CN107472397B

CN107472397B - Robot chassis and robot

Info

Publication number: CN107472397B
Application number: CN201710726220.6A
Authority: CN
Inventors: 孟超超
Original assignee: Beijing Baidu Netcom Science and Technology Co Ltd
Current assignee: Beijing Baidu Netcom Science and Technology Co Ltd
Priority date: 2017-08-22
Filing date: 2017-08-22
Publication date: 2020-02-28
Anticipated expiration: 2037-08-22
Also published as: CN107472397A

Abstract

The embodiment of the application discloses a robot chassis and a robot. One embodiment of the robot chassis comprises: the bottom surface of the framework is provided with two driving wheel modules and two driven wheel modules, and four wheels of the two driving wheel modules and the four wheels of the two driven wheel modules are respectively positioned at one vertex of the diamond; the two driving wheel modules are symmetrically arranged on the left part and the right part of the bottom surface of the framework; the two driven wheel modules adopt universal wheels and are symmetrically arranged at the front part and the rear part of the bottom surface of the framework. The embodiment can ensure that the contact point of the wheels of the chassis and the ground has larger projection area, so that the static/dynamic stability of the chassis is higher, and meanwhile, the whole chassis has smaller turning radius and is easy to control.

Description

Robot chassis and robot

Technical Field

The application relates to the technical field of mobile robots, in particular to the technical field of wheel type mobile robots, and particularly relates to a robot chassis and a robot.

Background

The mobile robot corresponds to a robot with a fixed base in the working process of an industrial manipulator and the like, and is a robot with the whole robot moving in a three-dimensional space in the working process. Compared with other moving modes of the mobile robot, the wheel type moving mode is the preferred moving implementation mode of the mobile robot due to the reasons of high motion efficiency, simple and convenient control, low implementation cost and the like.

In the existing wheeled mobile robot, the chassis is usually a three-wheel chassis or a four-wheel chassis. The three-wheel chassis comprises two driving wheels and a driven wheel which are respectively placed at three vertexes of an equilateral triangle; the four-wheel chassis comprises four wheels which are arranged in the form of the automobile chassis, the two wheels are respectively arranged at the left side and the right side, and the four wheels respectively occupy one vertex of a rectangle.

However, in the mobile robot with a three-wheel chassis, the center of mass of the robot easily falls outside the projected triangle formed by the contact points of the wheels and the ground, so that static or dynamic imbalance is caused, the robot is easily caused to roll, and therefore, the three-wheel chassis is only suitable for robots with relatively small height and mass; the mobile robot with the four-wheel chassis has the advantages that the turning radius of the chassis is too large if the scheme of the two driving wheels and the two driven wheels is adopted, and the turning radius can be reduced if the scheme of the four driving wheels is adopted, but the cost and the control difficulty of the chassis are increased. In addition, all wheels or part of the wheels (particularly driven wheels) of the conventional wheeled mobile robot are rigidly connected with a chassis, so that the conventional wheeled mobile robot has poor adaptability to uneven terrain, can only walk on flat and smooth ground and has very limited use occasions.

Disclosure of Invention

The object of the application is to propose an improved robot chassis and robot.

In a first aspect, an embodiment of the present application provides a robot chassis, where the robot chassis includes: the bottom surface of the framework is provided with two driving wheel modules and two driven wheel modules, and four wheels of the two driving wheel modules and the four wheels of the two driven wheel modules are respectively positioned at one vertex of the diamond; the two driving wheel modules are symmetrically arranged on the left part and the right part of the bottom surface of the framework; the two driven wheel modules adopt universal wheels and are symmetrically arranged at the front part and the rear part of the bottom surface of the framework.

In some embodiments, the capstan module comprises: the shaft hole of the driving wheel is connected with an output shaft of the speed reducer; the speed reducer is fixed on the motor bracket, the input shaft is connected with the motor, and the output shaft is connected with the shaft hole of the driving wheel; the motor is fixed on the motor bracket, and the output shaft is connected with the input shaft of the speed reducer; the motor support is connected with a bearing seat of the bearing, the speed reducer and the motor and is connected with the motor suspension support through a revolute pair; the motor suspension bracket is connected with the motor bracket and the bottom of the framework; the lower end of the shock absorber is connected with the motor bracket through a revolute pair, and the upper end of the shock absorber is connected with the shock absorber bracket through a revolute pair; and the shock absorber support is fixedly connected with the framework.

In some embodiments, the driving wheel and the shaft hole are connected with the output shaft of the speed reducer, and the driving wheel and the shaft hole are connected with the output shaft of the speed reducer and comprise: the shaft hole is tightly matched with the outer surface of the output end of the coupler through the expansion sleeve; the reduction gear is fixed in on the motor support, and the input shaft connection motor, the shaft hole of output shaft connection action wheel includes: the speed reducer is fixed on the motor bracket, the input shaft is connected with the motor, and the output shaft is tightly matched with the shaft hole at the input end of the coupler; the action wheel module still includes: the shaft coupling, the output shaft of the shaft hole tight fit reduction gear of input, the surface of input is connected to the motor support through the bearing, the inner hole surface of the axle surface tight fit cover of output.

In some embodiments, the reducer, fixed to the motor bracket, includes: the outer surface of the speed reducer is coated with a rubber pad and is arranged in the split motor shell, the end surface adjacent to the input shaft is fixedly connected with the end surface of the motor, and the end surface adjacent to the output shaft is detachably connected with the motor bracket; the motor is fixed in on the motor support, and the input shaft of output shaft connection reduction gear includes: the outer surface of the motor is coated with a rubber pad and is arranged in the split motor shell, and an output shaft is connected with an input shaft of the speed reducer; the action wheel module still includes: the split motor shell comprises an upper motor shell and a lower motor shell, wherein the upper motor shell is detachably connected with the lower motor shell, and the upper motor shell is detachably connected to the motor bracket.

In some embodiments, the driven wheel module comprises: the driven wheel is a universal wheel, and a bracket of the universal wheel is connected with a driven wheel bracket; the upper part of the driven wheel bracket is connected with the lower part of the driven wheel suspension bracket through a revolute pair; the upper part of the driven wheel suspension bracket is connected with the framework, and the lower part of the driven wheel suspension bracket is connected with the upper part of the driven wheel bracket; the spring assembly comprises a pull rod, a spring and a locking nut, one end of the pull rod is connected with the driven wheel bracket through a revolute pair, and the other end of the pull rod penetrates through the bottom surface of the driven wheel suspension bracket and extends into the driven wheel suspension bracket; the spring is sleeved on the pull rod, the lower end face of the spring is abutted against the bottom face of the driven wheel suspension support, and the upper end face of the spring is abutted against a nut which is in threaded connection with the tail end of the pull rod.

In some embodiments, the chassis further comprises: and the sensor is arranged on the side surface of the framework.

In some embodiments, the sensor comprises at least one or more of: ultrasonic sensor, infrared sensor, laser sensor and camera.

In some embodiments, the scaffold comprises: the framework interface is arranged on the upper end face of the framework and connected with the trunk framework of the robot.

In a second aspect, embodiments of the present application provide a robot, including a robot chassis as described in any one of the above.

The robot chassis and the robot that provide in the embodiment of this application set up the robot chassis and include: the bottom surface of the framework is provided with two driving wheel modules and two driven wheel modules, and four wheels of the two driving wheel modules and the four wheels of the two driven wheel modules are respectively positioned at one vertex of the diamond; the two driving wheel modules are symmetrically arranged on the left part and the right part of the bottom surface of the framework; the two driven wheel modules adopt universal wheels and are symmetrically arranged at the front part and the rear part of the bottom surface of the framework. The arrangement mode can ensure that the contact point of the wheels of the chassis and the ground has larger projection area, so that the static/dynamic stability of the chassis is higher, and meanwhile, the whole chassis has smaller turning radius and is easy to control.

In some embodiments, the elastic connection effectively absorbs jolting and vibration caused by obstacles in the moving process of the chassis, stable operation of the robot chassis is guaranteed, and the suspension hardness degree of the robot chassis can be flexibly adjusted by adjusting the precompression quantity of a shock absorber of the driving wheel module or a spring of the driven wheel module or replacing different elastic elements, so that the robot chassis has extremely strong terrain adaptability.

In some embodiments, the overturning torque transmitted by the driving wheel and perpendicular to the axial direction of the speed reducer is completely borne by the coupler and transmitted to the motor support, and the speed reducer shaft only bears the circumferential torque load, so that the damage of the overturning torque to the speed reducer and internal components of the motor is avoided, the working conditions of the speed reducer and the motor are improved, and the service lives of the speed reducer and the motor are effectively prolonged.

In some embodiments, rubber pads are filled between the motor and the motor base and between the speed reducer and the motor base, so that the mutual influence of vibration between the motor and the speed reducer can be effectively buffered, and the working reliability is improved.

Drawings

Other features, objects and advantages of the present application will become more apparent upon reading of the following detailed description of non-limiting embodiments thereof, made with reference to the accompanying drawings in which:

FIG. 1a is an exemplary block diagram of one embodiment of a robot chassis according to the present application;

FIG. 1b is a top view of the robot chassis of FIG. 1a according to the present application;

figure 2a shows a schematic view of one embodiment of a drive wheel module of a robot chassis according to the present application;

figure 2b shows a bottom view of the capstan module of figure 2 a;

figure 2c shows a cross-sectional view a-a of the capstan module of figure 2 b;

FIG. 3a shows a schematic view of one embodiment of a driven wheel module of a robot chassis according to the present application;

FIG. 3b shows a top view of the driven wheel module of FIG. 3 a;

FIG. 3c shows a cross-sectional B-B view of the driven wheel module of FIG. 3B;

fig. 4 shows a schematic view of an embodiment of a skeleton of a robot chassis according to the application.

Detailed Description

The present application will be described in further detail with reference to the following drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the relevant invention and not restrictive of the invention. It should be noted that, for convenience of description, only the portions related to the related invention are shown in the drawings.

It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The present application will be described in detail below with reference to the embodiments with reference to the attached drawings.

Referring to fig. 1a and 1b, fig. 1a and 1b show a schematic view of an embodiment of a robot chassis according to the present application and a top view of the schematic view in fig. 1a, respectively.

As shown in fig. 1a and 1b, the robot chassis 100 includes: a frame 110, two driving wheel modules 120 and two driven wheel modules 130.

The bottom surface of the framework 110 is provided with two driving wheel modules 120 and two driven wheel modules 130, and four wheels of the two driving wheel modules 120 and the two driven wheel modules 130 are respectively positioned at one vertex of the diamond; two driving wheel modules 120 symmetrically arranged on the left and right parts of the bottom surface of the frame 110; the two driven wheel modules 130 are universal wheels and are symmetrically arranged on the front portion and the rear portion of the bottom surface of the frame 110.

In the embodiment, the two driving wheels are symmetrically arranged at the left side and the right side of the chassis, and the two driven wheels are symmetrically arranged at the front side and the rear side of the chassis; the driven wheel is a universal wheel and can rotate for 360 degrees around the vertical axis of the driven wheel; four wheels are located at one vertex of the diamond.

The arrangement mode of the robot chassis in the embodiment of the application can ensure that the wheels of the chassis have larger projection area with the ground contact point, so that the static/dynamic stability of the chassis is higher, and meanwhile, the whole chassis has smaller turning radius and is easy to control.

With further reference to fig. 2a, 2b and 2c, fig. 2a shows a schematic view of an embodiment of a drive wheel module of a robot chassis according to the present application, fig. 2b shows a bottom view of the drive wheel module in fig. 2a, and fig. 2c shows a cross-sectional view a-a of the drive wheel module in fig. 2 b.

As shown in fig. 2a, 2b and 2c, the capstan module 120 includes: the driving wheel 121, the coupling 122, the reducer 123, the motor 124, the split motor casing 125, the motor bracket 126, the motor suspension bracket 127, the shock absorber 128 and the shock absorber bracket 129.

Wherein, the shaft hole of the driving wheel 121 is tightly matched with the outer surface of the output end of the coupling 122 through an expansion sleeve; the shaft hole of the input end is tightly matched with the output shaft of the speed reducer, the outer surface of the input end is connected to the motor bracket through a bearing, and the surface of the shaft of the output end is tightly matched with the surface of the inner hole of the expansion sleeve; the reducer 123 is provided with a rubber pad coated on the outer surface and is arranged in the split motor shell, the end surface adjacent to the input shaft is fixedly connected with the end surface of the motor, the end surface adjacent to the output shaft is detachably connected with the motor bracket, the input shaft is connected with the motor, and the output shaft is tightly matched with the shaft hole at the input end of the coupler 122; the outer surface of the motor 124 is coated with a rubber pad and is arranged in the split motor shell, and an output shaft is connected with an input shaft of the speed reducer; the split motor shell 125 comprises an upper motor shell and a lower motor shell, wherein the upper motor shell is detachably connected with the lower motor shell, and the upper motor shell is detachably connected to the motor bracket; the motor bracket 126 is connected with a bearing seat of the bearing, a speed reducer and a motor and is connected with the motor suspension bracket through a revolute pair; the motor suspension bracket 127 is connected with the motor bracket and the bottom of the framework; the lower end of the shock absorber 128 is connected with the motor bracket through a rotating pair, and the upper end of the shock absorber 128 is connected with the shock absorber bracket through a rotating pair; and a damper bracket 129 fixedly coupled to the frame.

In this embodiment, the end of the reducer 123 is fixedly connected to the front end of the motor 124 through a detachable connection (e.g., a threaded connection), the output shaft of the motor 124 serves as the input shaft of the reducer 123 to drive the internal gear of the reducer to rotate, the output shaft of the reducer 123 is tightly fitted with the shaft hole of the coupler 122, and the coupler 122 is tightly fitted with the shaft hole of the driving wheel 121 through an expansion sleeve; the front end face of the reducer 123 is fastened with the motor support 126 through a detachable connection (e.g., a threaded connection), the outer cylindrical surfaces of the motor 124 and the reducer 123 are coated with a layer of rubber gasket (not shown in the figure), the upper motor shell and the lower motor shell are detachably connected (e.g., a threaded connection), the motor 124 coated with the rubber gasket and the reducer 123 are clamped in a cylindrical seat hole formed by the upper motor shell and the lower motor shell, and further, the upper motor shell is fastened with the motor support 126 through a detachable connection (e.g., a threaded connection); the bearing is tightly matched with a seat hole of the bearing seat, and the bearing end cover and the bearing seat are fixed on the motor bracket 126 through detachable connection (such as threaded connection); the motor bracket 126 is connected with the motor suspension bracket 127 through a revolute pair, and the motor bracket 126 can rotate around the rotating shaft of the motor suspension bracket; the damper 128 is connected with the motor bracket 126 and the damper bracket 129 through revolute pairs respectively; the shock absorber bracket 129 and the motor suspension bracket 127 are respectively fixed on the framework of the chassis through threaded connection.

Here, the damper 128 may be a damper in the prior art or a damper in the future developed technology, for example, a spring-based damper or a compressed gas-based damper may be used. In the moving process of the chassis, when the driving wheel 121 meets an obstacle, the driving wheel 121 is supported by the obstacle, the motor support 126 rotates upwards around the rotating shaft of the motor suspension support 127, and meanwhile, the spring (or a damping element such as compressed gas) of the damper 128 is compressed, so that jolt and vibration caused by the obstacle are absorbed, and the stable operation of the robot chassis is ensured; the suspension hardness degree of the robot chassis can be flexibly adjusted by adjusting the precompression amount of the elastic element of the shock absorber or replacing the shock absorbers with different loads.

Here, the driving wheel 121 and the coupling 122 are coupled by the expansion sleeve, and the frictional force between the driving wheel 121 and the coupling 122 can be adjusted by adjusting the fastening degree of the screw on the expansion sleeve, so that the critical value of slipping between the driving wheel 121 and the coupling 122 is further adjusted, overload can be effectively avoided, and the motor 124 and the reducer 123 are protected. When the circumferential torque of the rotating shaft of the speed reducer is transmitted to the driving wheel through the coupler 122, the coupler 122 is tightly matched with the bearing (tight fit means that the bearing and the shaft are tightly squeezed together and can be dismounted only by external force with preset force, the bearing is heated to enable the inner diameter of the bearing to be enlarged and then is sleeved on the shaft while hot, or a press machine is used for applying pressure of more than hundred kilograms to the bearing to sleeve the bearing on the shaft), and the bearing is further fastened with the motor support through a bearing seat and a bearing end cover. In this way, the overturning torque transmitted by the driving wheel in the direction perpendicular to the rotating shaft of the speed reducer is borne by the coupling 122 and is further transmitted to the motor support 126, and the rotating shaft of the speed reducer 123 only bears the circumferential torque, so that the damage to the internal structure of the speed reducer 123 is avoided, the protection of the speed reducer 123 is formed, and the service lives of the speed reducer 123 and the motor 124 are prolonged.

The rubber pads are filled between the speed reducer and the motor seat hole, so that the influence of vibration generated in the working process of the motor and the speed reducer on the chassis can be effectively isolated, and the influence of the vibration of the chassis on the motor and the speed reducer can be isolated.

It should be understood by those skilled in the art that the driving wheel modules shown in fig. 2a, 2b and 2c are an exemplary embodiment of the driving wheel modules in the embodiment of the present application, and do not represent a limitation to the present application. For example, the connection between the speed reducer and the driving wheel in the driving wheel module can also be directly connected with the output shaft of the speed reducer through the shaft hole of the driving wheel, and the connection is realized without adopting an expansion sleeve tight-fitting coupling. For example, the speed reducer and the motor in the driving wheel module can also be directly fixed on the motor bracket without adopting a covering rubber pad and a detachable motor shell.

With further reference to fig. 3a, 3B and 3c, fig. 3a shows a schematic view of an embodiment of a driven wheel module of a robot chassis according to the application, fig. 3B shows a top view of fig. 3a, and fig. 3c shows a cross-sectional view B-B in fig. 3B.

As shown in fig. 3a, 3b and 3c, the driven wheel module 130 includes: a driven wheel 131, a driven wheel bracket 132, a driven wheel suspension bracket 133 and a spring assembly.

The driven wheel 131 is a universal wheel, and a bracket of the universal wheel is connected with a driven wheel bracket; a driven wheel bracket 132, the upper part of which is connected with the lower part of the driven wheel suspension bracket through a revolute pair; the upper part of the driven wheel suspension bracket 133 is connected with the framework, and the lower part of the driven wheel suspension bracket is connected with the upper part of the driven wheel bracket; the spring assembly comprises a pull rod 134, a spring 135 and a locking nut 136, one end of the pull rod is connected with the driven wheel bracket through a revolute pair, and the other end of the pull rod penetrates through the bottom surface of the driven wheel suspension bracket and extends into the driven wheel suspension bracket; the spring is sleeved on the pull rod, the lower end face of the spring is abutted against the bottom face of the driven wheel suspension bracket, and the upper end face of the spring is abutted against a nut which is connected to the tail end of the pull rod in a threaded manner.

In this embodiment, the driven wheel 131 of the driven wheel module is a universal wheel, and can rotate 360 ° around the vertical axis thereof; the driven wheel 131 is fastened on the driven wheel bracket 132 through a detachable connection (such as a screw connection), the driven wheel bracket 132 is connected with the driven wheel suspension bracket 133 through a revolute pair, and the driven wheel bracket 132 can rotate around the rotating shaft of the driven wheel suspension bracket 133; the driven wheel suspension bracket 133 is fixedly connected with the framework of the robot chassis through a detachable connection (such as a threaded connection); the pull rod 134 of the spring assembly is connected with the driven wheel bracket 132 through a revolute pair, and the pull rod 134 can rotate around a pull rod rotating shaft; the spring 135 is sleeved on a pull rod 134 of the spring in an empty mode, the lower end face of the spring 135 is in contact with the bottom face of the driven wheel suspension bracket 133, the upper end face of the spring 135 is in contact with a gasket, and the tail end of the pull rod 134 of the spring is processed into an external thread and is in threaded connection with a locking nut 136, so that the gasket and the spring are axially fixed.

In the moving process of the chassis, when the driven wheel meets an obstacle, the driven wheel is lifted, the driven wheel bracket rotates upwards around the driven wheel suspension rotating shaft, meanwhile, the spring pull rod is pulled downwards by the pull rod rotating shaft, and the spring is compressed, so that jolt and vibration caused by the obstacle are absorbed, and the stable operation of the robot chassis is ensured; the suspension hardness degree of the robot chassis can be flexibly adjusted by adjusting the precompression amount of the spring or replacing the spring with different elastic modulus.

With further reference to fig. 4, fig. 4 shows a schematic view of an embodiment of a skeleton of a robot chassis according to the present application.

As shown in fig. 4, a sensor 111 and a frame interface 112 are provided on the frame 110.

Wherein, sensor 111 is disposed on the side of the framework. And a framework interface 112 arranged on the upper end face of the framework and connected with the trunk framework of the robot.

In this embodiment, the sensor 111 is a detecting device, which can sense the measured information and convert the sensed information into an electrical signal or other information output in a required form according to a certain rule, so as to meet the requirements of information transmission, processing, storage, display, recording, control, etc. The sensor 111 may be a sensor in the prior art or a sensor in a future developed technology, which is not limited in this application, for example, the sensor 111 may include one or more of an ultrasonic sensor, an infrared sensor, a laser sensor, and a camera.

Here, the wall thickness of the framework may be determined according to the weight of the robot carried by the framework, and the shape of the framework may be determined according to the actual equipment carried by the framework. For example, taking the case that the framework needs to bear the robot, the driving wheel module, the driven wheel module and the sensor, the framework can be formed by welding 304 stainless steel square pipes with the wall thickness of 1mm, and the framework can be adjusted to be made of other materials with wall thicknesses, materials or cross-sectional shapes according to the actual bearing capacity of the robot chassis; considering the connection between the framework of the chassis and the robot trunk part, the upper end surface of the framework of the chassis can be provided with a framework interface for connecting with the framework of the robot trunk part; the side of the framework of the chassis can be provided with a sensor interface for mounting various sensors, such as an ultrasonic sensor, an infrared sensor, a laser sensor, a camera and the like; the framework of the chassis can also be provided with a circuit board mounting plate 113 for mounting circuit boards such as a motor driver and a motor control panel.

In an embodiment of the application, there is also provided a robot comprising a robot chassis as described in any of the above embodiments.

The above description is only a preferred embodiment of the application and is illustrative of the principles of the technology employed. It will be appreciated by those skilled in the art that the scope of the invention herein disclosed is not limited to the particular combination of features described above, but also encompasses other arrangements formed by any combination of the above features or their equivalents without departing from the spirit of the invention. For example, the above features may be replaced with (but not limited to) features having similar functions disclosed in the present application.

Claims

1. A robot chassis, comprising:

the bottom surface of the framework is provided with two driving wheel modules and two driven wheel modules, and four wheels of the two driving wheel modules and the four wheels of the two driven wheel modules are respectively positioned at one vertex of the diamond;

the two driving wheel modules are symmetrically arranged on the left part and the right part of the bottom surface of the framework;

the driven wheel modules adopt universal wheels and are symmetrically arranged at the front part and the rear part of the bottom surface of the framework;

the action wheel module includes:

the shaft hole is tightly matched with the outer surface of the output end of the coupler through the expansion sleeve;

the shaft hole of the input end is tightly matched with the output shaft of the speed reducer, the outer surface of the input end is connected to the motor bracket through a bearing, and the shaft surface of the output end is tightly matched with the inner hole surface of the expansion sleeve;

the speed reducer is fixed on the motor bracket, the input shaft is connected with the motor, and the output shaft is tightly matched with the shaft hole at the input end of the coupler;

the motor is fixed on the motor bracket, and an output shaft is connected with an input shaft of the speed reducer;

the motor bracket is connected with a bearing seat of the bearing, the speed reducer and the motor and is connected with the motor suspension bracket through a revolute pair;

the motor suspension bracket is connected with the motor bracket and the bottom of the framework;

the lower end of the shock absorber is connected with the motor bracket through a rotating pair, and the upper end of the shock absorber is connected with the shock absorber bracket through a rotating pair;

the shock absorber support is fixedly connected with the framework.

2. The robot chassis of claim 1, wherein the reducer, secured to the motor mount, comprises: the outer surface of the speed reducer is coated with a rubber pad and is arranged in the split motor shell, the end surface adjacent to the input shaft is fixedly connected with the end surface of the motor, and the end surface adjacent to the output shaft is detachably connected with the motor bracket;

the motor is fixed in on the motor support, and the output shaft hookup the input shaft of reduction gear includes: the outer surface of the motor is coated with a rubber pad and is arranged in the split motor shell, and an output shaft is connected with an input shaft of the speed reducer;

the action wheel module still includes: the split motor shell comprises an upper motor shell and a lower motor shell, the upper motor shell is detachably connected with the lower motor shell, and the upper motor shell is detachably connected to the motor support.

3. A robot chassis according to any of claims 1-2, wherein the driven wheel module comprises:

the driven wheel is a universal wheel, and a bracket of the universal wheel is connected with a driven wheel bracket;

the upper part of the driven wheel bracket is connected with the lower part of the driven wheel suspension bracket through a revolute pair;

the upper part of the driven wheel suspension bracket is connected with the framework, and the lower part of the driven wheel suspension bracket is connected with the upper part of the driven wheel bracket;

the spring assembly comprises a pull rod, a spring and a locking nut, one end of the pull rod is connected with the driven wheel bracket through a revolute pair, and the other end of the pull rod penetrates through the bottom surface of the driven wheel suspension bracket and extends into the driven wheel suspension bracket; the spring is sleeved on the pull rod, the lower end face of the spring abuts against the bottom face of the driven wheel suspension support, and the upper end face of the spring abuts against a nut which is connected to the tail end of the pull rod in a threaded mode.

4. The robot chassis of claim 1, further comprising:

and the sensor is arranged on the side surface of the framework.

5. The robot chassis of claim 4, wherein the sensors include at least one or more of: ultrasonic sensor, infrared sensor, laser sensor and camera.

6. The robotic chassis of claim 1, wherein the skeleton comprises: the framework interface is arranged on the upper end face of the framework and connected with the trunk framework of the robot.

7. A robot, characterized in that the robot comprises a robot chassis according to any of claims 1-6.