Multi-stage damping wheel for mobile robot based on self-adaptive elastic force

Abstract

The invention provides a multistage damping wheel for a mobile robot based on self-adaptive elasticity, which comprises an inner hub, an outer hub, a support assembly, a seal cover and a guide shaft support, the outer hub is sleeved on the inner hub, more than two circumferentially arranged fixing blocks are arranged on the inner hub close to the edge of the outer hub, a cavity is formed between the adjacent fixing blocks, and the guide shaft support is sleeved on the support assembly. A first elastic assembly, a spacer block and a second elastic assembly are arranged in the cavity, more than two linkage assemblies which are circumferentially arranged are arranged on the inner hub and located at one end of the fixing block, and the supporting assembly penetrates through the outer hub in the radial direction and then is embedded into the cavity to be connected with the second elastic assembly; the upper end and the lower end of the spacer block are connected with the second elastic assembly and the first elastic assembly respectively, the first elastic assembly in the adjacent cavities is connected with the two ends of the linkage assembly, the sealing cover is arranged on one side of the inner hub in the axis direction, the two sides of the linkage assembly are hinged to the outer hub and the sealing cover respectively, and the guide shaft support is arranged on the sealing cover.

Description

Technical Field

[0001] The invention relates to the technical field of robots, and in particular to a multi-stage shock-absorbing wheel for a mobile robot based on adaptive elastic force. Background Art

[0002] A mobile robot is a robot with self-planning, self-organizing and self-adapting capabilities that works in complex environments. Currently, most mobile robots are widely used in indoor or outdoor scenes. Indoor application scenarios require mobile robots to have performance such as a small turning radius and the ability to turn on the spot. For mobile robots used for outdoor work, due to the presence of potholes, slopes, flooded roads and other different conditions in the actual field, the robot may experience different bumps during movement. The bumpy movement condition is likely to cause the body to vibrate and the robot's mechanical parts and electronic devices to loosen, which in turn causes some functions of the robot to fail.

[0003] For example, the patent document with Chinese patent application number 202323616334.5, classification number B25J11 / 00, and announcement date 2024.11.29 discloses a pipeline crawling robot with relative position navigation function, including an image acquisition part, a robot body, an arm mechanism and a relative positioning system; the image acquisition part realizes the recognition of targets and obstacles during the robot's walking process, the robot body serves as the robot's bearing structure and is used to connect other structures, and the arm mechanism drives the robot to move in the pipeline.

[0004] The above document uses the cooperation of springs and linkage plates to enable the linkage plates to drive the differential wheel and the idler wheel to swing around the fixed axis, so that both the differential wheel and the idler wheel can effectively reduce shock and contact the ground, thereby improving the stability of the mobile robot. However, when the robot is used in the field and encounters potholes, bumps or debris on the ground, the shock reduction through the cooperation of springs and linkage plates alone cannot achieve step-by-step shock absorption and buffering for the larger vibrations of the robot. It is more through the transmission of springs to the linkage plate to achieve shock absorption. Therefore, when the wheels of the robot are driving on a continuous uneven ground, continuous shaking will occur, and these shaking forces may not be able to achieve real-time shock absorption through the linkage plate, which will eventually cause excessive external force to be transmitted to the robot body through the wheels, resulting in damage to the mechanical parts and electronic devices set on the robot body. Summary of the invention

[0005] The purpose of the present invention is to provide a multi-stage shock-absorbing wheel for a mobile robot based on adaptive elastic force, which can transmit the force acting on the wheel from the ground step by step to achieve buffering, thereby making the vibration reduction effect of the wheel better, thereby avoiding damage to mechanical parts and electronic devices caused by vibration transmitted to the robot through the wheel.

[0006] To achieve the above-mentioned purpose, the present invention provides a multi-stage shock-absorbing wheel for a mobile robot based on adaptive elastic force, which is applied to a mobile robot and includes an inner hub, an outer hub, a support component, a cover and a guide shaft support. The outer hub is sleeved on the inner hub, and the edge of the inner hub close to the outer hub is provided with more than two fixed blocks that are evenly distributed in a circumference. A cavity is formed between adjacent fixed blocks, and a first elastic component, a spacer block and a second elastic component are provided in the cavity. The elasticity of the second elastic component in the same cavity is greater than the elasticity of the first elastic component, and the elastic settings of the first elastic component and the second elastic component in adjacent cavities are different. More than two linkage components that are evenly distributed in a circumference are provided on the inner hub and at one end of the fixed block. The support component penetrates the outer hub in a radial direction and is embedded in the cavity to be connected with the second elastic component. The upper and lower ends of the spacer block are respectively connected to the second elastic component and the first elastic component. The first elastic component in the adjacent cavity is connected to the two ends of the linkage component. The cover is arranged on one side of the inner hub along the axial direction, and the two sides of the linkage component are respectively hinged to the outer hub and the cover, and the guide shaft support is arranged on the cover.

[0007] With the above arrangement, during the rolling process of the shock-absorbing wheel, after the support assembly is subjected to the force of the ground, the support assembly drives the second elastic assembly and the spacer block to move radially inward in the cavity, and compresses the first elastic assembly, thereby realizing primary shock absorption; since the primary shock absorption does not completely offset the force of the ground on the shock-absorbing wheel, the force of the first elastic assembly in one cavity is transmitted to the first elastic assembly in another adjacent cavity through the linkage assembly, and the first elastic assembly in the other adjacent cavity is compressed radially outward, thereby realizing secondary shock absorption; when the secondary shock absorption does not completely offset the force of the ground on the shock-absorbing wheel, this When the force is applied to the wheel, it is continuously transmitted to the second elastic component with smaller elasticity in the adjacent cavity, and the second elastic component is compressed outwardly in the radial direction, thereby realizing three-level shock absorption; finally, the force applied to the shock absorbing wheel by the ground that is not completely offset is continuously transmitted to the second elastic component with larger elasticity in the adjacent cavity through the linkage component, thereby realizing four-level shock absorption, so that the force applied to the wheel by the ground is transmitted step by step and then buffered by elastic components with different elasticity, thereby realizing the effect of step-by-step shock absorption, making the vibration absorption effect of the wheel better, and effectively preventing the vibration transmitted to the robot through the wheel from damaging mechanical parts and electronic devices.

[0008] Furthermore, the fixed block includes a fixed block body, a through hole is provided in the middle position of the fixed block body, one end of the fixed block body is connected to the edge of the inner hub, and the other end of the fixed block body is provided with a first fixed block and a second fixed block, and an angle is formed between the first fixed block and the second fixed block.

[0009] The above arrangement enables a cavity capable of accommodating the first elastic component, the spacer block and the second elastic component to be formed between adjacent fixing blocks.

[0010] Furthermore, the outer edge of the outer hub is provided with more than two connecting blocks that are evenly distributed around the circumference. The connecting blocks are extended to one side of the outer hub along the axis direction of the outer hub. The outer hub is sleeved on the inner hub along the direction in which the connecting blocks are set. A stop block is provided between the connecting block and the fixed block, and more than two through holes are provided on the connecting block and the stop block.

[0011] The above arrangement facilitates preventing external dust and debris from entering the cavity of the inner hub through the stopper.

[0012] Furthermore, the support assembly includes a cushion block, a support block and more than two support rods, one end of the support rod is detachably connected to the cushion block, and the other end of the support rod passes through the connecting block and the stop block and is connected to the upper end of the support block arranged in the cavity, and the cushion block forms an arc surface away from the end connected to the support rod.

[0013] The above arrangement can push the support rod to drive the support block to compress the second elastic component in the cavity when the pad block is subjected to the force of the ground, and then compress the first elastic component after moving in the radial direction in the cavity.

[0014] Furthermore, the spacer block is arranged between the first elastic component and the second elastic component, the second elastic component includes two or more second springs arranged side by side, one end of the second spring is connected to the lower end of the support block and is sleeved on the guide column 1 at the lower end of the support block, and the other end of the second spring is connected to the upper end of the spacer block and is sleeved on the guide column 2 at the upper end of the spacer block.

[0015] The above arrangement enables the spacer block to be connected to the support assembly via the second elastic assembly, and the support assembly can drive the second elastic assembly and the spacer block to move in the radial direction within the cavity, so that the second elastic assembly can be extended and retracted.

[0016] Furthermore, the linkage assembly includes more than two pins and conversion blocks. The pin is arranged at one end of the cavity opening, and the conversion blocks are arranged at both ends of the pin. The pins are connected through the conversion blocks. The two ends of the conversion blocks are respectively hinged to the pins, and a frame structure is formed between the conversion blocks and the pins.

[0017] The above arrangement enables force transmission between the first elastic components in two adjacent cavities through the linkage component, thereby enabling the shock-absorbing wheel to achieve a step-by-step shock-absorbing effect, which has a good buffering effect on the robot.

[0018] Furthermore, a connecting shaft arranged along the axial direction is provided on the side of the conversion block away from the pin shaft, the conversion block on the side close to the cover is arranged parallel to the cover and is hinged to the cover through the connecting shaft, and the conversion block on the side close to the outer hub is arranged parallel to the outer hub and is hinged to the outer hub through the connecting shaft.

[0019] According to the above arrangement, after the first elastic component in a cavity is compressed, the pin shaft at one end of the conversion block is pushed to move inward in the radial direction, so that the conversion block rotates around the hinge with the cover and the outer hub, thereby pushing the pin shaft at the other end of the conversion block to move outward in the radial direction and compressing the first elastic component in another cavity, thereby realizing force transmission.

[0020] Furthermore, the first elastic component includes a first spring, one end of which is connected to the lower end of the spacer block and sleeved on the guide column three at the lower end of the spacer block, and the other end of the first spring is connected to the pin shaft and sleeved on the guide column four arranged on the pin shaft along the length direction of the cavity.

[0021] According to the above arrangement, after the support component drives the second elastic component and the spacer block to move in the radial direction in the cavity, the first elastic component in the cavity is compressed, and after compression, the force that is not offset by the first elastic component in the cavity is transmitted to the first elastic component in the adjacent cavity through the linkage component, thereby realizing step-by-step shock absorption and offset.

[0022] Furthermore, the guide shaft support is arranged on a side of the cover away from the inner hub, and the inner hub, the outer hub, the cover and the guide shaft support are coaxially arranged.

[0023] The above arrangement makes it easy to install the shock-absorbing wheel on the robot through the guide shaft support. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 It is a schematic diagram of the overall structure of the present invention.

[0025] Figure 2 It is the front view of the present invention.

[0026] Figure 3 It is a partial exploded view of the present invention.

[0027] Figure 4 It is a schematic diagram of the inner hub structure in the present invention.

[0028] Figure 5 It is a schematic diagram of the structure of the first elastic component, the spacer block and the second elastic component in the present invention. DETAILED DESCRIPTION

[0029] The present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0030] like Figure 1-5 As shown, a multi-stage shock-absorbing wheel for a mobile robot based on adaptive elastic force is applied to a mobile robot, comprising an inner hub 1, an outer hub 2, a support assembly, a cover 4 and a guide shaft support 5. The outer hub 2 is sleeved on the inner hub 1, and the edge of the inner hub 1 near the outer hub 2 is provided with more than two fixing blocks 11 evenly distributed around the circumference, as shown in FIG. Figure 2-4 As shown, 16 fixing blocks 11 are provided, and the fixing blocks 11 include a fixing block body, a through hole is provided in the middle of the fixing block body, one end of the fixing block body is connected to the edge of the inner hub 1, and the other end of the fixing block body is provided with a first fixing block 12 and a second fixing block 13, and an angle is formed between the first fixing block 12 and the second fixing block 13, so that cavities 6 are formed between adjacent fixing blocks 11, and the number of cavities 6 is 16, and each fixing block 11 is provided with a cavity, and a first elastic component, a spacer block 7 and a second elastic component are provided in the cavity 6, the elasticity of the second elastic component in the same cavity is greater than the elasticity of the first elastic component, and the first elastic components in adjacent cavities are The elastic settings of the elastic component and the second elastic component are different. On the inner hub 1 and at one end of the fixed block 11, there are more than two linkage components evenly distributed around the circumference. The linkage components are set to 8. The support component penetrates the outer hub 2 in the radial direction and is embedded in the cavity 6 to connect with the second elastic component. The upper and lower ends of the spacer block 7 are respectively connected to the second elastic component and the first elastic component. The first elastic component in the adjacent cavity is connected to the two ends of the linkage component. The two sides of the linkage component are respectively hinged to the outer hub 2 and the cover 5, so that the first elastic component, the spacer block and the second elastic component in every two adjacent cavities form an independent vibration damping buffer mechanism with a linkage component. In one implementation, a limit strip protruding outward is provided on the outer side of the spacer block 7, and a limit groove is provided on the inner side wall of the cavity 6 corresponding to the position of the limit strip. The reliable sliding of the spacer block 7 is achieved by moving the limit strip on the limit groove.

[0031] The outer edge of the outer hub 2 is provided with more than two connection blocks 21 evenly distributed around the circumference. Figure 3 As shown, the number of connecting blocks 21 is 16, and the connecting blocks 21 are extended to one side of the outer hub 2 along the axial direction of the outer hub 2. In this embodiment, the outer hub 2 is sleeved on the inner hub 1 along the direction in which the connecting blocks 21 are set, and a stopper 14 is provided between the connecting blocks 21 and the fixing blocks 11. More than two through holes are provided on the connecting blocks 21 and the stopper 14, and the number of the through holes is two. By setting the stopper 14, it is possible to prevent external dust and debris from entering the cavity 6 of the inner hub 1.

[0032] The support assembly is provided with more than two, such as Figure 3As shown, the number of support components is set to 16, and each support component includes a cushion block 31, a support block 32 and more than two support rods 33. In this embodiment, the support rods 33 are arranged side by side and the number is two. One end of the support rod 33 is detachably connected to the cushion block 31, and the other end of the support rod 33 passes through the through holes set in the connecting block 21 and the stopper 14 and is connected to the upper end of the support block 32 set in the cavity 6. The diameter of the support rod 33 matches the diameter of the through hole, and the cushion block 31 forms an arc surface away from the end connected to the support rod 33. In this way, when the cushion block 31 is subjected to the force of the ground, the support rod 33 can be pushed to drive the support block 32 to compress the second elastic component in the cavity 6. After moving in the radial direction in the cavity 6, the first elastic component is compressed to achieve primary shock absorption. In this embodiment, the cushion block 31 is set as a rubber pad, and one of natural rubber (NR) or styrene-butadiene rubber (SBR) or butadiene rubber (BR) can be selected to improve the anti-skid performance and braking performance of the shock-absorbing wheel during rolling.

[0033] like Figure 3 As shown, the spacer block 7 is arranged between the first elastic component and the second elastic component, and the second elastic component includes more than two second springs 8 arranged side by side. In the present embodiment, two second springs are arranged, one end of the second spring 8 is connected to the lower end of the support block 32 and is sleeved on the guide column 1 321 at the lower end of the support block 32, and the other end of the second spring 8 is connected to the upper end of the spacer block 7 and is sleeved on the guide column 2 71 at the upper end of the spacer block 7, so that the spacer block 7 and the support component are connected through the second elastic component, and then the second elastic component and the spacer block can be driven to move along the radial direction in the cavity 6 through the support component, so that the second elastic component can be extended and retracted.

[0034] The linkage assembly includes more than two pins 41 and a conversion block 42, such as Figure 3As shown, two pins 41 and conversion blocks 42 are provided. The pins 41 are provided at one end of the cavity opening along the axial direction. A pin 41 is provided at one end of each cavity opening. The conversion blocks 42 are provided at both ends of the pins 41 and are perpendicular to the pins 41. The pins 41 are connected through the conversion blocks 42. The two ends of the conversion blocks 42 are respectively hinged to the pins 41. A frame structure is formed between the conversion blocks 42 and the pins 41. A connecting shaft 43 is provided along the axial direction on the side of the conversion blocks 42 away from the pins 41. The conversion blocks 42 close to the cover 5 are parallel to the cover 5 and are hinged to the cover 5 through the connecting shaft 43. The connecting shaft 43 close to the outer hub 2 is It is arranged parallel to the outer hub 2 and hinged to the outer hub 2 through a connecting shaft 43, so that after the first elastic component in a cavity is compressed, the force acting on the shock-absorbing wheel by the ground is not completely offset, thereby pushing the pin shaft 41 at one end of the conversion block 42 to move inward in the radial direction, and then the conversion block 42 rotates around the hinge with the cover 5 and the outer hub 2, thereby pushing the pin shaft 41 at the other end of the conversion block 42 to move outward in the radial direction and compress the first elastic component in another cavity, so that the first elastic components in two adjacent cavities can realize force transmission through the linkage component, and then the shock-absorbing wheel can achieve a step-by-step shock-absorbing effect, which has a good buffering effect on the robot.

[0035] The first elastic component includes a first spring 9, one end of which is connected to the lower end of the spacer block 7 and is sleeved on the guide column three 72 at the lower end of the spacer block 7, and the other end of the first spring 9 is connected to the pin shaft 41 and is sleeved on the guide column four arranged on the pin shaft 41 along the length direction of the cavity 6. After the support component drives the second elastic component and the spacer block 7 to move along the radial direction in the cavity, the first elastic component in the cavity 6 is compressed, and after compression, the force that is not offset by the first elastic component in the cavity is transmitted to the first elastic component in the adjacent cavity through the linkage component, thereby realizing step-by-step shock absorption and offset.

[0036] The cover 4 is arranged on one side of the inner hub 1 along the axial direction, and the guide shaft support 5 is arranged on the side of the cover 4 away from the inner hub 1. The inner hub 1, the outer hub 2, the cover 4 and the guide shaft support 5 are coaxially arranged to meet the coaxiality requirements, and the inner hub and the outer hub use lightweight materials such as aluminum alloy or high-strength non-metallic composite materials such as carbon fiber, so it is convenient to install the shock-absorbing wheel on the robot through the guide shaft support. The cover 4 is provided with more than two through holes evenly distributed around the circumference, so that the bolts can pass through the through holes to install the cover 4 on the inner hub 1.

[0037] In this embodiment, since the first elastic component and the second elastic component in two adjacent cavities are set in the same manner, different elastic settings can be achieved by setting different parameters of the springs in the first elastic component and the second elastic group, so that the shock-absorbing wheel can carry different loads according to actual application scenarios. The different parameters of the spring include wire diameter, middle diameter, length, effective number of turns, and spring deformation.

[0038] In one embodiment, the wire diameter, median diameter, length, effective number of turns, and spring deformation of the second spring 8 are 0.6 mm, 5 mm, 15 mm, 13 mm, and 10 mm, respectively. The wire diameter, median diameter, length, effective number of turns, and spring deformation of the first spring 9 are 0.8 mm, 6.7 mm, 10 mm, 6, and 6 mm, respectively. Elastic force calculation formula: F=k*x, stiffness coefficient calculation formula: k=G*d 4 / (8*N c *D m 3 ), Where F is the force on the spring, x is the deformation of the spring, G is the rigidity modulus of the wire, i.e. the shear modulus. Carbon spring steel wire is generally 79000MPa, d is the wire diameter, D m is the mean diameter of the spring, N c is the effective number of turns.

[0039] Calculation of spring rate for springs arranged in series or side by side: The stiffness coefficients of the first spring and the second spring are k2 and k1 respectively. Series: The spring coefficient k of two springs connected in series 串 =k1k2 / k1+k2, Side by side: The spring coefficient k of two springs side by side 并 =k1+k2, Substituting the data into the result: The second spring 8 single piece stiffness coefficient k1=G*d 4 / (8*N c *D m 3 ) = 0.79N / mm, The first spring 9 single piece stiffness coefficient k2=Gd 4 / (8*N c *D m 3 ) = 2.2N / mm, The maximum force of the second spring 8 is F1=k1x1=7.9N. The maximum force of the first spring 9 is F2=k2x2=13.2N. When the second spring 8 is placed side by side with the second spring 8, the maximum force 2F1= (k1+k1) * x1=15.8N, x1 is the deformation of the second spring 8, x2 is the deformation of the first spring 9, When two second springs 8 are placed side by side with the first spring 9, the maximum force is 2F1+F2=[(k1+k1)+k2]*x1=37.8N. The force exerted on the two first springs 9 side by side is 13.2*2=26.4N<The maximum force exerted on the two second springs 8 side by side on the first spring 9 is 2F1+F2=[ (k1+k1)+ k2] *x1=37.8N, that is, the deformation of the two first springs 9 has reached the maximum, so the second springs 8 begin to be compressed and the second springs 8 are placed in the third shock absorption position side by side and enter the third shock absorption process.

[0040] In the present embodiment, the first elastic component, the spacer block 7 and the second elastic component in two adjacent cavities 6 form an independent vibration damping and buffering mechanism with a linkage component. In another embodiment, the elasticity of the second elastic component in one cavity is greater than the elasticity of the first elastic component, the elasticity of the second elastic component in another cavity adjacent to one cavity is greater than the elasticity of the first elastic component, and at the same time, the elasticity of the first elastic component in another cavity adjacent to one cavity is greater than the elasticity of the first elastic component in one cavity, and the elasticity of the second elastic component in another cavity adjacent to one cavity is greater than the elasticity of the second elastic component in one cavity. In another embodiment, the elasticity of the second elastic component in one cavity is greater than the elasticity of the first elastic component, the elasticity of the second elastic component in another cavity adjacent to one cavity is greater than the elasticity of the first elastic component, and at the same time, the elasticity of the first elastic component in another cavity adjacent to one cavity is equal to the elasticity of the first elastic component in one cavity, and the elasticity of the second elastic component in another cavity adjacent to one cavity is equal to the elasticity of the second elastic component in one cavity.

[0041] In one embodiment, the maximum force offset by the shock-absorbing wheel is preset to be 75.6N. During the rolling process of the shock-absorbing wheel, the cushion block 31 contacts the ground, and the support assembly is subjected to the force of the ground, so that the support assembly drives the second elastic assembly and the spacer block to move radially inward in a cavity, thereby compressing the first elastic assembly in a cavity to achieve primary shock absorption. During the primary shock absorption process, the first elastic assembly in a cavity is compressed to achieve buffering and offset part of the force of the shock-absorbing wheel facing the ground, that is, the maximum force offset by the first spring 9 in a cavity is 13.2N; after the first elastic assembly in a cavity is fully compressed, the pin 41 at one end of the conversion block 42 is pushed. The first elastic component in the other cavity is compressed and the first elastic component in the other cavity is compressed to realize buffering and continue to offset part of the force of the shock absorbing wheel facing the ground, that is, the first elastic component in the other cavity is compressed and the first elastic component in the other cavity is compressed to realize buffering and continue to offset part of the force of the shock absorbing wheel facing the ground, that is, the maximum force offset by the first elastic component in the other cavity is 13.2N. At this time, since the elasticity of the second elastic component in the other cavity is greater than the elasticity of the second elastic component in the first cavity, the first elastic component in the other cavity is compressed and ... After the first elastic component in a cavity is compressed, the force of the ground on the shock-absorbing wheel is transmitted from the first elastic component in another cavity to the first elastic component in one cavity through the reverse rotation of the linkage component, and the second elastic component in one cavity is compressed to achieve three-level shock absorption. During the three-level shock absorption process, the first elastic component in one cavity and the first elastic component in another cavity have both achieved a fully compressed state, and then the second elastic component in one cavity is further compressed to achieve buffering and continue to offset part of the force of the ground on the shock-absorbing wheel, that is, the two side-by-side second springs 8 in the other cavity and the first spring 9 work together to offset 37.8N; when the three-level shock absorption is completed, 51N is offset At this time, the remaining part of the ground force on the shock-absorbing wheel that has not been offset will continue to rotate through the linkage component, and will be transmitted from the second elastic component in one cavity and the first elastic component in another cavity in sequence. After transmitting the first elastic component in another cavity, the second elastic component in another cavity is compressed to achieve four-level shock absorption. During the four-level shock absorption process, the first elastic component in one cavity, the second elastic component in another cavity and the first elastic component in another cavity have all achieved a fully compressed state, and then the second elastic component in another cavity is compressed to achieve buffering and continue to offset the ground force on the shock-absorbing wheel, that is, the maximum force offset by the shock-absorbing wheel is 75.6N.

[0042] The working principle of the present invention is as follows: during the rolling process of the shock-absorbing wheel, after the support component is subjected to the force of the ground, the support component drives the second elastic component and the spacer block to move radially inward in the cavity, and compresses the first elastic component, thereby realizing primary shock absorption; since the primary shock absorption does not completely offset the force of the ground on the shock-absorbing wheel, the force of the first elastic component in one cavity is transmitted to the first elastic component in another adjacent cavity through the linkage component, and the first elastic component in the other adjacent cavity is compressed radially outward, thereby realizing secondary shock absorption; when the secondary shock absorption does not completely offset the force of the ground on the shock-absorbing wheel At this time, the force continues to be transmitted to the second elastic component with smaller elasticity in the adjacent cavity, and compresses the second elastic component outward in the radial direction, thereby achieving three-level shock absorption; finally, the force that the ground has not completely offset on the shock-absorbing wheel continues to be transmitted to the second elastic component with larger elasticity in the adjacent cavity through the linkage component, thereby achieving four-level shock absorption, so that the force acting on the wheel by the ground is transmitted step by step and then buffered by elastic components with different elasticities, achieving the effect of step-by-step shock absorption, making the vibration reduction effect of the wheel better, and effectively avoiding the vibration transmitted to the robot through the wheel to damage mechanical parts and electronic devices.

Claims

1. A multi-stage shock-absorbing wheel for a mobile robot based on adaptive elastic force, comprising an inner hub, an outer hub, a support assembly, a cover and a guide shaft support, characterized in that: The outer hub is sleeved on the inner hub, and more than two fixed blocks are arranged in a circumferential manner on the edge of the inner hub near the outer hub, a cavity is formed between adjacent fixed blocks, and a first elastic component, a spacer block and a second elastic component are arranged in the cavity, the elasticity of the second elastic component in the same cavity is greater than the elasticity of the first elastic component, and the elasticity of the second elastic component in a cavity in adjacent cavities is greater than the elasticity of the first elastic component, and the elasticity of the second elastic component in another cavity adjacent to the one cavity is greater than the elasticity of the first elastic component, and the elasticity of the second elastic component in another cavity adjacent to the one cavity is greater than the elasticity of the first elastic component, and more than two linkage components are arranged in a circumferential manner on the inner hub and at one end of the fixed block, the support component penetrates the outer hub in a radial direction and is embedded in the cavity and connected with the second elastic component, the upper and lower ends of the spacer block are respectively connected to the second elastic component and the first elastic component, the first elastic component in the adjacent cavity is connected to the two ends of the linkage component, the cover is arranged on one side of the inner hub along the axial direction, the two sides of the linkage component are respectively hinged to the outer hub and the cover, and the guide shaft support is arranged on the cover.

2. The multi-stage shock-absorbing wheel for a mobile robot based on adaptive elastic force according to claim 1, characterized in that: The fixing block comprises a fixing block body, a through hole is arranged in the middle of the fixing block body, one end of the fixing block body is connected to the edge of the inner hub, and the other end of the fixing block body is provided with a first fixing block and a second fixing block, and an angle is formed between the first fixing block and the second fixing block.

3. The multi-stage shock-absorbing wheel for a mobile robot based on adaptive elastic force according to claim 1, characterized in that: The outer edge of the outer hub is provided with more than two connecting blocks arranged in a circle, the connecting blocks are extended to one side of the outer hub along the axis direction of the outer hub, the outer hub is sleeved on the inner hub along the direction in which the connecting blocks are set, a stopper is provided between the connecting block and the fixed block, and more than two through holes are provided on the connecting block and the stopper.

4. The multi-stage shock-absorbing wheel for a mobile robot based on adaptive elastic force according to claim 1, characterized in that: The support assembly includes a cushion block, a support block and more than two support rods, one end of the support rod is detachably connected to the cushion block, the other end of the support rod passes through the connecting block and the stop block and is connected to the upper end of the support block arranged in the cavity, and the cushion block forms an arc surface away from the end connected to the support rod.

5. The multi-stage shock-absorbing wheel for a mobile robot based on adaptive elastic force according to claim 1, characterized in that: The spacer block is arranged between the first elastic component and the second elastic component, and the second elastic component includes more than two second springs arranged side by side, one end of the second spring is connected to the lower end of the support block and is sleeved on the guide column 1 at the lower end of the support block, and the other end of the second spring is connected to the upper end of the spacer block and is sleeved on the guide column 2 at the upper end of the spacer block.

6. The multi-stage shock-absorbing wheel for a mobile robot based on adaptive elastic force according to claim 1, characterized in that: The linkage assembly includes more than two pins and conversion blocks. The pins are arranged at one end of the cavity opening, and the conversion blocks are arranged at both ends of the pins. The pins are connected through the conversion blocks. The two ends of the conversion blocks are respectively hinged to the pins, and a frame structure is formed between the conversion blocks and the pins.

7. The multi-stage shock-absorbing wheel for a mobile robot based on adaptive elastic force according to claim 6, characterized in that: A connecting shaft arranged along the axial direction is provided on the side of the conversion block away from the pin shaft, the conversion block close to the cover is arranged parallel to the cover and is hinged to the cover through the connecting shaft, and the conversion block close to the outer hub is arranged parallel to the outer hub and is hinged to the outer hub through the connecting shaft.

8. The multi-stage shock-absorbing wheel for a mobile robot based on adaptive elastic force according to claim 1, characterized in that: The first elastic component includes a first spring, one end of which is connected to the lower end of the spacer block and sleeved on the guide column three at the lower end of the spacer block, and the other end of the first spring is connected to the pin shaft and sleeved on the guide column four arranged on the pin shaft along the length direction of the cavity.

9. The multi-stage shock-absorbing wheel for a mobile robot based on adaptive elastic force according to claim 1, characterized in that: The guide shaft support is arranged on the side of the cover away from the inner hub, the inner hub, the outer hub, the cover and the guide shaft support are coaxially arranged to meet the coaxiality requirements, and the inner hub and the outer hub are made of lightweight materials.

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