Self-adaptive suspension omni-directional driving wheel set for complex terrains

The utility model discloses a self-adaptive suspension omni-directional driving wheel set for complex terrains. The self-adaptive suspension omni-directional driving wheel set comprises a steering structure (1), a wheel set body (2) and a damping structure (3). Damping structures (3) are arranged on the two sides of the wheel set (2). And a steering structure (1) is arranged above the wheel set (2). Through the design of multi-spring damping and the omni-directional wheel set, the motor drives the rotary assembly to rotate to achieve omni-directional rotation of the wheel set, and the multiple spring damping assemblies are matched with one another, so that the damping assemblies are balanced in stress and obvious in damping effect, each damping assembly is compact in size and simple in structure; therefore, the whole wheel set is compact in size, reasonable in design, long in service life and good in reliability, and compared with plate spring shock absorption and single passive suspension shock absorption of