CN213799967U

CN213799967U - Chassis suspension mechanism and walking motion system

Info

Publication number: CN213799967U
Application number: CN202021879219.0U
Authority: CN
Inventors: 赵永进; 牟俊鑫; 覃甲林; 余文华
Original assignee: Shenzhen Ubtech Technology Co ltd
Current assignee: Shenzhen Ubtech Technology Co ltd
Priority date: 2020-08-31
Filing date: 2020-08-31
Publication date: 2021-07-27
Anticipated expiration: 2030-08-31

Abstract

The utility model belongs to the technical field of the precision equipment of robot, especially, relate to a chassis suspension mechanism, walking motion system. The chassis suspension mechanism includes: the bracket comprises a first connecting plate and a second connecting plate, the first connecting plate and the second connecting plate are connected in an L shape, the first connecting plate is provided with a first connecting seat, and the second connecting plate is provided with a second connecting seat; the first connecting end of the shock absorber component is connected to the first connecting seat; the third connecting end of the swing arm assembly is connected to the second connecting seat, and the second connecting end of the shock absorber assembly and the fourth connecting end of the swing arm assembly are both used for being rotatably connected with the connecting side wall of the wheel; the central axis of the vibration damper is obliquely arranged in the direction away from the second connecting plate. By the aid of the technical scheme, the problem that lateral vibration caused by axial force cannot be effectively damped by an existing suspension mechanism, so that lateral deviation occurs in the walking process of the robot is solved.

Description

Chassis suspension mechanism and walking motion system

Technical Field

The utility model belongs to the technical field of the precision equipment of robot, especially, relate to a chassis suspension mechanism, walking motion system.

Background

The chassis system of the robot is one of the core components of the whole robot system, and the important functions of the chassis system are to realize the walking driving function and the vibration damping function of the robot, so the suspension mechanism is one of the difficulties in the development process of the chassis system of the robot. The existing suspension mechanism has a good function of damping in the vertical direction. However, the vibration damping effect in other directions, such as lateral vibration caused by axial force along the central axis of the advancing wheel, cannot be realized, so that risks such as uneven wear of the inner side and the outer side of the wheel, different adhesion force of the wheel to the ground, and even toppling of the vehicle body caused by the wheel being lifted off from the ground are easily caused in the motion process of the vehicle body of the robot. In addition, a common suspension structure is evolved based on a double-fork arm structure of an automobile, and the vibration reduction of an automobile body is realized by utilizing a double-fork arm component and a vibration absorber which are arranged on the inner side of a supporting part, but the suspension has more connecting position points, has not less than 6 revolute pairs, has more components and larger system structure volume, so that the design can not be completed in a smaller space. Moreover, such complex structures are not conducive to reducing cost and weight, stressing subsequent quality optimization and manufacturing costs, resulting in increased risk factor values for system stability.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a chassis suspension mechanism, walking motion system, the lateral vibration that aims at solving current suspension mechanism and leads to axial force can't carry out effective damping, leads to the robot walking in-process to take place the problem of laterad.

In order to achieve the above object, the utility model adopts the following technical scheme: a chassis suspension mechanism comprising: the bracket comprises a first connecting plate and a second connecting plate, the first end of the first connecting plate is connected with the first end of the second connecting plate to form an L shape, a first connecting seat is arranged on the side wall, close to the second connecting plate, of the first connecting plate, and a second connecting seat is arranged at the second end of the second connecting plate; the shock absorber assembly is provided with a first connecting end and a second connecting end, and the first connecting end is connected to the first connecting seat; the swing arm assembly is provided with a third connecting end and a fourth connecting end, and the third connecting end is connected to the second connecting seat; the second connection end is used for being rotatably connected with the connection side wall of the wheel, and the fourth connection end is used for being rotatably connected with the connection side wall of the wheel; the connecting line of the first connecting end and the second connecting end is a central axis of the shock absorber assembly, and the central axis is obliquely arranged towards the direction far away from the second connecting plate in the process of vibration reduction and force application of the shock absorber assembly from the first connecting end to the second connecting end.

Further, the shock absorber subassembly includes shock absorber, first connecting axle and second connecting axle, and the first end of shock absorber is articulated through first connecting axle with first connecting seat, and the second end of shock absorber is articulated through second connecting axle with the third connecting seat.

Furthermore, the swing arm assembly comprises a connecting arm, a third connecting shaft and a fourth connecting shaft, the first end of the connecting arm is hinged to the second connecting seat through the third connecting shaft, and the second end of the connecting arm is hinged to the fourth connecting seat through the fourth connecting shaft.

According to the utility model discloses an on the other hand provides a walking motion system, and this walking motion system includes: fixing base, turn to power supply, in-wheel motor and as aforementioned chassis suspension mechanism, one side fixedly connected with support connection portion that first connecting plate deviates from the second connecting plate, support connection portion rotationally connects in the fixing base, turns to the power supply and has the power connection end, power connection end and support connection portion coaxial coupling, in-wheel motor includes the stator part and by stator part drive pivoted rotor portion, the connection lateral wall of stator part with the second link, the fourth link is rotationally connected.

Furthermore, the walking motion system also comprises a bearing part, the bearing part is provided with an inner ring and an outer ring which can rotate relatively, the inner ring is fixedly sleeved on the support connecting part, the fixed seat is provided with an assembly through hole, and the outer ring is fixedly arranged in the assembly through hole.

Further, the bearing portion includes an even number of tapered roller bearings, and a direction of inclination of the cylindrical rollers of one of the adjacent two tapered roller bearings with respect to the support-connection-portion central axis is opposite to a direction of inclination of the cylindrical rollers of the other one with respect to the support-connection-portion central axis.

Furthermore, the bearing portion further comprises a bearing limiting sleeve, a bearing limiting sleeve is arranged between every two adjacent tapered roller bearings, and two ends of the bearing limiting sleeve are respectively abutted against outer rings of the two tapered roller bearings.

Furthermore, the steering power source comprises a steering engine and a switching mechanism, the steering engine is connected to the fixed seat, the power connecting end is an output rotating shaft of the steering engine, and the power connecting end is in transmission connection with the supporting connecting portion through the switching mechanism.

Further, the switching mechanism comprises a first flange plate and a coupler, the power connecting end is provided with a second flange plate, the first flange plate is fixedly connected with the second flange plate, the first flange plate is provided with a connecting shaft head, the connecting shaft head is connected with the supporting connecting portion through the coupler, and the power connecting end, the connecting shaft head and the supporting connecting portion are coaxially arranged.

Furthermore, the coupler is a U-shaped opening part, the U-shaped opening part comprises a first straight wall, an arc-shaped wall and a second straight wall which are sequentially connected, a first through hole and a second through hole are formed in the first straight wall, the first through hole and the second through hole are arranged at intervals along the central axis direction of the arc-shaped wall, a third through hole and a fourth through hole are formed in the second straight wall, the third through hole corresponds to the first through hole, the fourth through hole corresponds to the second through hole, a fifth through hole is formed in the connecting shaft head, a sixth through hole is formed in the supporting connecting portion, the switching mechanism further comprises a connecting screw, one connecting screw sequentially penetrates through the first through hole, the fifth through hole and the third through hole and then is locked with the nut, and the other connecting screw sequentially penetrates through the second through hole, the sixth through hole and the fourth through hole and then is locked with the nut.

The utility model discloses following beneficial effect has at least:

the chassis suspension mechanism is assembled by adopting a bracket formed by assembling a first connecting plate and a second connecting plate, the L-shaped bracket limits the size of the assembly space of the chassis suspension mechanism so as to adapt to the requirement of a walking motion system of a robot on a narrow assembly space, a part capable of effectively damping vibration is formed by utilizing a vibration damper assembly and a swing arm assembly, and the central axis of the vibration damper assembly is obliquely arranged towards the direction far away from the second connecting plate, so that when the walking motion system bears the weight of the robot, the vibration damper assembly is extruded to generate vertical downward component force and axial component force parallel to the central axis of wheels, the weight and the gravity of the robot are balanced vertically downward, and the axial component force balances the borne axial force. Therefore, the chassis suspension mechanism can realize effective vibration reduction in the vertical direction, also can realize effective vibration reduction on lateral deviation vibration caused by axial force, and eliminates the condition of side abrasion of wheels, so that the walking motion of the robot is always kept stable.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for the embodiments or the prior art descriptions will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without inventive labor.

Fig. 1 is a schematic view of an assembly structure of a chassis suspension mechanism according to an embodiment of the present invention;

FIG. 2 is an exploded view of FIG. 1;

fig. 3 is a front view of the walking motion system according to the embodiment of the present invention;

FIG. 4 is a top view of FIG. 3;

FIG. 5 is a cross-sectional view taken along line C-C of FIG. 4;

FIG. 6 is an enlarged view taken at D in FIG. 5;

fig. 7 is an exploded view of a walking motion system according to an embodiment of the present invention;

fig. 8 is a schematic structural diagram of a coupling in a walking motion system according to an embodiment of the present invention.

Wherein, in the figures, the respective reference numerals:

10. a support; 11. a first connecting plate; 111. a first connecting seat; 12. a second connecting plate; 121. a second connecting seat; 20. a damper assembly; 21. a shock absorber; 22. a first connecting shaft; 23. a second connecting shaft; 30. a swing arm assembly; 31. a connecting arm; 32. a third connecting shaft; 33. a fourth connecting shaft; 40. assembling a plate; 41. a third connecting seat; 42. a fourth connecting seat; 210. a fixed seat; 211. assembling the through hole; 220. a steering power source; 221. a power connection end; 2211. a second flange plate; 222. a steering engine; 2221. a drive gear set; 2222. a steering engine motor; 223. a transfer mechanism; 2231. a first flange plate; 2232. a coupling; 22321. a first straight wall; 22322. an arcuate wall; 22323. a second straight wall; 230. a hub motor; 231. a stator portion; 232. a rotor portion; 240. a support connection portion; 250. a bearing portion; 251. a tapered roller bearing; 252. a bearing stop collar; 51. assembling screws; 52. and connecting screws.

Detailed Description

Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are exemplary and intended to be used for explaining the present invention, and should not be construed as limiting the present invention.

In the description of the present invention, it is to be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like indicate orientations or positional relationships based on those shown in the drawings, and are merely for convenience of description and simplicity of description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention.

Furthermore, the terms "first", "second", etc. are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first," "second," etc. may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically limited otherwise.

In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," and "fixed" are to be construed broadly and may, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meaning of the above terms in the present invention can be understood according to specific situations by those skilled in the art.

As shown in fig. 1 and fig. 2, the embodiment of the present invention provides a chassis suspension mechanism for use in a walking motion system of a robot to perform vibration damping protection during the walking process of the robot. The chassis suspension mechanism comprises a support 10, a shock absorber assembly 20 and a swing arm assembly 30, wherein the support 10 comprises a first connecting plate 11 and a second connecting plate 12, the first end of the first connecting plate 11 is connected with the first end of the second connecting plate 12 to form an L shape, a first connecting seat 111 is arranged on the side wall, close to the second connecting plate 12, of the first connecting plate 11, a second connecting seat 121 is arranged on the second end of the second connecting plate 12, the shock absorber assembly 20 is provided with a first connecting end and a second connecting end, the first connecting end is connected to the first connecting seat 111, the second connecting end is used for being rotatably connected with the connecting side wall of a wheel (the other side wall of the wheel, opposite to the connecting side wall, deviates from the second connecting plate 12), the swing arm assembly 30 is provided with a third connecting end and a fourth connecting end, the third connecting end is connected to the second connecting seat 121, and the fourth connecting end is used for being rotatably connected with the connecting side wall of the wheel, the connection line between the first connection end and the second connection end is a central axis of the damper assembly 20, and the central axis is inclined in a direction away from the second connection plate 12 in a damping force application process of the damper assembly 20 in a direction from the first connection end to the second connection end.

The chassis suspension mechanism is assembled into a walking motion system of a robot by using the chassis suspension mechanism, the chassis suspension mechanism is assembled by adopting a bracket formed by assembling a first connecting plate and a second connecting plate, the bracket in an L-shaped form limits the size of an assembling space of the chassis suspension mechanism, thereby meeting the requirement of a walking motion system of the robot on narrow assembly space, forming a part capable of effectively damping vibration by utilizing the vibration damper assembly and the swing arm assembly, during the vibration damping force application process of the vibration damper assembly 20, since the central axis of the vibration damper assembly is inclined towards the direction away from the second connecting plate, thus, when the walking motion system bears the weight of the robot, the shock absorber assembly is squeezed at the moment to generate a vertical downward component force and an axial component force parallel to the central axis of the wheel, the vertical downward component force balances the weight and gravity of the robot, and the axial component force balances the received axial force. Therefore, the chassis suspension mechanism can realize effective vibration reduction in the vertical direction, also can realize effective vibration reduction on lateral deviation vibration caused by axial force, and eliminates the condition of side abrasion of wheels, so that the walking motion of the robot is always kept stable.

In this embodiment, for convenience and simplification of the assembly relationship among the damper assembly 20, the swing arm assembly 30, and the wheel, the assembly work is facilitated, and therefore, the chassis suspension mechanism further includes that the first end of the assembly plate 40 is provided with the third connecting seat 41, the second end of the assembly plate 40 is provided with the fourth connecting seat 42, the second connecting end is connected to the third connecting seat 41, the fourth connecting end is connected to the fourth connecting seat 42, and the assembly plate is used for assembling the wheel (i.e., the wheel is assembled on the assembly plate 40 and is rotated and walked).

As shown in fig. 2, the shock absorber assembly 20 of the chassis suspension mechanism includes a shock absorber 21, a first connecting shaft 22 and a second connecting shaft 23, a first end of the shock absorber 21 is hinged to the first connecting seat 111 through the first connecting shaft 22, and a second end of the shock absorber 21 is hinged to the third connecting seat 41 through the second connecting shaft 23. The first end of the damper 21 and the first connecting shaft 22 constitute a first connecting end of the damper assembly 20, and the second end of the damper 21 and the second connecting shaft 23 constitute a second connecting end of the damper assembly 20. Further, the swing arm assembly 30 comprises a connecting arm 31, a third connecting shaft 32 and a fourth connecting shaft 33, wherein a first end of the connecting arm 31 is hinged to the second connecting seat 121 through the third connecting shaft 32, and a second end of the connecting arm 31 is hinged to the fourth connecting seat 42 through the fourth connecting shaft 33. After the assembly is completed, the assembly plate 40 is restrained by the damper 21 and the connecting arm 31 so that the assembly plate 40 does not come off the bracket 10, and since the damper 21 is designed to be assembled with its central axis inclined toward a direction away from the second connecting plate 12, the assembly plate 40 does not lean against the second connecting plate 12. When the chassis suspension mechanism is equipped with wheels and is on the ground, at this time, due to the gravity of the chassis and the electronic and electric devices equipped on the chassis, the connecting arm 31 swings upward with the central axis of the third connecting shaft 32 as the rotation axis, and the shock absorber 21 is squeezed, since the central axis of the shock absorber 21 is inclined in the direction away from the second connecting plate 12 in the initial state (i.e., the natural state after the wheel is mounted is also inclined with respect to the second connecting plate 12), the spring of the shock absorber 21 is aligned and pressed by the gravity of the chassis, the spring has a horizontal component and a vertical component, the horizontal component can balance the lateral force applied to the wheel in the movement process, and the vertical component can balance the bumping vibration in the vertical direction in the movement process (mainly because the road surface is uneven and the bumping vibration is caused by obstacle crossing), so that the vibration damping function is realized.

According to another aspect of the present invention, as shown in fig. 3 to 7, there is provided a walking motion system, which is installed to a robot chassis, i.e., can walk. Specifically, the walking motion system includes a fixing base 210, a steering power source 220, a hub motor 230 and the aforementioned chassis suspension mechanism, wherein the steering power source 220 provides steering power, and the hub motor 230 provides power required for walking. One side of the first connecting plate 11 departing from the second connecting plate 12 is fixedly connected with a supporting connecting portion 240, the supporting connecting portion 240 is rotatably connected to the fixing base 210, the steering power source 220 has a power connecting end 221, and the power connecting end 221 is coaxially connected with the supporting connecting portion 240. When the power connection end 221 outputs power to drive the support connection portion 240 to rotate relative to the fixing base 210, the walking motion system is enabled to achieve steering. The hub motor 230 includes a stator 231 and a rotor 232 driven by the stator 231, the stator 231 includes a motor, the motor can drive the rotor 232 to rotate, the stator 231 is detachably connected and fixed to the assembly plate 40 by the assembly screw 51 (of course, the stator 231 and the assembly plate 40 can also be fixed by welding), and the joint between the stator 231 and the assembly plate 40 is located between the third connecting seat 41 and the fourth connecting seat 42.

In the walking movement system of the present embodiment, it further includes a bearing portion 250, the bearing portion 250 has an inner ring and an outer ring which are relatively rotatable, the inner ring is fixedly fitted on the support connection portion 240, the fixing base 210 is provided with an assembly through hole 211, and the outer ring is fixedly disposed in the assembly through hole 211. By disposing the bearing portion 250 between the support connection portion 240 and the hole wall of the fitting through-hole 211, the bearing portion 250 can assist in reducing friction (rolling friction is smaller than sliding friction) with respect to direct contact sliding friction between the support connection portion 240 and the hole wall of the fitting through-hole 211 when the support connection portion 240 rotates.

Specifically, the bearing portion 250 includes an even number of tapered roller bearings 251, and the inclination direction of the cylindrical roller of one of the adjacent two tapered roller bearings 251 with respect to the central axis of the support connection portion 240 is opposite to the inclination direction of the cylindrical roller of the other with respect to the central axis of the support connection portion 240, so that the engagement between the even number of tapered roller bearings 251 can not only enhance the radial force bearing capability but also bear the axial force bidirectionally in the central axis direction of the support connection portion 240. In the present embodiment, the number of the tapered roller bearings 251 is two.

Further, as shown in fig. 5 and 7, the bearing portion 250 further includes a bearing limiting sleeve 252, the bearing limiting sleeve 252 is disposed between two adjacent tapered roller bearings 251, and two ends of the bearing limiting sleeve 252 respectively abut against outer rings of the two tapered roller bearings 251. By providing the bearing stopper 252 between the two tapered roller bearings 251 to separate the two tapered roller bearings 251, the two tapered roller bearings 251 do not contact each other and interfere with each other during a steering movement.

As shown in fig. 3, 5 and 7, the steering power source 220 of the walking motion system comprises a steering engine 222 and a transfer mechanism 223, and a small steering engine 222 is used for providing steering power, so that the walking motion system can be further miniaturized, and the steering engine 222 comprises a housing, an output rotating shaft, a transmission gear set 2221 and a steering engine motor 2222, wherein the output rotating shaft, the transmission gear set 2221 and the steering engine motor 2222 are assembled in the housing, and the output rotating shaft extends out of the housing to transmit power. The shell of the steering engine 222 is connected to the fixed seat 210, the power connection end 221 is an output rotating shaft of the steering engine 222, and the power connection end 221 is in transmission connection with the support connection part 240 through the switching mechanism 223.

As shown in fig. 5 to 7, specifically, the adapting mechanism 223 of the walking motion system of this embodiment includes a first flange 2231 and a coupling 2232, the power connection end 221 is provided with a second flange 2211, the first flange 2231 is fixedly connected to the second flange 2211, and the first flange 2231 is fixedly connected to the second flange 2211 by butt joint, so that transmission connection can be conveniently and quickly achieved, and the assembly efficiency is improved. The first flange 2231 is provided with a connecting shaft head, the connecting shaft head is connected with the support connecting part 240 through a coupler 2232, and the power connecting end 221, the connecting shaft head and the support connecting part 240 are coaxially arranged, so that the steering power output by the steering engine 222 is sequentially transmitted to realize steering.

In the embodiment of the present invention, referring to fig. 8 in combination, in order to meet the requirement of coaxial assembly of the connecting shaft head and the supporting connection portion 240, the coupler 2232 is designed and customized, that is: the coupler 2232 is a U-shaped open component, the U-shaped open component includes a first straight wall 22321, an arc-shaped wall 22322 and a second straight wall 22323, which are connected in sequence, the first straight wall 22321 is provided with a first through hole and a second through hole, the first through hole and the second through hole are arranged at intervals along the central axis direction of the arc-shaped wall 22322, the second straight wall 22323 is provided with a third through hole and a fourth through hole, the third through hole corresponds to the first through hole, the fourth through hole corresponds to the second through hole, the connecting shaft head is provided with a fifth through hole, the supporting and connecting portion 240 is provided with a sixth through hole, the adapter mechanism 223 further includes a connecting screw 52, one connecting screw 52 sequentially penetrates through the first through hole, the fifth through hole and the third through hole and then is locked with the nut, and the other connecting screw 52 sequentially penetrates through the second through hole, the sixth through hole and the fourth through hole and then is locked with the nut.

When the walking motion system of the present embodiment is applied to a robot and assembled, as shown in fig. 2, after the assembly is completed, in an overall natural state, the first connecting plate 11 is horizontal, the second connecting plate 12 is vertical (the first connecting plate 11 and the second connecting plate 12 are perpendicular to each other), when the in-wheel motor 230 is placed on the ground and is balanced, the in-wheel motor 230 is aligned under the gravity of the chassis of the robot, and a weight line of a center point of a connection between the first connecting seat 111 and the first connecting shaft 22 is set to be a straight line a (in a balanced and stationary state, a longitudinal straight line obtained by using a weight at the center point of the connection between the first connecting seat 111 and the first connecting shaft 22 is set to be a weight line a), the central axis of the damper 21 is set to be a straight line B, in a balanced and stationary state, and the in-wheel motor 230 is aligned, at this time, the straight line B is inclined toward a side away from the second connecting plate 12 with respect to the straight line a, the angle β (β >0) between the straight line a and the straight line B is then, and during the walking movement, the angle of the angle β is always greater than 0, i.e. the straight line B does not cross the straight line a and continues to approach the second connecting plate 12. In the walking process, when the in-wheel motor 230 returns to the right and is balanced, the included angle β is a determined value, and when the included angle β increases or decreases, the in-wheel motor 230 is laterally deviated. When β decreases, the damper 21 continues to be compressed, and the damper 21 provides a restoring force to the in-wheel motor 230; when the beta is increased, the in-wheel motor 230 is laterally deviated in a direction away from the second connecting plate 12, and returns to the right under the action of the gravity of the chassis.

The above description is only exemplary of the present invention and should not be taken as limiting the scope of the present invention, as any modifications, equivalents, improvements and the like made within the spirit and principles of the present invention are intended to be included within the scope of the present invention.

Claims

1. A chassis suspension mechanism, comprising:

the support (10) comprises a first connecting plate (11) and a second connecting plate (12), the first end of the first connecting plate (11) is connected with the first end of the second connecting plate (12) to form an L shape, a first connecting seat (111) is arranged on the side wall, close to the second connecting plate (12), of the first connecting plate (11), and a second connecting seat (121) is arranged at the second end of the second connecting plate (12);

a damper assembly (20), said damper assembly (20) having a first connection end and a second connection end, said first connection end connected to said first connection seat (111);

a swing arm assembly (30), the swing arm assembly (30) having a third connection end and a fourth connection end, the third connection end being connected to the second connection seat (121);

the second connecting end is used for being rotatably connected with the connecting side wall of the wheel, and the fourth connecting end is used for being rotatably connected with the connecting side wall of the wheel;

the connecting line of the first connecting end and the second connecting end is the central axis of the shock absorber assembly (20), and the central axis is obliquely arranged towards the direction far away from the second connecting plate (12) in the process of carrying out shock absorption and force application on the shock absorber assembly (20) from the direction from the first connecting end to the second connecting end.

2. The chassis suspension mechanism of claim 1,

the shock absorber assembly (20) comprises a shock absorber (21), a first connecting shaft (22) and a second connecting shaft (23), a first end of the shock absorber (21) is hinged to the first connecting seat (111) through the first connecting shaft (22), and a second end of the shock absorber (21) is hinged to a connecting side wall of the wheel through the second connecting shaft (23).

3. Chassis suspension mechanism according to claim 1 or 2, wherein the swing arm assembly (30) comprises a connecting arm (31), a third connecting shaft (32) and a fourth connecting shaft (33), wherein a first end of the connecting arm (31) is hinged to the second connecting seat (121) via the third connecting shaft (32), and a second end of the connecting arm (31) is hinged to a connecting side wall of a wheel via the fourth connecting shaft (33).

4. A walking motion system, comprising: a fixed base (210), a steering power source (220), an in-wheel motor (230) and the chassis suspension mechanism as claimed in any one of claims 1 to 3, wherein a support connecting part (240) is fixedly connected to a side of the first connecting plate (11) facing away from the second connecting plate (12), the support connecting part (240) is rotatably connected to the fixed base (210), the steering power source (220) has a power connecting end (221), the power connecting end (221) is coaxially connected with the support connecting part (240), the in-wheel motor (230) comprises a stator part (231) and a rotor part (232) driven by the stator part (231) to rotate, and a connecting side wall of the stator part (231) is rotatably connected with the second connecting end and the fourth connecting end.

5. The walking motion system of claim 4, wherein the walking motion system further comprises a bearing portion (250), the bearing portion (250) has an inner ring and an outer ring which are relatively rotatable, the inner ring is fixedly sleeved on the support connecting portion (240), the fixed seat (210) is provided with an assembling through hole (211), and the outer ring is fixedly arranged in the assembling through hole (211).

6. The walking motion system of claim 5, wherein the bearing portion (250) comprises an even number of tapered roller bearings (251), and the inclination direction of the cylindrical rollers of one of the adjacent two tapered roller bearings (251) with respect to the central axis of the support connection portion (240) is opposite to the inclination direction of the cylindrical rollers of the other with respect to the central axis of the support connection portion (240).

7. The walking motion system of claim 6, wherein the bearing portion (250) further comprises a bearing limiting sleeve (252), a bearing limiting sleeve (252) is arranged between two adjacent tapered roller bearings (251), and two ends of the bearing limiting sleeve (252) respectively abut against outer rings of the two tapered roller bearings (251).

8. The walking motion system according to any one of claims 4 to 7, wherein the steering power source (220) comprises a steering engine (222) and a switching mechanism (223), the steering engine (222) is connected to the fixed base (210), the power connection end (221) is an output rotating shaft of the steering engine (222), and the power connection end (221) is in transmission connection with the support connection part (240) through the switching mechanism (223).

9. The walking motion system of claim 8, wherein the adapter mechanism (223) comprises a first flange (2231) and a coupling (2232), the power connection end (221) is provided with a second flange (2211), the first flange (2231) is fixedly connected with the second flange (2211), the first flange (2231) is provided with a connection shaft head, the connection shaft head is connected with the support connection portion (240) through the coupling (2232), and the power connection end (221), the connection shaft head and the support connection portion (240) are coaxially arranged.

10. The walking exercise system of claim 9, wherein the coupling (2232) is a U-shaped open member, the U-shaped open member comprises a first straight wall (22321), an arc-shaped wall (22322) and a second straight wall (22323) connected in sequence, the first straight wall (22321) is provided with a first through hole and a second through hole, the first through hole and the second through hole are arranged at intervals along the central axis direction of the arc-shaped wall (22322), the second straight wall (22323) is provided with a third through hole and a fourth through hole, the third through hole corresponds to the first through hole, the fourth through hole corresponds to the second through hole, the connecting shaft head is provided with a fifth through hole, the support connecting portion (240) is provided with a sixth through hole, the adapter mechanism (223) further comprises a connecting screw (52), and one connecting screw (52) sequentially passes through the first through hole, the second through hole, and the connecting screw (52) sequentially passes through the sixth through hole, The fifth through hole and the third through hole are locked with the nut, and the other connecting screw (52) penetrates through the second through hole, the sixth through hole and the fourth through hole in sequence and is locked with the nut.