CN216424565U

CN216424565U - Chassis and robot

Info

Publication number: CN216424565U
Application number: CN202121657854.9U
Authority: CN
Inventors: 陈海波; 朱峰; 黄森
Original assignee: Deep Blue Technology Shanghai Co Ltd
Current assignee: Shenlan Robot Shanghai Co ltd
Priority date: 2021-07-20
Filing date: 2021-07-20
Publication date: 2022-05-03
Anticipated expiration: 2031-07-20

Abstract

The application relates to the technical field of robots and provides a chassis and a robot. The chassis includes: the chassis fixing frame comprises a bottom plate and a plurality of supporting columns, the supporting columns are mutually spaced and annularly arranged on the bottom plate, and the supporting columns are vertically connected to the bottom plate; a suspension mechanism connected to the base plate; the suspension mechanism comprises at least two wheel assemblies, the two wheel assemblies are arranged oppositely, and the wheel assemblies are constructed to walk on the walking surface. This chassis and robot chassis mount adopt the all steel construction, and a plurality of support columns all rely on a plurality of support columns as main spandrel girder, and the rethread bottom plate carries out the fixed of overall position to ensure that a plurality of support columns atress is even in the vertical direction, it is firm reliable, can reduce the impact force that the chassis received at the walking in-process, thereby make the chassis more steady at the walking in-process.

Description

Chassis and robot

Technical Field

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

Background

In the related art, the chassis is a walking part of the robot, wherein the chassis includes a chassis fixing frame, a wheel body assembly is installed on the chassis fixing frame, and the chassis fixing frame is also a bottom plate bracket of the robot besides having a function of installing the wheel body, which relates to stability and bearing effect of the robot. The existing chassis fixing frame bearing steel frame is unreasonable in structural design, poor in bearing effect, easy to wear, unstable in walking and required to be frequently replaced, so that the use cost of the robot is increased.

In addition, in the prior art, the wheel body assembly is rigidly connected with the chassis fixing frame, the diameter of the wheel body is small, and the distance from the ground to the conventional chassis on the market is low, so that the wheel body is bumpy seriously when the wheel body runs on different concave-convex road surfaces.

SUMMERY OF THE UTILITY MODEL

In view of this, an object of a first aspect of the present application is to provide a chassis, which solves the technical problems of poor load-bearing effect of a chassis fixing frame and unstable walking in the background art.

A first aspect of the application provides a chassis comprising: the chassis fixing frame comprises a bottom plate and a plurality of supporting columns, the supporting columns are mutually spaced and annularly arranged on the bottom plate, and the supporting columns are perpendicular to the bottom plate; a suspension mechanism connected to the base plate; wherein the suspension mechanism comprises at least two wheel assemblies, the two wheel assemblies being arranged opposite each other, the wheel assembly being configured to travel on a running surface.

The chassis that the first aspect of this application provided, chassis mount adopt the all steel construction, and a plurality of support columns all rely on a plurality of support columns as main spandrel girder with all atresss, and the rethread bottom plate carries out the fixed of overall position to ensure that a plurality of support columns atress is even in the vertical direction, it is firm reliable, can reduce the impact force that the chassis received at the walking in-process, thereby make the chassis more steady at the walking in-process.

With reference to the first aspect, in a possible implementation manner, the chassis further includes: an electric box; the chassis mount still includes: the side plate assembly is connected to the supporting columns in a plurality of modes, so that an accommodating space is enclosed on the bottom plate, the electric box is arranged in the accommodating space, and the electric box is detachably connected with the side plate assembly.

With reference to the first aspect, in a possible implementation manner, the chassis further includes: the chassis still includes electronic box limit structure, electronic box limit structure includes: the clamping groove is arranged on the electric box; the clamping portion is arranged in the accommodating space and connected with the side plate assembly, and the clamping portion is clamped with the clamping groove; and the side connecting plate is detachably connected with the side plate assembly.

With reference to the first aspect, in one possible implementation manner, the suspension mechanism includes: a connecting rod; the elastic pressing piece is abutted with the connecting rod; wherein each connecting rod is correspondingly connected with one wheel body assembly, and the elastic pressing piece is configured to press the connecting rod so as to generate friction force between the wheel body assembly and the contact surface; or the spring follower is configured to relax the link.

With reference to the first aspect, in one possible implementation manner, the elastic pressing member includes: pressing a plate; one end of the first elastic piece is abutted with the connecting rod, and the other end of the first elastic piece is abutted with the pressing plate; wherein the pressure plate is configured to press the first elastic member such that the first elastic member presses the link; or the pressure plate is configured to relax the first elastic member.

With reference to the first aspect, in one possible implementation manner, the first elastic member includes: a mounting shaft configured to be rotatable; the torsional spring is sleeved on the installation shaft, one end of the torsional spring is abutted to the pressing plate, and the other end of the torsional spring is abutted to the connecting rod; wherein, the clamp plate is connected to the installation shaft.

With reference to the first aspect, in one possible implementation manner, the suspension mechanism further includes: and an adjusting screw configured to be screwed in to be abutted against the pressing plate or to be screwed out to be disengaged from the pressing plate.

With reference to the first aspect, in one possible implementation manner, the first elastic member includes: one end of the upright post is connected with the connecting rod; the pressure spring is sleeved on the upright post; the pressing plate is sleeved on the stand column and is in sliding connection with the stand column, and one end of the pressure spring in the elastic direction is abutted to the pressing plate.

With reference to the first aspect, in one possible implementation manner, the suspension mechanism further includes: a connecting shaft; wherein the connecting rods have shaft mounting holes, and the connecting shaft is configured to rotatably connect the two connecting rods through the shaft mounting holes.

With reference to the first aspect, in one possible implementation manner, the wheel body assembly includes: the driving wheel is rotationally connected with the connecting rod; the compound guide wheel is connected with the connecting rod; the connecting rod is provided with a first end and a second end, the driving wheel is arranged at the first end, and the compound guide wheel is arranged at the second end and connected with the first end.

With reference to the first aspect, in one possible implementation manner, the compound guide wheel includes: a guide wheel configured to contact the traveling surface; the auxiliary wheel is arranged on one side of the guide wheel, and the auxiliary wheel and the guide wheel are eccentrically arranged, so that the auxiliary wheel protrudes out of the guide wheel in the advancing direction, and a height difference is formed between a tangent line of the auxiliary wheel and the horizontal plane and a tangent line of the guide wheel and the horizontal plane.

With reference to the first aspect, in a possible implementation manner, a first eccentricity and a second eccentricity are provided between the auxiliary wheel and the guide wheel, the first eccentricity enables the auxiliary wheel to protrude out of the guide wheel in the advancing direction, and the second eccentricity enables the height difference to be provided between a tangent of the auxiliary wheel to the horizontal plane and a tangent of the guide wheel to the horizontal plane.

With reference to the first aspect, in one possible implementation manner, the first eccentricity is a horizontal eccentricity; wherein a horizontal tangent point of the auxiliary wheel is located on an outer diameter of the guide wheel to obtain the first eccentricity.

With reference to the first aspect, in one possible implementation manner, the height difference is 1/2 to 1/8 of the radius of the guide wheel.

With reference to the first aspect, in a possible implementation manner, the number of the auxiliary wheels is two, the two auxiliary wheels are respectively disposed on two opposite sides of the guide wheel, and the two auxiliary wheels are coaxially disposed.

With reference to the first aspect, in one possible implementation manner, the compound guide wheel further includes: a wheel axle; the guide wheel is provided with a wheel frame, the wheel frame comprises a top plate and a side plate, the side plate is connected with the top plate, the side plate is bent outwards and encloses an accommodating space, the guide wheel is partially arranged in the accommodating space, the side plate is provided with two opposite sides so as to be connected with the wheel shaft, and the auxiliary wheel is rotatably connected to one end, far away from the side plate, of the wheel shaft.

With reference to the first aspect, in one possible implementation manner, the compound guide wheel further includes: the bearing is rotationally connected to the wheel shaft; and/or the wheel shaft is fixedly connected with the wheel carrier in any one of welding, riveting and thread locking; the auxiliary wheel is fixedly sleeved on the peripheral surface of the bearing.

With reference to the first aspect, in a possible implementation manner, the chassis fixing frame further includes: the connecting plate is arranged at the front end of the chassis in the advancing direction and is connected with the chassis fixing frame; the two opposite sides of the connecting plate are respectively provided with one compound guide wheel, and the two suspension mechanisms are respectively positioned at the rear end of the chassis in the advancing direction.

With reference to the first aspect, in a possible implementation manner, the chassis fixing frame further includes: and the anti-collision frame is connected with the connecting plate.

A second aspect of the present application provides a robot comprising: the chassis described in any of the above implementations; the chassis fixing frame further comprises a mounting plate and a fixing beam, the supporting column is a square steel pipe, the fixing beam is connected to the chassis and far away from one end of the bottom plate, the fixing beam is provided with a horizontal mounting surface, and the horizontal mounting surface is attached to the mounting plate, so that the mounting plate is parallel to the bottom plate.

The robot provided by the second aspect of the present application includes the chassis in any of the above implementation manners, so that the robot has the technical effect of any of the above chassis, and is not described herein again.

Drawings

Fig. 1 is a schematic perspective view of a chassis according to some implementations of the present disclosure.

Fig. 2 is a schematic perspective view of a chassis fixing frame of a chassis according to some implementations of the present disclosure.

Fig. 3 is a front view of a chassis fixing frame of a chassis provided in some implementations shown in fig. 2.

Fig. 4 is a schematic side view of a chassis fixing frame of a chassis provided in some implementations shown in fig. 2.

Fig. 5 is a schematic top view of a chassis mount of the chassis provided in some implementations shown in fig. 2.

Fig. 6 is a schematic perspective view of a suspension mechanism of a chassis according to some implementations of the present disclosure.

Fig. 7 is a schematic perspective view of a suspension mechanism of a chassis according to further embodiments of the present disclosure.

Fig. 8 is a perspective view of a partial structure of a suspension mechanism of a chassis according to some implementations of the present disclosure.

FIG. 9 is a schematic view showing an enlarged structural formula at B in FIG. 8.

Figure 10 is a perspective view of a compound steerable wheel of a chassis according to some implementations of the present application.

Fig. 11 is a front view of a double guide wheel of a chassis provided in the implementation shown in fig. 10.

Figure 12 is a side view of a dual steerable wheel of the chassis provided by the implementation shown in figure 10.

Fig. 13 is a schematic top view of a compound guide wheel of the chassis provided by the implementation shown in fig. 10.

Figure 14 is a schematic bottom view of the compound steerable wheels of the chassis provided by the implementation shown in figure 10.

Fig. 15 is a schematic structural diagram of a robot according to some implementations of the present disclosure.

Fig. 16 is a front view schematic diagram of a robot according to another implementation manner of the present application.

Fig. 17 is a schematic perspective view of a robot according to another embodiment of the present disclosure.

Fig. 18 is a schematic front view of a robot according to some implementations of the present disclosure before the upper threshold.

Fig. 19 is a front view of a dual guide wheel threshold procedure of a front portion of a robot according to some implementations of the present disclosure.

Fig. 20 is a front view of a compound idler wheel at the front of a robot according to some implementations of the present disclosure.

Fig. 21 is a schematic front view of a driving wheel of a robot according to some implementations of the present disclosure after being locked.

Fig. 22 is a front view of a compound idler wheel at the front of a robot according to some implementations of the present disclosure.

Fig. 23 is a schematic front view of a driving wheel of a robot according to some implementations of the present disclosure after being stepped down.

Detailed Description

The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

Summary of the application

In order to solve the technical problems of poor bearing effect and unstable walking of a chassis fixing frame in the background technology, the diameter of a wheel body can be increased, and the unstable phenomenon of the chassis in the walking process can be improved. However, since the wheel is mounted in a limited size of the bottom space of the chassis, the wheel is limited in diameter by increasing the diameter of the wheel.

In view of the above technical problems, the basic idea of the present application is to provide a chassis and a robot. The chassis is split into two layers: the first layer is used for enabling the bearing capacity to be concentrated in the vertical direction perpendicular to the walking surface; the second layer is used for ensuring that the whole structure is more stable. Because the supporting columns are vertically connected to the bottom plate, the bearing capacity can be concentrated in the vertical direction, and the bottom plate is connected with the supporting columns to ensure the stability and the stationarity of the whole structure.

It should be noted that the chassis provided by the present application can be applied to a robot in any scene. Specifically, the mechanical structure is designed to complete a specific work task in a manner of completing a specific mechanical action or information transmission through a corresponding mechanical structure or a part or all of components in the mechanical structure.

Having described the general principles of the present application, various non-limiting embodiments of the present application will now be described with reference to the accompanying drawings.

Exemplary Chassis

Fig. 1 is a schematic perspective view of a chassis according to some implementations of the present disclosure. As shown in fig. 1, the chassis 100 includes a chassis mount 200 and a suspension mechanism 100. The chassis fixing frame 200 includes a bottom plate 210 and a plurality of supporting columns 220, for example, the number of the supporting columns 220 may be four, and the supporting columns 220 are spaced from each other and are annularly disposed on the bottom plate 210, so that supporting forces can be uniformly distributed on the bottom plate 210, and the structure is more stable. And the supporting column 220 is perpendicular to the bottom plate 210, so that the bearing capacity can be concentrated on the supporting column 220, the shaking phenomenon of the chassis 100 in the walking process can be reduced, and the stability is improved. The suspension mechanism 200 is connected to a support column 220. The suspension mechanism 100 includes at least two wheel assemblies, which are disposed opposite to each other, and the wheel assembly is configured to travel on a traveling surface.

More specifically, chassis mount 200 adopts the all steel construction, and a plurality of support columns 220 all rely on a plurality of support columns as main spandrel girder with all atresss, and rethread bottom plate 210 carries out the fixed of overall position to ensure that a plurality of support columns 220 atress is even in the vertical direction, it is firm reliable, can reduce the impact force that chassis 10 received at the walking in-process, thereby make chassis 10 more steady at the walking in-process.

With continuing reference to fig. 1, with reference to the first aspect, in a possible implementation manner, the chassis 10 further includes an electrical box 800, and the chassis fixing frame 200 further includes: the side plate assembly 230, the side plate assembly 230 is connected on a plurality of support columns, can further strengthen the overall structural strength of chassis mount. The side plate assembly 230 includes the plate body assembly that sets up in both sides, and the plate body assembly includes the curb plate and connects the end plate, connects the end plate to be connected with the support column that corresponds the side respectively with the curb plate, and two curb plates set up relatively to enclose out accommodation space on bottom plate 210. In accommodation space was arranged in to electronic box 800, reduced the structural dimension on chassis, electronic box 800 can dismantle with curb plate subassembly 230 and be connected, conveniently maintains the electronic box.

With continued reference to fig. 1, in one possible implementation, the chassis 10 further includes an electrical box limiting structure 250, where the electrical box limiting structure 250 includes: joint groove 253, joint portion 251 and side connecting plate 255, joint groove 253 locates on the electronic box, and joint portion 251 locates in the accommodation space, and joint portion 251 is connected with curb plate subassembly 230, and the bulge of joint portion 251 and the shape looks adaptation of the sunk part of joint groove 253 for joint portion 251 and joint groove 253 joint. The side connecting plate is provided with a plurality of through holes to penetrate through the fasteners, so that the side connecting plate is detachably connected with the side plate assembly 230. Wherein, because the electronic box need dismantle when routine maintenance and overhaul and change the battery, through the opposite sex screens that adopts joint groove 253 and joint portion 251, can control the displacement of four aspects about from top to bottom, then it is fixed to align through the screw at the rear end ensures that whole electronic box can not be strikeed or the vibrations by external force and take off at the in-process of robot motion.

Fig. 6 is a schematic perspective view of a chassis according to some implementations of the present disclosure. As shown in fig. 6, the suspension mechanism 100 includes: a link 120 and a spring follower 140.

Specifically, each link 120 is connected to a corresponding wheel assembly, the wheel assembly is connected to the link 120, the elastic pressing member 140 abuts against the link 120, the elastic pressing member 140 is configured to press the link 120, so that the wheel assembly generates friction force with the contact surface, or the elastic pressing member 140 is configured to loosen the link 120. Under the pressing action of the elastic pressing member 140, the connecting rod 120 enables the wheel body assembly to cling to the ground to generate sufficient friction force, so as to drive the wheel body in the advancing direction in the wheel body assembly to be firstly limited, and then along with the gradual release of the elastic force of the elastic pressing member 140, the friction force between the wheel body assembly and the ground is gradually reduced, thereby avoiding the generation of violent jolt.

Fig. 8 is a perspective view of a partial structure of a suspension mechanism of a chassis according to some implementations of the present disclosure. As shown in fig. 8, in one possible implementation, the wheel assembly includes a driving wheel 130 and a multiple guide wheel 110, the driving wheel 130 is rotatably connected to the link 120, and the multiple guide wheel 110 is connected to the link 120. The connecting rod 120 has a first end 121 and a second end 123, the driving wheel 130 is disposed at the first end 121, and the multiple guide wheel 110 is disposed at the second end 123.

Specifically, with reference to fig. 8, the driving wheel 130 is rotatably connected to the first end 121, and fig. 9 is an enlarged schematic diagram of B in fig. 8. As shown in fig. 9, a driving wheel shaft 1301 is disposed at the bottom of the first end 121, and the driving wheel 130 is rotatably connected to the driving wheel shaft 1301. The driving wheel 130 is used for driving the suspension mechanism 100 to walk, and the compound guide wheel 110 is connected with the second end 123 through the wheel carrier 111. The driving wheel 130 is mounted on the suspension mechanism 100 and used together with the multiple guide wheels 110, and can serve as a balance wheel, which can improve stability during traveling. In addition, the suspension mechanism 100 as a separate component also improves its adaptability. The suspension mechanism 100 provides the driving force through the driving wheel 130 so that the compound guide wheel 110 can pass over the threshold of the corresponding height, and the suspension mechanism 100 can pass over the threshold of the corresponding height, thereby improving the application range of the suspension mechanism 100.

More specifically, the driving wheel 130 is used for driving the suspension mechanism 100 to walk, and the compound guide wheel 110 is connected to the second end 123 through the wheel carrier 111. The driving wheel 130 is mounted on the suspension mechanism 100 and used together with the multiple guide wheels 110, and can serve as a balance wheel, which can improve stability during traveling. In addition, the suspension mechanism 100 as a separate component also improves its adaptability. The suspension mechanism 100 provides the driving force through the driving wheel 130 so that the compound guide wheel 110 can pass over the threshold of the corresponding height, and the suspension mechanism 100 can pass over the threshold of the corresponding height, thereby improving the application range of the suspension mechanism 100.

With continued reference to fig. 6, in one possible implementation, the elastic pressing member 140 includes a pressing plate 141 and a first elastic member 143, one end of the first elastic member 143 abuts against the link 120, and the other end of the first elastic member 143 abuts against the pressing plate 141. Wherein the pressing plate 141 is configured to press the first elastic member 143 such that the first elastic member 143 presses the link 120. Or the pressing plate 141 is configured to relax the first elastic member 143. It can be understood that the elastic member 141 has elasticity, and after being pressed by the pressing plate 141, the elastic member 141 can react to the link 120 under the action of the elastic force, so that the friction force of the wheel body assembly on the link 120 can be increased. The pressing plate 141 presses the elastic member 141 under the driving of the power mechanism, so that the elastic member 141 presses the connecting rod 120.

Fig. 7 is a schematic perspective view of a suspension mechanism of a chassis according to further embodiments of the present disclosure. As shown in fig. 7, in one possible implementation, the first elastic member 143 includes: a mounting shaft 1431 and a torsion spring 1433, the mounting shaft 1431 being mounted transversely, and the mounting shaft 1431 being configured to rotate.

Torsion spring 1433 is sleeved on the installation shaft 1431. Wherein, the pressing plate 141 is connected to the mounting shaft 1431. The pressing plate 141 may be U-shaped, so that plate bodies on both sides of the pressing plate 141 are fixedly connected to the mounting shafts 1431, respectively, to be capable of rotating synchronously with the mounting shafts 1431. One end of the torsion spring 1433 abuts the pressing plate 141 and the other end of the torsion spring 1433 abuts the link 120, it being understood that one end of the torsion spring 1433 is connected to the bottom plate of the pressing plate 141 and the other end of the torsion spring 1433 is connected to the first end 121, so that the pressing force of the torsion spring 1433 can be quickly applied to the driving wheel 130.

More specifically, as shown in fig. 7, the power mechanism for the pressing plate 141 to drive the first elastic member 143 to press the connecting rod 120 may be an adjusting screw 160, the adjusting screw 160 is in threaded connection with the chassis fixing frame, and the adjusting screw 160 is configured to be screwed in and out to be abutted against the pressing plate 141 or to be screwed out and disengaged from the pressing plate 141. Wherein, the chassis fixing frame is provided with a vertical plate, and the vertical plate is provided with a threaded hole to penetrate through the adjusting screw 160. The adjusting screw 160 is used as a power mechanism, the structure is simple, the adjustment is convenient, the adjusting screw 160 can be used as power for driving the pressing plate 141, the bearing force of the torsion spring 1433 can be adjusted according to different loads on the chassis, and the effect of stable transition between the ridge and the concave-convex road surface is achieved.

More specifically, when the pressing plate 141 is rotated counterclockwise by the forward adjustment of the adjustment screw 160 via the mounting shaft 1431, the end of the torsion spring 1433 contacting the pressing plate 141 is pressed, which causes the end of the torsion spring 1433 contacting the link 120 to press downward, and then increases the friction force between the driving wheel 130 and the ground. Meanwhile, the lower end of the tension spring is fixed on the rotating shaft 323, and the upper end of the traction member is fixed on the chassis frame, so that when the adjusting screw 160 is adjusted and pushed forward to enable the pressing plate 141 to rotate counterclockwise through the mounting shaft 1431, one end of the torsion spring 1433 contacting the pressing plate 141 is pressed, and the chassis is wholly tilted up and turned backwards.

Because the torsion spring 1433 is linearly deformed, the releasing and bearing forces are relatively stable in the whole threshold passing process, and the vibration generated by the chassis in the threshold passing process is restricted by the tension of the tension spring, so that the buffering is reduced.

Fig. 17 is a schematic perspective view of a robot according to another embodiment of the present application. As shown in fig. 17, the first elastic member 143 includes: a post 1435 and a compression spring 1437, one end of the post 1435 being connected to the link 120.

Wherein, the chassis mount has a fixing plate 1439, one end of the upright 1435 is connected with the chassis mount through the fixing plate 1439, and the other end of the upright 1435 is connected to the first end 121.

Specifically, the compression spring 1437 is sleeved on the column 1435. One end of the upright 412 is connected to the chassis fixing bracket 200 through a fixing plate 1439, and the other end of the connecting rod 120 is connected to the mounting seat 321 provided at the first end 121.

The pressing plate 141 is sleeved on the upright 1435, the pressing plate 141 is located at the bottom of the upright 1435, and the pressing plate 141 is connected to the upright 1435 in a sliding manner, which can be understood that the pressing plate 141 can slide up and down along the upright 1435. One end of the pressing spring 1437 in the elastic direction abuts against the pressure plate 141. The other end of the pressure spring 1437 along the elastic direction is abutted against the chassis fixing frame, it can be understood that the pressing plate 141 and the upright post 1435 are in threaded connection to realize the relative sliding in the axial direction between the pressing plate 141 and the upright post 1435, the pressing plate 141 can be made to press the pressure spring 1437 or elongate the pressure spring 1437 by rotating the pressing plate 141, so as to achieve the purpose of pressing the connecting rod 120 or loosening the connecting rod 120 by adjusting the elastic deformation amount of the pressure spring 1437. Wherein the power of the pressing plate 141 can be provided manually, for example, by manually rotating the pressing plate 141.

Fig. 16 is a front view schematic diagram of a robot according to another implementation manner of the present application. As shown in fig. 16, in one possible implementation, the suspension mechanism 100 further includes: is connected to the shaft 150.

With continued reference to fig. 3, the links 120 have axle mounting holes 125, the axle mounting holes 125 being located between the first end 121 and the second end 123, and the connecting axle 150 is configured to rotatably connect the two links 120 through the axle mounting holes 125. It will be appreciated that the shaft mounting holes 125 are configured to mount the connecting shaft 150 such that one end of the connecting shaft 150 is rotatably coupled to the shaft mounting hole 125 on one of the links 120 and the other end of the connecting shaft 150 is rotatably coupled to the mounting hole 125 on the other link 120. The connecting shaft 150 serves to connect the two connecting rods 120, so that the structure of the suspension mechanism 100 is more stable, and the connecting shaft 150 rotatably connects the two connecting rods 120, so that the structures of the compound guide wheel 110 and the driving wheel 130 on both sides can be balanced, and the compound guide wheel 110 is prevented from being inclined or turned over during steering.

Exemplary Compound guide wheel

Figure 10 is a perspective view of a compound steerable wheel of a chassis according to some implementations of the present application. As shown in fig. 10, the multiple guide wheel 110 includes: a guide wheel 111 and an auxiliary wheel 113.

Specifically, the guide wheels 111 are configured to contact the running surface. Specifically, the auxiliary wheel 113 is disposed on one side of the guide wheel 111, the auxiliary wheel 113 and the guide wheel 111 are eccentrically disposed, so that the auxiliary wheel 113 protrudes from the guide wheel 111 in the forward direction, a height difference H is formed between a tangent of the guide wheel 111 and the horizontal plane and a tangent of the auxiliary wheel 113 and the horizontal plane, and the auxiliary wheel 113 is suspended, so that the auxiliary wheel 113 can be in contact with the ridge first in the forward direction of the multiple guide wheel 110.

More specifically, the guide wheels 111 are configured to contact the running surface. Before the double entry leading wheel 110 does not cross the bank, because the auxiliary wheel 113 is unsettled, leading wheel 111 and ground contact each other, because the height of bank is higher than ground, and the auxiliary wheel is protruding leading wheel 111 in the advancing direction, therefore, crossing the bank in-process, auxiliary wheel 113 contacts with the bank earlier, under the effect of frictional force, auxiliary wheel 113 climbs along the bank, thereby drive leading wheel 111 and climb up the bank, when auxiliary wheel 113 climbs the height of difference in height H, then leading wheel 111 contacts with the bank, make leading wheel 111 drive auxiliary wheel 113 again and continue to climb the bank, until crossing the bank, thereby through the bank mode of crossing in two stages, double entry leading wheel 110 can climb over the bank. The height of the sill that the auxiliary wheel 113 can climb over corresponds to the height difference between the tangent line of the guide wheel and the horizontal plane and the tangent line of the auxiliary wheel and the horizontal plane. Therefore, as long as a proper height difference is designed, the multiple guide wheels 111 can cross the threshold with a considerable height, and then the guide wheels 111 cross the threshold again, which is realized by splitting the threshold crossing process of the guide wheels 111 into two stages, so that the range of the height of the threshold which can be crossed by the multiple guide wheels 110 is increased, and the application range of the multiple guide wheels 110 is also increased.

Fig. 11 is a front view schematically illustrating a dual guide wheel according to the implementation shown in fig. 10. As shown in fig. 11, the projection of the auxiliary wheel 113 and the guide wheel 111 in the axial direction partially overlap, it can be understood that the auxiliary wheel 113 and the guide wheel 111 are eccentrically disposed, at least an eccentric distance is formed in the forward direction, the auxiliary wheel 113 protrudes from the guide wheel 111 in the forward direction, however, the eccentric distance between the auxiliary wheel 113 and the guide wheel 111 in the forward direction is smaller than the sum of the radius of the auxiliary wheel 113 and the radius of the guide wheel 111, and therefore, when the composite guide wheel 110 passes the threshold, the auxiliary wheel 113 first contacts with the threshold to climb, and the guide wheel 111 then contacts with the threshold to climb, so that the composite guide wheel 110 can be ensured to pass the threshold in two stages.

In addition, since the multiple guide wheel 110 has at least one auxiliary wheel 113, the multiple guide wheel 110 can achieve one-sided passing of an obstacle.

With continued reference to fig. 11, in one possible implementation, the auxiliary wheel 113 and the guide wheel 111 have a first eccentricity a1 and a second eccentricity a2 therebetween, it being understood that the first eccentricity a1 is the eccentric distance formed by the auxiliary wheel 113 and the guide wheel 111 in the forward direction. The auxiliary wheel 113 and the guide wheel 111 have two eccentricities therebetween, i.e., a first eccentricity a1 is an eccentricity in a horizontal direction, and a second eccentricity a2 is an eccentricity in a height difference direction, i.e., a vertical eccentricity. The first eccentricity a1 makes the auxiliary wheel 113 protrude from the guide wheel 111 in the forward direction, and the second eccentricity a2 makes the auxiliary wheel 113 float. Therefore, the guide wheel 111 can meet the requirement of rotation within a certain diameter range and can also meet the height difference H, and the auxiliary wheel 113 can be in contact with the ridge in the walking direction.

With continued reference to fig. 11, in one possible implementation, the first eccentricity a1 is a horizontal eccentricity, wherein a bottom horizontal tangent of the auxiliary wheel 113 is tangent to an outer diameter of the auxiliary wheel 113 at a determined height difference to form a horizontal tangent point C, and the horizontal tangent point C of the auxiliary wheel 113 is located on the outer diameter of the guide wheel 111 to obtain the first eccentricity a1, which is an optimal first eccentricity, so that the multiple guide wheel 110 is more stable during the threshold crossing process.

More specifically, taking a three-inch guide wheel as an example, the radius of the guide wheel 111 is 75 mm, and the radius of the auxiliary wheel 113 is 80 mm. The height difference H is 6.5 mm to 13 mm, and preferably 9.5 mm to 10 mm, so that the height of the double guide wheel 110 capable of passing the threshold is increased. The first eccentricity a1 is 20mm to 26 mm, preferably 23 mm, and is smaller in a similar 3 "guide wheel, which is better for small radius steering. Wherein, the guide wheel 111 can be a universal wheel.

With continued reference to FIG. 11, in one possible implementation, the height difference H is 1/2 to 1/8 of the radius of the guide wheel 111, it being understood that the height difference H can be 1/2 of the guide wheel radius, 1/5 of the guide wheel radius, 1/8 of the guide wheel radius.

With continued reference to fig. 10, in one possible implementation, the auxiliary wheels 113 are provided in two, two auxiliary wheels 113 are respectively provided on two opposite sides of the guide wheel 111, and the two auxiliary wheels 113 are coaxially provided. The auxiliary wheels 113 are rotatably connected to the wheel shaft 117, and the two auxiliary wheels 113 are respectively disposed on two opposite sides of the guide wheel 111, so that the compound guide wheel 110 is more stable and stable in the walking process and has a certain bearing capacity.

Figure 12 is a side view of the dual guide wheel provided in the implementation shown in figure 10. As shown in fig. 12, in one possible implementation, the multiple guide wheel 100 further includes: the wheel shaft 117, wherein the guide wheel 111 has a wheel frame 115, the wheel frame 115 includes a top plate 1151 and a side plate 1153, the side plate 1153 is connected to the top plate 1151, and the side plate 1153 is bent outward and encloses a receiving space, the guide wheel 111 is partially disposed in the receiving space, and it can be understood that the wheel body of the guide wheel 111 is partially disposed in the receiving space. The side plate 1153 has opposite sides to be coupled to the axle 117, and the auxiliary wheel 113 is rotatably coupled to an end of the axle 117 remote from the side plate 1153.

Specifically, the axle 117 is connected to the outside of the wheel frame 115. The wheel shaft 117 is fixedly connected with the wheel frame 115. The wheel body of the guide wheel 111 is rotatably connected in the wheel frame 115, and the guide wheel 111 and the auxiliary wheel 113 are eccentrically arranged, which can be understood that the axle center of the guide wheel 111 is not concentric with the axle center of the auxiliary wheel 113. The guide wheels 111 are able to cross road surfaces of different heights during walking.

More specifically, as shown in continuing reference to fig. 12 and 10, the wheel carriage 115 includes: a top plate 1151 and side plates 1153, wherein the side plates 1153 form a U-shaped structure, and the side plates 1153 are connected with the top plate to form a receiving space for mounting the wheel body of the guide wheel 111. Wherein one end of one axle 117 is attached to one side of side plate 1153. One end of the other axle 117 is connected to the other side of side plate 1153. Fig. 13 is a schematic top view of the dual guide wheel provided in the implementation shown in fig. 5. As shown in fig. 13, the side plate 1153 has a bent portion such that the cross section of the side plate 1153 is formed in a U shape having an outwardly convex structure, and the convex portion of the bent portion faces the auxiliary wheel 113, so that the wheel body of the guide wheel 111 placed in the receiving space does not interfere with the side plate 1153, and the structural strength of the side plate 1153 can be improved. The wheel body of the guide wheel 111 is located in the accommodating space, and the auxiliary wheel 113 is located outside the accommodating space, so that mutual interference between the guide wheel 111 and the auxiliary wheel 113 can be avoided. Figure 14 is a schematic bottom view of the compound steerable wheels of the chassis provided by the implementation shown in figure 10. As shown in fig. 14, a threaded hole is provided in the top plate 1151 for mounting the multiple guide wheel 100 via a fastener.

With continuing reference to fig. 11 and 14, in a possible implementation manner, the multiple guide wheel 100 further includes a bearing 119, the bearing 119 is rotatably connected to the axle 117, and/or the axle 117 is fixedly connected to the wheel frame 115 by any one of welding, riveting and screwing, wherein the auxiliary wheel 113 is fixedly sleeved on an outer circumferential surface of the bearing 119, so that the auxiliary wheel 113 can rotate synchronously with the bearing 119, and the auxiliary wheel 113 is mounted through the bearing 119, so that resistance generated by direct friction between the auxiliary wheel 113 and the axle 117 can be reduced.

Fig. 15 is a schematic structural diagram of a robot according to some implementations of the present disclosure. As shown in fig. 15, the robot includes: the chassis 10 in either implementation; fig. 2 is a schematic perspective view of a chassis fixing frame of a chassis according to some implementations of the present disclosure. As shown in fig. 2, the chassis fixing frame 200 further includes a mounting plate 280 and a fixing beam 240, the supporting column 220 is a square steel pipe, the fixing beam 240 is connected to one end of the supporting column 220 of the chassis, which is far away from the bottom plate 210, the fixing beam 240 has a horizontal mounting surface, and the horizontal mounting surface is attached to the mounting plate 280, so that the mounting plate 280 and the bottom plate 210 are parallel to each other. The mounting plate 280 serves to fix and ensure that the plastic housing is not deformed when external impact is applied thereto or is deformed due to environmental changes when it is left for a long time.

The chassis 10 also includes a traction member 300 and the suspension mechanism 100 in the above described implementation. The drawing member 300 is connected with the chassis fixing frame 200. In either implementation of the suspension mechanism 100, the suspension mechanism 100 is coupled to a traction element 300. Wherein, the drawing member 300 is connected with the chassis fixing frame 200, and the connecting rod 120 is connected to the drawing member 300. The suspension mechanism 100 is connected with the suspension mechanism 100 through the traction piece 300, and therefore the stability of the suspension mechanism 100 in the threshold passing process is improved.

With continued reference to fig. 7, in a possible implementation manner, the chassis 10 further includes a pulling member 300, an upper end of the pulling member 300 is connected to the chassis fixing frame 200, a lower end of the pulling member 300 is connected to the connecting rod 120, and the suspension mechanism 100 can be connected to the chassis fixing frame 200 through the pulling member 300.

Specifically, the pulling member 300 includes: the elastic member 310 may be, for example, a tension spring. One end of the elastic member 310 along the elastic direction is connected with the chassis fixing frame 200, and the other end of the elastic member 310 along the elastic direction is connected with the connecting rod 120, so that the elastic member 310 can play a role in drawing the connecting rod 120 under the action of the elastic force, and the structure is simple and reliable.

Continuing with fig. 9, in one possible implementation, the pulling member 300 further comprises: and a spacing rotating member 320, the spacing rotating member 320 being rotatably connected to the first end 121 of the connecting rod 120, the spacing rotating member 320 being configured to rotate at an acute angle. The other end of the elastic element 310 along the elastic direction is connected to the limiting rotation element 320, so that the elastic element 310 can rotate at a certain angle under the limiting action of the limiting rotation element 320, the acting force generated by the elastic element 310 in the compression or extension process is improved, and the elastic element 310 cannot rotate without limit to lose the traction function.

With continued reference to fig. 9, in one possible implementation, the first end is provided with a mounting seat 321, and the rotation limiting member 320 includes: a rotating shaft 323 and a limit pin 325, the mounting seat 321 is disposed at the first end 121, the rotating shaft 323 is rotatably connected to the mounting seat 321, and the rotating shaft 323 is located above the end surface 1211 of the first end, it can be understood that the rotating shaft 323 is spaced from the end surface 1211 of the first end. The limit pin 325 radially penetrates through one end of the rotating shaft 323 extending out of the mounting seat 321, wherein the length of the limit pin 325 penetrating out of the two ends of the rotating shaft 323 is not less than the distance between the limit shaft and the end face of the first end 121, so that the limit pin 325 is abutted against the end face of the first end 121 along with the rotating shaft 323 in the rotating process. Wherein the other end of the elastic member 310 in the elastic direction is connected to the rotation shaft 323. That is, in a normal state, the stopper pin 325 is horizontally disposed so that the rotation of the stopper pin 325 does not exceed 90 °. The other end of the rotation shaft 323 opposite to the end where the stopper pin 325 is disposed is connected to the elastic member 310. Wherein, the two ends of the elastic member 310 may be provided with hook structures to facilitate the connection and fixation of the elastic member 310.

Continuing with fig. 7, in one possible implementation, the pulling member 300 further comprises: a first adjustment lever 330, the first adjustment lever 330 being coupled with the chassis fixing frame 200, the first adjustment lever 330 being configured to be extended or shortened in an elastic direction of the elastic member 310. Wherein, one end of the elastic member 310 along the elastic direction is connected to the first adjustment lever 330. The first adjusting rod 330 may be a threaded rod, and a threaded hole is formed in the chassis fixing frame 200, so that the first adjusting rod 330 and the chassis fixing frame 200 can be in threaded connection. The elastic member 310 is coupled to the first adjustment lever 330, and when the extension length of the first adjustment lever 330 is adjusted, the elastic member 310 is stretched or shortened. It will be understood that the chassis 10 tends to lean back excessively when the force of the torsion spring 1433 is released, or that the chassis 10, when equipped with the upper mount, tends to tilt back due to the upper elevation angle in the case of the upper sill. The adjustment of the elastic elongation of the elastic member 310 by the adjustment screw 160 can be used to balance the tendency of the chassis to lean backward or tilt backward.

Continuing with fig. 16, in one possible implementation, the chassis 10 further includes: and a second adjustment lever 600, the second adjustment lever 600 being coupled to the chassis fixing frame 200, the second adjustment lever 600 being positioned above the top surface of the second end 123, the second adjustment lever 600 being configured to abut against or be separated from the top surface of the second end 123. The second adjusting rod 600 may be a threaded rod, and a threaded hole is formed in the chassis fixing frame 200, so that the second adjusting rod 600 and the chassis fixing frame 200 can be in threaded connection. Be equipped with wear-resisting piece 900 at second end 123, when the precession of second regulation pole 600, second regulation pole 600 supports down on wear-resisting piece 900, can be to when the bank, the chassis is at the back-up in-process, if the extension spring does not play a role, can play the secondary guard action to suspension mechanism 100.

Fig. 17 is a schematic perspective view of a robot according to some implementations of the present disclosure. As shown in fig. 17, the robot 1 includes: the chassis 10 in either implementation. The chassis fixing frame 200 of the chassis 10 has a mounting plate 280, and fig. 5 is a schematic top view of the chassis fixing frame of the chassis provided in some implementations shown in fig. 2. As shown in fig. 5, the mounting plate 280 is horizontally disposed so that the robot 1 can be loaded through the mounting plate 280, suitable for extremely low speeds through high obstacles. The robot 1 can rotate on the high-fall ground due to the fact that the compound guide wheels 110 in any one of the above-mentioned implementation modes can be used as universal wheels. In addition, since the robot 1 includes the chassis 10 in any of the above-described implementations, the technical effect of the chassis 10 in any of the above-described implementations is achieved, and details are not described here.

As shown in fig. 15, in a possible implementation manner, the robot further includes: a connecting plate 260 and a compound guide wheel 110 in either implementation. Fig. 3 is a front view of a chassis fixing frame of a chassis provided in some implementations shown in fig. 2. As shown in fig. 3, the coupling plate 260 is coupled to the chassis fixing frame 200, and the multiple guide wheels 110 are coupled to the coupling plate 260. Wherein the driving wheel 130 is located between the two compound guide wheels 110 in the direction of travel of the chassis. It will be appreciated that the attachment plate 260 ensures that the compound guide wheel 110 is not deformed or damaged when subjected to direct front forces and impacts associated with ground irregularities.

Four groups of compound guide wheels 110 are arranged on the chassis 10, so that the robot 1 is more stable in the process of walking and passing through the threshold.

Continuing with fig. 15, in one possible implementation, the chassis 10 further includes: fig. 4 is a schematic side view of a chassis fixing frame of a chassis provided in some implementations shown in fig. 2, illustrating a crash barrier 270. As shown in fig. 4, the collision prevention frame 270 is connected to the connection plate 260 and may be used to protect the multiple guide wheels 110 connected to the connection plate 260 from being collided, which will not be described in detail herein. The impact beam 270 is rigidly fixed, which ensures that the external plastic part is displaced and deformed after being stressed by collision. While ensuring that the internal impact mechanism can be effectively triggered.

In one possible implementation, the robot 1 has a counterweight center of gravity located in front of the drive wheels 130 of the chassis 10 to enable more efficient passage of ground height obstacles or height drops.

Fig. 18 is a schematic front view of a robot according to some implementations of the present disclosure before the upper threshold. As shown in fig. 18, the driving wheel 130 and the guide wheel 111 are supported on the ground, and the auxiliary wheel 113 is suspended. At this time, the angle θ between the mounting plate 280 and the horizontal plane₁Zero, i.e., no tilting of the mounting plate 280 occurs.

Fig. 19 is a front view of a dual guide wheel 110 in front of a robot according to some implementations of the present disclosure. As shown in fig. 19, when the driving wheel 130 is started, the front compound guide wheel 110 is pushed to climb up to the threshold a, the suspension mechanism 100 causes the driving wheel 130 to tightly contact the ground to generate enough friction force under the action of the tension of the torsion spring 1433, the tension of the torsion spring 1433 generates larger friction force by pressing the torsion spring 1433 through the pressing plate 141, the front compound guide wheel 110 is driven to climb up to the threshold a, and the traction member 300 ensures that the center of gravity of the chassis increases the friction force of the suspension mechanism 100 forward, and also ensures that other structures are configured on the chassis, and therefore, the situation of backward tilting is not generated at a certain height. At this time, the robot is climbing a slope, and thus, the chassis is inclined such that the angle θ between the mounting plate 280 and the horizontal plane₁And gradually increases, so that the elastic member 310 and the first adjustment lever 330 are separated from each other, and backward tilting is prevented.

Fig. 20 is a front view of a compound idler wheel 110 at the front of a robot according to some implementations of the present disclosure. As shown in fig. 20, when the front compound guide wheel 110 passes over the threshold,the driving wheel 130 is supported on the ground without passing the upper threshold a, and the inclination angle of the chassis can be maximized, that is, the included angle θ between the mounting plate 280 and the horizontal plane is made₁At the maximum, the elastic member 310 and the first adjustment lever 330 are continuously in a disengaged state.

Fig. 21 is a schematic front view of a driving wheel 130 of a robot according to some implementations of the present disclosure after being locked. As shown in fig. 21, when the driving wheel 130 starts to climb the threshold a, the angle θ between the mounting plate 280 and the horizontal plane₁And is tapered to connect the elastic member 310 and the first adjustment lever 330.

Fig. 22 is a front view of a compound idler wheel 110 at the front of a robot according to some implementations of the present disclosure. As shown in fig. 22, when the front compound guide wheel 110 climbs over the upper threshold a and enters the first walking surface b, climbs over the lower threshold c and enters the second walking surface d, and the chassis 10 is tilted again, at this time, the included angle θ between the mounting plate 280 and the horizontal plane₁And gradually increases again.

Fig. 23 is a schematic front view illustrating a driving wheel 130 of a robot according to some implementations of the present disclosure after being locked. As shown in fig. 23, when the driving wheel 130 also enters the second traveling road surface d, the inclination angle of the chassis 10 starts to gradually decrease again, and at this time, the angle θ between the mounting plate 280 and the horizontal plane₁And becomes smaller again, so that the first adjustment lever 330 and the elastic member 310 can be disengaged from each other.

This application has increased auxiliary wheel 113 through the unchangeable prerequisite of diameter at original leading wheel 111, through leading auxiliary wheel 113 earlier, has increased the bank height through the principle of leading wheel 111 again and can reach 20mm, simultaneously, on the compound leading wheel 110 with the integrated connecting rod 120 of drive wheel 130, make balanced type suspension mechanism 100 through elastic component 310, can deal with different concave-convex road surface. The chassis 10 is composed of two driving wheels 130 and four compound guide wheels 110, the driving wheels 130 are installed on the suspension mechanism 100 and are composed of the compound guide wheels 110 at the rear part to be used together as balance wheels, and the height of the auxiliary wheels 113 from the ground is defined according to the height of the required threshold. The adjusting screw 160 adjusts the bearing force of the torsion spring 1433 according to different loads on the chassis, and plays a role in smooth transition between the step and the concave-convex road surface. When the acting force of the torsion spring 1433 is on the connecting rod 120, the left and right swinging is kept balanced through the mounting shaft 1431, and the situation that the front and back tilting cannot be excessively caused when the chassis is provided with the upper part is ensured, so that the robot has good trafficability to the concave-convex road surface, and has stability when the robot generates vibration during high-speed running.

The simple structure of the compound steerable wheel 110, suspension mechanism 100, chassis and robot of the present application provides significant market space for the cost of the equipment.

The whole chassis structure in this application adopts section bar and panel beating shaping, has promoted by a wide margin to the trafficability characteristic and the intensity nature of complete machine, ensures that product life can obtain promoting.

The present invention is not intended to be limited to the particular embodiments shown and described, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A chassis, comprising:

the chassis fixing frame comprises a bottom plate and a plurality of supporting columns, the supporting columns are mutually spaced and annularly arranged on the bottom plate, and the supporting columns are perpendicular to the bottom plate;

the suspension mechanism is connected with the supporting column;

wherein the suspension mechanism comprises at least two wheel assemblies, the two wheel assemblies are arranged oppositely, and the wheel assemblies are constructed to walk on a walking surface.

2. The chassis of claim 1, further comprising:

an electric box;

the chassis mount still includes: the side plate assembly is connected to the supporting columns in a plurality of modes, so that an accommodating space is enclosed on the bottom plate, the electric box is arranged in the accommodating space, and the electric box is detachably connected with the side plate assembly.

3. The chassis of claim 2, further comprising an electrical box restraining structure, the electrical box restraining structure comprising:

the clamping groove is arranged on the electric box;

the clamping portion is arranged in the accommodating space and connected with the side plate assembly, and the clamping portion is clamped with the clamping groove;

and the side connecting plate is detachably connected with the side plate assembly.

4. The chassis of any of claims 1 to 3, wherein the suspension mechanism comprises:

a connecting rod;

the elastic pressing piece is abutted with the connecting rod;

wherein each connecting rod is correspondingly connected with one wheel body assembly, and the elastic pressing piece is configured to press the connecting rod so as to generate friction force between the wheel body assembly and the contact surface; or the spring follower is configured to relax the link.

5. The chassis of claim 4, wherein the spring follower comprises:

pressing a plate;

one end of the first elastic piece is abutted with the connecting rod, and the other end of the first elastic piece is abutted with the pressing plate;

wherein the pressure plate is configured to press the first elastic member such that the first elastic member presses the link; or the pressure plate is configured to relax the first elastic member.

6. The chassis of claim 5, wherein the first resilient member comprises:

a mounting shaft configured to be rotatable;

the torsional spring is sleeved on the installation shaft, one end of the torsional spring is abutted to the pressing plate, and the other end of the torsional spring is abutted to the connecting rod;

wherein, the clamp plate is connected to the installation shaft.

7. The chassis of claim 6, wherein the suspension mechanism further comprises:

and an adjusting screw configured to be screwed in to be abutted against the pressing plate or to be screwed out to be disengaged from the pressing plate.

8. The chassis of claim 5, wherein the first resilient member comprises:

one end of the upright post is connected with the connecting rod;

the pressure spring is sleeved on the upright post;

the pressing plate is sleeved on the stand column and is in sliding connection with the stand column, and one end of the pressure spring in the elastic direction is abutted to the pressing plate.

9. The chassis of claim 4, wherein the suspension mechanism further comprises:

a connecting shaft;

wherein the connecting rods have shaft mounting holes, and the connecting shaft is configured to rotatably connect the two connecting rods through the shaft mounting holes.

10. The chassis of claim 4, wherein the wheel assembly comprises:

the driving wheel is rotationally connected with the connecting rod;

the compound guide wheel is connected with the connecting rod;

the connecting rod is provided with a first end and a second end, the driving wheel is arranged at the first end, and the compound guide wheel is arranged at the second end and connected with the first end.

11. The chassis of claim 10, wherein the compound directive wheel comprises:

a guide wheel configured to contact the traveling surface;

the auxiliary wheel is arranged on one side of the guide wheel, and the auxiliary wheel and the guide wheel are eccentrically arranged, so that the auxiliary wheel protrudes out of the guide wheel in the advancing direction, and a height difference is formed between a tangent line of the auxiliary wheel and the horizontal plane and a tangent line of the guide wheel and the horizontal plane.

12. The chassis of claim 11, wherein the auxiliary wheel and the guide wheel have a first eccentricity therebetween, the first eccentricity causing the auxiliary wheel to protrude from the guide wheel in the forward direction, and a second eccentricity causing the height difference between a tangent to the auxiliary wheel to the horizontal plane and a tangent to the guide wheel to the horizontal plane.

13. The chassis of claim 12, wherein the first eccentricity is a horizontal eccentricity; wherein a horizontal tangent point of the auxiliary wheel is located on an outer diameter of the guide wheel to obtain the first eccentricity.

14. Chassis according to any of the claims 11 to 13, characterized in that the height difference is 1/2 to 1/8 of the radius of the guide wheels.

15. The chassis according to any one of claims 11 to 13, wherein the auxiliary wheels are provided in two, the two auxiliary wheels are respectively provided on opposite sides of the guide wheel, and the two auxiliary wheels are coaxially provided.

16. The chassis of any of claims 11 to 13, wherein the compound directive wheel further comprises:

a wheel axle;

the guide wheel is provided with a wheel frame, the wheel frame comprises a top plate and a side plate, the side plate is connected with the top plate, the side plate is bent outwards and encloses an accommodating space, the guide wheel is partially arranged in the accommodating space, the side plate is provided with two opposite sides so as to be connected with the wheel shaft, and the auxiliary wheel is rotatably connected to one end, far away from the side plate, of the wheel shaft.

17. The chassis of claim 16, wherein the compound directive wheel further comprises:

the bearing is rotationally connected to the wheel shaft; and/or the wheel shaft is fixedly connected with the wheel carrier in any one of welding, riveting and thread locking;

the auxiliary wheel is fixedly sleeved on the peripheral surface of the bearing.

18. The chassis of claim 10, wherein the chassis mount further comprises:

the connecting plate is arranged at the front end of the chassis in the advancing direction and is connected with the chassis fixing frame;

the two opposite sides of the connecting plate are respectively provided with one compound guide wheel, and the two suspension mechanisms are respectively positioned at the rear end of the chassis in the advancing direction.

19. The chassis of claim 18, wherein the chassis mount further comprises:

and the anti-collision frame is connected with the connecting plate.

20. A robot, characterized in that the robot comprises:

the chassis of any one of claims 1 to 19;

the chassis fixing frame further comprises a mounting plate and a fixing beam, the supporting column is a square steel pipe, the fixing beam is connected to the chassis and far away from one end of the bottom plate, the fixing beam is provided with a horizontal mounting surface, and the horizontal mounting surface is attached to the mounting plate, so that the mounting plate is parallel to the bottom plate.