveling wheel 2) is coaxially rotatably mounted on the second rotating cavity 27. Figure 7 , 8 As shown), the rotating contact area between the second rotating ring 28 and the second rotating cavity 27 is provided with a sealing rubber ring, such as... Figure 3As shown, the second rotating ring 28 and the connecting pipe 29 are fixedly connected, and the connecting pipe 29 and the second rotating cavity 27 are connected (when the walking wheel 2 rotates, the second rotating ring 28 and the second rotating cavity 27 rotate synchronously). When the carbon dioxide solution in the storage cylinder 25 decomposes into carbon dioxide gas, it first enters the second rotating cavity 27 along the connecting pipe 29, and then enters several control cavities 23 connected to it through the second rotating cavity 27, thereby realizing the synchronous adjustment of the position of the magnet 22 by controlling the movement of the piston 24.

[0080] The above is merely for illustrating the present invention. It should be understood that the present invention is not limited to the above embodiments, and various modifications that conform to the spirit of the present invention are within the protection scope of the present invention.

Claims

1. An adaptive shock-absorbing intelligent mobile base for robots, comprising a frame (1) and wheels (2) mounted on the frame (1), characterized in that, The frame (1) is provided with a bearing plate (3) and a shock-absorbing component is connected between the bearing plate (3) and the frame (1). The outer circumference of the wheel (2) is fitted with an annular bladder (4) and the annular bladder (4) is connected to a fluid storage component provided on the frame (1). The fluid storage component and the shock-absorbing component work together to adjust the damping strength of the shock-absorbing component. The number of the fluid storage component and the shock-absorbing component corresponds to the number of the wheel (2). Two sets of adaptive constraint members are spaced apart on the bearing plate (3). The adaptive constraint members include bearing cylinders (5) located on both sides of the bearing plate (3) and corresponding to each other. The bearing cylinders (5) are equipped with fastening components, and the two fastening components that cooperate with each other are connected by ropes (6). The fastening components are connected to the corresponding shock-absorbing components. When the bearing plate (3) shakes vertically, the shock-absorbing components drive the fastening components to move and further tighten the ropes (6) connected between the two fastening components. The frame (1) is equipped with a vibration monitor and the vibration monitor is connected to a microcontroller, which controls the operation of the fluid storage component; The shock absorption assembly includes a damping cylinder (7) mounted on the frame (1) and a damping piston (8) inside the damping cylinder (7). The fluid storage assembly is located inside the damping cylinder (7) and below the damping piston (8). A damping spring (9) is provided between the damping piston (8) and the fluid storage assembly, and the damping piston (8) is connected to the bearing plate (3). The fluid storage component is connected to the control tube (10) and the annular bladder (4), and the control tube (10) is provided with a pump assembly, which is connected to the microcontroller; The walking wheel (2) is coaxially provided with a transition cavity (12) and the transition cavity (12) is connected to the annular bladder (4). The transition cavity (12) is connected to the control tube (10) through the first rotating connecting member. The fluid storage assembly includes an adjusting piston (13) disposed in a damping cylinder (7) and a damping spring (9) connected between the adjusting piston (13) and the damping piston (8). The fluid medium is stored in the damping cylinder (7) located below the adjusting piston (13). The walking wheel (2) is coaxially provided with an adjustment cavity (35) and a magnet (22) is slidably installed in the adjustment cavity (35) along the radial direction. The magnet (22) is connected to a control component provided in the adjustment cavity (35). The fluid storage component stores magnetorheological fluid. The control assembly includes a control cavity (23) disposed in the adjustment cavity (35) and a control piston (24) elastically connected thereto is disposed in the control cavity (23), and the control piston (24) drives the corresponding magnet (22); The control chamber (23) located at the end of the control piston (24) away from the center of the regulating chamber (35) is connected to a gas assembly, and the control chamber (23) located on the other side of the control piston (24) is connected to the outside.

2. The adaptive shock absorption intelligent mobile base for robots according to claim 1, characterized in that, The adjusting piston (13) is provided with a one-way tube (14) extending downward from the damping cylinder (7), and the one-way tube (14) is connected to the damping cylinder (7) located above the adjusting piston (13). The other end of the one-way tube (14) is connected to the fastening assembly. The damping cylinder (7) located above the damping piston (8) is connected to the outside world, and the damping piston (8) is equipped with a solenoid valve and a one-way valve, respectively. The solenoid valve is connected to the microcontroller.

3. The adaptive shock absorption intelligent mobile base for robots according to claim 2, characterized in that, The bearing cylinder (5) is provided with a partition (15) and is divided into two cavities by the partition (15). The fastening assembly includes: a constraint plate (16) sliding in the cavity above the partition (15) and the constraint plate (16) is connected to a telescopic assembly placed outside the bearing cylinder (5). The rope (6) is connected to the telescopic assembly. A constraint piston (17) is provided in the cavity below the partition (15), and the constraint piston (17) drives an adjustment plate (18) provided in the upper cavity. A constraint spring (19) is connected between the adjustment plate (18) and the constraint plate (16). The other end of the one-way tube (14) is connected to the cavity located between the partition (15) and the constraint piston (17).

4. The adaptive shock absorption intelligent mobile base for robots according to claim 3, characterized in that, The telescopic assembly includes an adjusting rod (20) that is coaxially connected to the constraint plate (16) and extends outward from the bearing cylinder (5). The adjusting rod (20) has a threaded end that is fitted with an internal threaded cylinder (21). The internal threaded cylinder (21) and the rope (6) are rotatably connected.

5. The adaptive shock absorption intelligent mobile base for robots according to claim 4, characterized in that, The gas assembly includes a liquid storage cylinder (25) fitted on the outer wall of the damping cylinder (7) and the liquid storage cylinder (25) stores an appropriate amount of carbon dioxide solution. The upper end of the liquid storage cylinder (25) is connected to several control chambers (23) in the corresponding walking wheel (2).

6. The adaptive shock absorption intelligent mobile base for robots according to claim 5, characterized in that, Several of the control cavities (23) are connected to a second rotating connector located outside the walking wheel (2), and the second rotating connector is connected to the upper end of the liquid storage cylinder (25).

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