The invention provides a child-mother wheel with a damping function, and relates to the technical field of robot accessories, the child-mother wheel comprises a chassis and two bearings, the lower surface of the chassis is rotatably connected with a driving wheel, the side, close to the driving wheel, of the chassis is fixedly connected with two anti-disengagement blocking pieces, the two bearings are located below the two anti-disengagement blocking pieces respectively, and the two bearings are located below the two anti-disengagement blocking pieces. The lower end of the bearing is rotationally connected with an upper rotating support, the surface of the upper rotating support is rotationally connected with a lower rotating support, the inner wall of the lower rotating support is rotationally connected with two first small wheels, the inner wall of the lower rotating support is rotationally connected with a second small wheel, and the second small wheel is located between the two first small wheels. According to the comprehensive service robot, by arranging the adjusting structure, the height of the first small wheel and the height of the second small wheel can be rapidly adjusted, the second small wheel and the first small wheel can cross higher obstacles, and therefore the practicability of the comprehensive service robot is improved, and the application range of the comprehensive service robot is widened.

本发明提供一种带减震的子母轮，涉及机器人配件技术领域，包括底盘和两个轴承，所述底盘的下表面转动连接有驱动轮，所述底盘靠近驱动轮的一侧固定连接有两个防脱挡片，两个所述轴承分别位于两个防脱挡片的下方，所述轴承的下端转动连接有上旋转支架，所述上旋转支架的表面转动连接有下旋转支架，所述下旋转支架的内壁转动连接有两个第一小轮，所述下旋转支架的内壁转动连接有第二小轮，所述第二小轮位于两个第一小轮之间。本发明，通过设置调节结构，达到能够快速调节第一小轮与第二小轮的高度，使第二小轮和第一小轮能够越过更高的障碍物，从而提高综合服务机器人的实用性以及扩大了综合服务机器人适用范围的作用。