CN114524031A

CN114524031A - Robot car body and sweeping robot

Info

Publication number: CN114524031A
Application number: CN202210167956.5A
Authority: CN
Inventors: 陈德圣; 陈文强; 林军; 叶宗武; 陈志培; 陈航宇
Original assignee: Fujian Hante Cloud Intelligent Technology Co ltd
Current assignee: Fujian Hante Cloud Intelligent Technology Co ltd
Priority date: 2022-02-23
Filing date: 2022-02-23
Publication date: 2022-05-24

Abstract

The invention discloses a robot body and a sweeping robot, wherein the robot body comprises a chassis, a first left wheel, a first right wheel, a second left wheel, a second right wheel and an axle; the first left wheel is disposed on a left side of the chassis and the first right wheel is disposed on a right side of the chassis; the second left wheel is disposed on a left side of the axle and the second right wheel is disposed on a right side of the axle; the middle part of the axle is hinged with the chassis to drive the second left wheel and the second right wheel to swing together. According to the technical scheme, the wheels can be grounded simultaneously, the gravity of the vehicle is more uniformly distributed on the wheels, the wheels are not easy to wear, and the chassis is more stable and not easy to shake.

Description

Robot car body and sweeping robot

Technical Field

The invention relates to the technical field of robots, in particular to a robot body and a sweeping robot.

Background

The lower part of the robot is usually made in the form of a car body, which allows the wheel-driven robot to travel, such as to perform forward, backward, left-turn, right-turn motions. Under the condition that the wheels of the vehicle body are not provided with the suspension, each wheel of the vehicle body also exists on the flat ground, so that the posture of the vehicle body can have slight shake, and the shake is the clearance between the wheel on the ground and the ground. The adhesion force between each wheel and the ground is uneven, and the abrasion condition of the wheels obviously appears unevenly after a long time.

Disclosure of Invention

Therefore, it is necessary to provide a robot body and a sweeping robot, which solve the problem that wheels of the robot are easy to leave the ground.

In order to achieve the above object, the present embodiment provides a robot vehicle body, including a chassis, a first left wheel, a first right wheel, a second left wheel, a second right wheel, and an axle;

the first left wheel is disposed on a left side of the chassis and the first right wheel is disposed on a right side of the chassis; the second left wheel is disposed on a left side of the axle and the second right wheel is disposed on a right side of the axle; the middle part of the axle is hinged with the chassis to drive the second left wheel and the second right wheel to swing together.

Further, the device also comprises an adjusting mechanism; the adjusting mechanism is connected with the chassis, the adjusting mechanism is located above the axle, and the bottom of the adjusting mechanism is used for being in contact with the axle to limit the rotation degree of the axle.

Further, the adjustment mechanism includes an adjustment bolt; the adjusting bolt is in threaded connection with the chassis, and the bottom of the adjusting bolt is used for being in contact with an axle to limit the rotation degree of the axle.

Further, the bottom of the adjusting bolt is provided with a buffer structure.

Further, the chassis comprises a fixed seat; the fixed seat is positioned at the bottom of the chassis, the middle part of the axle is hinged with the middle part of the fixed seat of the chassis, and the adjusting mechanism is connected with the side edge of the fixed seat of the chassis.

Further, the device also comprises a first suspension; the first left wheel is disposed on a left side of the chassis by a first suspension; and/or:

the device also comprises a second suspension; the first right wheel is disposed on a right side of the chassis by a second suspension.

Further, the first suspension comprises a first swing arm, a first shock absorber and a first spring; one end of the first swing arm is hinged to the bottom of the chassis, the first swing arm is provided with the first left wheel, the other end of the first swing arm is hinged to one end of the first shock absorber, and the other end of the first shock absorber is hinged to the bottom of the chassis through the first spring.

Further, the second left wheel and the second right wheel are universal wheels.

Further, a third left wheel and a third right wheel are also included; the third left wheel is disposed on the left side of the chassis, the first left wheel is located between the second left wheel and the third left wheel, the third right wheel is disposed on the right side of the chassis, and the first right wheel is located between the second right wheel and the third right wheel.

The embodiment also provides a sweeping robot, which comprises the robot car body in any one of the above embodiments.

Different from the prior art, in the technical scheme, the second left wheel and the second right wheel are hinged with the chassis through the axle, when any one of the second left wheel and the second right wheel is off the ground, the other one of the second left wheel and the second right wheel can descend to the ground under the action of the axle, and the four wheels, namely the first left wheel, the first right wheel, the second left wheel and the second right wheel, are grounded together, so that the balance of the vehicle body is kept. Each wheel can land on the ground simultaneously, and the gravity of car more evenly distributes on each wheel, and the wheel is difficult for wearing and tearing, and the chassis is also more steady difficult for rocking.

Drawings

FIG. 1 is a schematic structural diagram of a robot car body according to the present embodiment;

FIG. 2 is a schematic structural view of the axle and the fixing seat in the present embodiment;

FIG. 3 is a schematic structural diagram of a first suspension according to the present embodiment;

FIG. 4 is a schematic structural diagram of a second suspension in the present embodiment;

fig. 5 is a schematic structural diagram of the first suspension and the first left wheel in this embodiment.

Description of reference numerals:

10. a chassis;

101. a fixed seat;

20. a first left wheel;

30. a first right wheel;

40. a first suspension;

401. a first swing arm; 402. a first shock absorber; 403. a first spring;

50. a second suspension;

501. a second swing arm; 502. a second shock absorber; 503. a second spring;

60. a second left wheel;

70. a second right wheel;

80. an axle;

90. an adjustment mechanism;

901. adjusting the bolt; 902. a head portion;

110. a third left wheel;

120. a third right wheel;

130. a battery pack.

Detailed Description

In order to explain in detail possible application scenarios, technical principles, practical embodiments, and the like of the present application, the following detailed description is given with reference to the accompanying drawings in conjunction with the listed embodiments. The embodiments described herein are merely for more clearly illustrating the technical solutions of the present application, and therefore, the embodiments are only used as examples, and the scope of the present application is not limited thereby.

Referring to fig. 1 to 5, a robot body of the present embodiment includes a chassis 10, a first left wheel 20, a first right wheel 30, a second left wheel 60, a second right wheel 70, and an axle 80.

The first left wheel 20 is disposed on the left side of the chassis 10, the first left wheel 20 is used for connecting with a left wheel driving motor, and under the driving of the left wheel driving motor, the first left wheel 20 rotates and drives the robot body to move, such as forward, backward, left turn, and right turn. The first right wheel 30 is disposed on the right side of the chassis 10, the first right wheel 30 is used for connecting with a right wheel driving motor, and the first right wheel 30 rotates and drives the robot body to move, such as forward, backward, left turn, and right turn, under the driving of the right wheel driving motor.

The second left wheel 60 is arranged on the left side of the axle 80, the second right wheel 70 is arranged on the right side of the axle 80, the middle part of the axle 80 is hinged with the chassis 10 to drive the second left wheel 60 and the second right wheel 70 to swing together, and the four wheels of the first left wheel 20, the first right wheel 30, the second left wheel 60 and the second right wheel 70 are grounded together when the vehicle body is on the flat ground.

In the technical scheme, the second left wheel and the second right wheel are hinged with the chassis through the axle, when any one of the second left wheel and the second right wheel is lifted off the ground, the other one of the second left wheel and the second right wheel can descend to the ground under the action of the axle, and the four wheels, namely the first left wheel, the first right wheel, the second left wheel and the second right wheel, are grounded together, so that the balance of the vehicle body is kept. Each wheel can land on the ground simultaneously, and the gravity of car more evenly distributes on each wheel, and the wheel is difficult for wearing and tearing, and the chassis is also more steady difficult for rocking.

Referring to fig. 1 and fig. 2, in the present embodiment, the middle portion of the axle 80 is hinged to the chassis 10, so that the axle 80 rotates at the hinged portion to drive the second left wheel 60 and the second right wheel 70 to swing together. Specifically, the middle portion of the axle 80 is disposed on the chassis 10 through a rotating shaft, and a bearing can be sleeved on an outer wall of the rotating shaft to reduce friction. A bushing can also be sleeved on the outer wall of the rotating shaft. Generally, the rotating shaft is horizontally placed on the vehicle body, and the axial direction of the rotating shaft is parallel to the length direction or the width direction of the vehicle body. Of course, it is not excluded that the axle is arranged obliquely, and the axle 80 is rotated on the chassis 10 by the axle. It should be noted that the axle 80 is disposed centrally on the chassis 10, and a central axis of the axle 80 coincides with a central axis of the chassis 10. In addition, the second left wheel 60 and the second right wheel 70 are disposed symmetrically about the center axis of the axle 80.

Referring to fig. 1, in the present embodiment, the first left wheel 20 and the second left wheel 60 are located on the left side of the chassis 10, and the first right wheel 30 and the second right wheel 70 are located on the right side of the chassis 10.

Referring to fig. 2, in the present embodiment, the axle 80 links the second left wheel 60 and the second right wheel 70 together to make them touch the ground, and in order to control the rotation degree of the axle 80, the robot body further includes an adjusting mechanism 90. The adjusting mechanism 90 is connected to the chassis 10, the adjusting mechanism 90 is located above the axle 80, and the bottom of the adjusting mechanism 90 is used to contact with the axle 80 to limit the rotation degree of the axle 80.

Referring to fig. 2, in the present embodiment, the adjusting mechanism 90 includes an adjusting bolt 901. The adjusting bolt 901 is in threaded connection with the chassis 10, and the bottom of the adjusting bolt 901 is used for contacting with the axle 80 to limit the rotation degree of the axle 80. Preferably, an adjusting bolt 901 is disposed above the left side and the right side of the axle 80. When the axle 80 rotates (the left side swings up and the right side swings down), the left side of the axle 80 swinging up gradually approaches to the upper adjusting bolt 901, the bottom of the adjusting bolt 901 contacts with the left side of the axle 80, and thus the left side of the axle 80 cannot move upwards continuously; when the axle 80 rotates (the left-side downswing and the right-side upswing), the right side of the upswing axle 80 gradually approaches the upper adjusting bolt 901, the bottom of the adjusting bolt 901 contacts with the right side of the axle 80, and thus the right side of the axle 80 cannot move upwards continuously. The adjusting mechanism 90 limits the rotation amount of the axle 80, so that when one wheel is suspended due to an over-deep pit or an opening to a step edge, the suspended wheel does not fall down after falling to the limit position of the axle 80, and the vehicle body can be effectively prevented from falling.

Referring to fig. 2, in the present embodiment, the adjusting bolt 901 is composed of a head 902 and a stud, the stud is a cylinder with an external thread, and the head 902 can be generally classified as a hexagonal head, a round head or a square head. The adjusting mechanism 90 further includes a positioning hole located on the chassis 10, and the positioning hole may be a screw hole with an internal thread, and the screw hole is matched with the stud. In addition, when the positioning hole is not a screw hole with an internal thread, the stud of the adjusting bolt 901 can be fixed with the nut.

Referring to fig. 2, in a further embodiment, because the adjusting bolt 901 collides with the axle 80, which may cause wear after a long time use, the bottom of the adjusting bolt 901 has a buffer structure, and the material of the buffer structure may be rubber, polystyrene foam board, sponge, etc., which has a shock absorbing function to reduce the collision force between the axle 80 and the adjusting bolt 901. In actual use, if the head 902 of the adjusting bolt 901 faces downwards, the bottom of the adjusting bolt 901 is the head 902; if the head 902 of the adjusting bolt 901 is upward, the bottom of the adjusting bolt 901 is a stud.

Referring to fig. 2, in the present embodiment, the chassis 10 includes a fixing base 101. The fixing seat 101 is located at the bottom of the chassis 10, the middle of the axle 80 is hinged to the middle of the fixing seat 101 of the chassis 10, and the adjusting mechanism 90 is connected to the side edge of the fixing seat 101 of the chassis 10. The positioning holes can be disposed on the fixing base 101, and two sides of the fixing base 101 are respectively disposed with one positioning hole, so that the two adjusting bolts 901 can be connected to the two positioning holes.

In some embodiments, the adjustment mechanism is a cylinder or a cylinder, and the extension of the piston rod of the cylinder or the cylinder is controlled in advance, so that when the piston rod contacts the axle 80, the rotation degree of the axle 80 can be limited.

Referring to fig. 3, in the present embodiment, the robot car body further includes a first suspension 40. The first left wheel 20 is disposed on the left side of the chassis 10 by a first suspension 40, and the first left wheel 20 can be kept in a grounded state by the first suspension 40. And/or: the robot car body further comprises a second suspension 50. The first right wheel 30 is disposed on the right side of the chassis 10 by the second suspension 50, and the first left wheel 20 can be kept in a grounded state by the first suspension 40. Generally, the robot vehicle body has both the first suspension 40 and the second suspension 50, and it is not excluded to have only one of the first suspension 40 and the second suspension 50.

Referring to fig. 3, in the present embodiment, the first suspension 40 includes a first swing arm 401, a first damper 402 and a first spring 403. One end of the first swing arm 401 is hinged to the bottom of the chassis 10, and one end of the first swing arm 401 can rotate along the hinged portion. The first swing arm 401 may be hinged to the chassis 10 in the manner described above with reference to the manner in which the axle 80 is hinged to the chassis 10. The first swing arm 401 is provided with a first left wheel 20 and a left wheel driving motor, and the structure is shown in fig. 5. The other end of the first swing arm 401 is hinged to one end of the first shock absorber 402, and one end of the first shock absorber 402 can rotate along the hinged portion. The other end of the first shock absorber 402 is hinged to the bottom of the chassis 10 by a first spring 403, and the first spring 403 can rotate along the hinged portion. Thus, the first spring 403 can adapt the first left wheel 20 to different road conditions, and the first shock absorber 402 can be a hydraulic shock absorber or an inflatable shock absorber for suppressing the shock and impact from the road surface when the first spring 403 absorbs shock and then rebounds, thereby improving the ride comfort of the vehicle body.

Referring to fig. 4, in the present embodiment, the second suspension 50 includes a second swing arm 501, a second shock absorber 502 and a second spring 503. One end of the second swing arm 501 is hinged to the bottom of the chassis 10, and one end of the second swing arm 501 can rotate along the hinged portion. The first swing arm 401 is provided with a first left wheel 20 and a left wheel driving motor. The other end of the second swing arm 501 is hinged to one end of the second shock absorber 502, and one end of the second shock absorber 502 can rotate along the hinged portion. The other end of the second shock absorber 502 is hinged to the bottom of the chassis 10 by a second spring 503, and the second spring 503 can rotate along the hinged portion. Thus, the second spring 503 can make the first right wheel 30 adapt to different road conditions, and the second damper 502 can be a hydraulic damper or an inflatable damper for suppressing the vibration of the second spring 503 after absorbing the shock and the impact from the road surface, thereby improving the ride comfort of the vehicle body.

Referring to fig. 3 and 4, it should be noted that the bottom of the chassis 10 has two support rods extending downward, one end of the first swing arm 401 is hinged to one of the two supports, and one end of the second swing arm 501 is hinged to the other of the two supports.

Referring to fig. 1, in the present embodiment, the second left wheel 60 and the second right wheel 70 are universal wheels, which are also called movable casters, and the universal wheels are configured to allow 360-degree horizontal rotation and can rotate horizontally on the chassis 10.

Referring to fig. 1, in the present embodiment, the robot body further includes a third left wheel 110 and a third right wheel 120. The third left wheel 110 is arranged on the left side of the chassis 10, the first left wheel 20 is located between the second left wheel 60 and the third left wheel 110, the third right wheel 120 is arranged on the right side of the chassis 10, and the first right wheel 30 is located between the second right wheel 70 and the third right wheel 120. Assuming that the second left wheel 60 and the second right wheel 70 are located at the front portion of the chassis 10, the first left wheel 20 and the first right wheel 30 are located at the middle portion of the chassis 10, and the third left wheel 110 and the third right wheel 120 are located at the rear portion of the chassis 10.

Referring to fig. 1, preferably, the second left wheel 60, the second right wheel 70, the third left wheel 110 and the third right wheel 120 are all universal wheels.

Referring to fig. 1 and 2, assuming that the front second left wheel 60 is in a suspended state and the second right wheel 70 is in a grounded state, at this time, the grounded second right wheel 70 receives a supporting force from the ground (as shown by F1 on fig. 2), the axle 80 receives a torque (as shown by M on fig. 2), and the other suspended second left wheel 60 receives a downward force (as shown by F2 on fig. 2) and moves downward until a force balance is achieved when the ground is contacted, and at this time, both wheels are grounded. The two rear wheels (the third left wheel 110 and the third right wheel 120) may be rigidly fixed on the chassis 10, and if one of the third left wheel 110 and the third right wheel 120 is suspended, the chassis 10 will automatically tilt toward the rear suspended wheel under the action of gravity until the suspended suspension contacts the ground to reach a balanced state due to the hinged relationship between the axle 80 and the chassis 10. Therefore, the vehicle body can absorb the part making errors of parts and unevenness of the ground under the condition of not using the shock absorber, and a plurality of wheels are ensured to be in contact with the ground. In particular, the advantages are more obvious when the ground is worse, such as when one of the wheels needs to pass through a pit and a threshold.

It should be noted that, in the robot body having the first left wheel 20, the second left wheel 60, the third left wheel 110, the first right wheel 30, the second right wheel 70, and the third right wheel 120, the method for solving the problem of landing of the two wheels, i.e., the first left wheel 20 and the second left wheel 60, is to add the first suspension and the second suspension; the method for solving the problem that the four wheels, namely the third left wheel 110, the first right wheel 30, the second right wheel 70 and the third right wheel 120 touch the ground can be that each wheel is also provided with a suspension, but the structure is complex and the cost is high; the method for solving the problem that the four wheels, namely the third left wheel 110, the first right wheel 30, the second right wheel 70 and the third right wheel 120, touch the ground can also be that one suspension is also configured on the two wheels, but after the vehicle body bears an article, the suspended side is lower than the side without the shock absorber due to being pressed down, so that the single-line laser radar which is originally horizontally installed on the chassis inclines for a certain angle, and further the laser radar irradiates the floor and fails. In view of the above, the inventor has invented a robot that uses an axle to link the second left wheel and the second right wheel without arranging more suspension, and the driving stability of the robot is ensured on the premise of reducing the cost.

In this embodiment, the chassis 10 is configured on a robot, which is an intelligent machine capable of semi-autonomous or fully-autonomous working, and can assist or even replace human beings to complete dangerous, heavy and complex work, improve work efficiency and quality, serve human life, and expand or extend the range of activities and abilities of human beings. Preferably, the robot can be a sweeping robot, an express robot, a navigation robot and the like. It is worth mentioning that the sweeping robot can automatically adopt a brushing and vacuum mode by means of certain artificial intelligence, so that the sundries on the ground are absorbed into the garbage storage box of the robot, and the function of cleaning the ground is achieved. After the express robot loads goods from the station, the express robot automatically navigates according to the set route. After the delivery robot arrives at the appointed delivery place of the customer, the delivery robot informs the customer of receiving goods in the modes of telephone, short message and the like, and supports various human-computer interaction modes such as face recognition, short message verification code and the like to quickly take the goods. The navigation robot may be used to meet a guest and direct the guest to a destination.

Preferably, the left wheel driving motor and the right wheel driving motor are both wheel hub motors.

In this embodiment, the robot car body further includes a processing unit, which is an electronic component having a data processing function, such as a CPU (central processing unit), a DSP (digital signal processor), a DSP (microprocessor), or the like. The processing unit is connected with the left wheel driving motor and the right wheel driving motor and controls the left wheel driving motor and the right wheel driving motor to operate.

Referring to fig. 1, in the present embodiment, the robot body further includes a battery pack 130, the battery pack 130 is located in the middle of the chassis 10, and the first left wheel 20, the second left wheel 60, the third left wheel 110, the first right wheel 30, the second right wheel 70, and the third right wheel 120 surround the battery pack 130. The battery pack 130 may be a lithium battery or a lead-acid battery, and the battery pack 130 may provide electric energy required for the operation of the left wheel driving motor, the right wheel driving motor, and the processing unit.

The embodiment also provides a sweeping robot, which comprises a robot car body according to any one of the embodiments, and the structure of the robot car body is shown in fig. 1 to 5.

Reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the application. The appearances of the phrase "an embodiment" in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or related to other embodiments specifically defined. In principle, in the present application, the technical features mentioned in the embodiments can be combined in any manner to form a corresponding implementable technical solution as long as there is no technical contradiction or conflict.

Unless defined otherwise, technical terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs; the use of relational terms herein is intended only to describe particular embodiments and is not intended to limit the present application.

In the description of the present application, the term "and/or" is a expression for describing a logical relationship between objects, meaning that three relationships may exist, for example a and/or B, meaning: there are three cases of A, B, and both A and B. In addition, the character "/" herein generally indicates that the former and latter associated objects are in a logical relationship of "or".

In this application, terms such as "first" and "second" are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions.

Without further limitation, in this application, the use of "including," "comprising," "having," or other similar expressions in phrases and expressions of "including," "comprising," or "having," is intended to cover a non-exclusive inclusion, and such expressions do not exclude the presence of additional elements in a process, method, or article that includes the recited elements, such that a process, method, or article that includes a list of elements may include not only those elements but also other elements not expressly listed or inherent to such process, method, or article.

As is understood in the examination of the guidelines, the terms "greater than", "less than", "more than" and the like in this application are to be understood as excluding the number; the expressions "above", "below", "within" and the like are understood to include the present numbers. In addition, in the description of the embodiments of the present application, "a plurality" means two or more (including two), and expressions related to "a plurality" similar thereto are also understood, for example, "a plurality of groups", "a plurality of times", and the like, unless specifically defined otherwise.

In the description of the embodiments of the present application, spatially relative expressions such as "central," "longitudinal," "lateral," "length," "width," "thickness," "up," "down," "front," "back," "left," "right," "vertical," "horizontal," "vertical," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," and the like are used, and the indicated orientations or positional relationships are based on the orientations or positional relationships shown in the specific embodiments or drawings and are only for convenience of describing the specific embodiments of the present application or for the convenience of the reader, and do not indicate or imply that the device or component in question must have a specific position, a specific orientation, or be constructed or operated in a specific orientation and therefore should not be construed as limiting the embodiments of the present application.

Unless specifically stated or limited otherwise, the terms "mounted," "connected," "secured," and "disposed" used in the description of the embodiments of the present application are to be construed broadly. For example, the connection can be a fixed connection, a detachable connection, or an integrated arrangement; it can be a mechanical connection, an electrical connection, or a communication connection; they may be directly connected or indirectly connected through an intermediate; which may be communication within two elements or an interaction of two elements. Specific meanings of the above terms in the embodiments of the present application can be understood by those skilled in the art to which the present application pertains in accordance with specific situations.

It should be noted that, although the above embodiments have been described herein, the invention is not limited thereto. Therefore, based on the innovative concepts of the present invention, the technical solutions of the present invention can be directly or indirectly applied to other related technical fields by making changes and modifications to the embodiments described herein, or by using equivalent structures or equivalent processes performed in the content of the present specification and the attached drawings, which are included in the scope of the present invention.

Claims

1. A robot vehicle body is characterized by comprising a chassis, a first left wheel, a first right wheel, a second left wheel, a second right wheel and an axle;

2. The robot car body according to claim 1, further comprising an adjusting mechanism; the adjusting mechanism is connected with the chassis, the adjusting mechanism is located above the axle, and the bottom of the adjusting mechanism is used for being in contact with the axle to limit the rotation degree of the axle.

3. The robot car body of claim 2, wherein said adjustment mechanism includes an adjustment bolt; the adjusting bolt is in threaded connection with the chassis, and the bottom of the adjusting bolt is used for being in contact with an axle to limit the rotation degree of the axle.

4. The robot car body according to claim 3, wherein a bottom of said adjusting bolt has a buffer structure.

5. A robot car body according to any of claims 2 to 4, characterized in that said chassis comprises a fixed seat; the fixed seat is positioned at the bottom of the chassis, the middle part of the axle is hinged with the middle part of the fixed seat of the chassis, and the adjusting mechanism is connected with the side edge of the fixed seat of the chassis.

6. The robot car body according to claim 1, further comprising a first suspension; the first left wheel is disposed on a left side of the chassis by a first suspension; and/or:

7. The robot car body according to claim 6, wherein said first suspension comprises a first swing arm, a first shock absorber and a first spring; one end of the first swing arm is hinged with the bottom of the chassis, the first swing arm is provided with the first left wheel, the other end of the first swing arm is hinged with one end of the first shock absorber, and the other end of the first shock absorber is hinged with the bottom of the chassis through the first spring.

8. The robot car body of claim 1, wherein said second left wheel and said second right wheel are universal wheels.

9. The robot car body according to claim 1 or 8, further comprising a third left wheel and a third right wheel; the third left wheel is disposed on the left side of the chassis, the first left wheel is located between the second left wheel and the third left wheel, the third right wheel is disposed on the right side of the chassis, and the first right wheel is located between the second right wheel and the third right wheel.

10. A sweeping robot comprising a robot car body according to any one of claims 1 to 9.