CN218477559U

CN218477559U - Remove chassis and robot

Info

Publication number: CN218477559U
Application number: CN202222692130.9U
Authority: CN
Inventors: 邓嵛文; 宋力康; 沈强强; 韩梓轩; 彭若愚
Original assignee: Lujian Technology Shenzhen Co ltd
Current assignee: Lujian Technology Shenzhen Co ltd
Priority date: 2022-10-13
Filing date: 2022-10-13
Publication date: 2023-02-14
Anticipated expiration: 2032-10-13

Abstract

The utility model provides a remove chassis and robot, relate to the robotechnology field, remove the chassis and include chassis frame, hang the mechanism, the mechanism of moving away to avoid possible earthquakes, omniwheel and power unit, it includes first suspension to hang the mechanism, second suspension and connection structure, connection structure includes link and transmission shaft, the transmission shaft rotates to be connected in the link, power unit connects in the link, and power unit passes through the transmission shaft and is connected with the omniwheel drive, the one end of first suspension articulates in the link and is close to the tip of ground direction, and the other end articulates in chassis frame near the tip of ground direction, the one end of second suspension articulates in the link and keeps away from the tip of ground direction, and the other end articulates in chassis frame keeps away from the tip of ground direction, the mechanism of moving away to avoid possible earthquakes includes the spring, spring coupling is between two arbitrary adjacent first suspensions. The utility model discloses compare in prior art, can overcome great ground difference in height to guarantee ground mobile robot normal operating.

Description

Remove chassis and robot

Technical Field

The utility model relates to a robotechnology field particularly, relates to a remove chassis and robot.

Background

With the continuous development of modern science and technology, the robot technology gradually enters the sight of people, and convenience is provided for the life and work of people. The robot has wide application, comprises production line manufacturing, intelligent home, fire fighting system, deep sea exploration and the like, and can complete a plurality of tasks which cannot be completed or are difficult to complete by human beings.

The ground mobile robot is characterized in that a robot main body with various functions is arranged on a chassis running mechanism, and the chassis running mechanism drives the robot main body to move so as to complete the corresponding functions. In order to ensure the contact between four wheels and the ground and good adhesion when the ground mobile robot runs on uneven ground, the ground mobile robot is usually designed with a suspension mechanism. However, the existing chassis suspension mechanism is poor in adaptability when applied to a ground mobile robot, for example, when the vehicle runs on an undulating road section, the problem that part of wheels are suspended or do not exert force is easy to occur.

SUMMERY OF THE UTILITY MODEL

The utility model discloses the problem that will solve is: how to provide a mobile chassis which can overcome larger ground height difference to ensure the normal operation of a ground mobile robot.

The utility model provides a remove chassis, include: the suspension mechanism comprises a first suspension, a second suspension and a connecting structure, the connecting structure comprises a connecting frame and a transmission shaft, the transmission shaft is rotatably connected with the connecting frame, the power mechanism is in driving connection with the omnidirectional wheel through the transmission shaft, one end of the first suspension is hinged with the end part of the connecting frame close to the ground direction, the other end of the first suspension is hinged with the end part of the chassis frame close to the ground direction, one end of the second suspension is hinged with the end part of the connecting frame far away from the ground direction, the other end of the second suspension is hinged with the end part of the chassis frame far away from the ground direction, the suspension mechanism comprises a spring, and the spring is connected between any two adjacent first suspensions.

The utility model provides a pair of remove chassis compares in prior art, has but not be limited to following beneficial effect:

the removal chassis, specifically be non-independent suspension removal chassis, the robot main part can be installed on chassis frame, in order to constitute ground mobile robot, this removal chassis can guarantee ground mobile robot wheel and the contact on ground and good acting force when the subaerial operation of unevenness, specifically, power unit can drive the omniwheel rotation through the drive transmission shaft, the omniwheel can remove in the direction of difference, in order to adapt to different operating modes, when meetting the undulant highway section, make this removal chassis one side omniwheel lift up, through connecting the suspension mechanism between the omniwheel that is lifted up and chassis frame this moment, can compress the spring of the mechanism of moving away to avoid possible earthquakes who is connected in this suspension mechanism both sides, the omniwheel that is lifted up will drive connection structure's link and transmission shaft along with being lifted up the omniwheel together, this link will drive first suspension and second suspension and carry out the angle deflection, the deflection of this first suspension will make the spring that is located this first suspension both sides compress, thereby force adjacent suspension mechanism to push down, make the contact with ground, with this undulation of adaptation topography, the second suspension ability of reaching, the connection position of second suspension frame in the relative connection frame that prevents to take place, the connection frame that takes place. The utility model discloses a remove the chassis, compare in prior art, can overcome great ground difference in height to guarantee ground mobile robot normal operating.

Optionally, the chassis frame includes a central portion and a plurality of protruding portions disposed at intervals on the periphery of the central portion, and the suspension mechanism is disposed at an end of each protruding portion away from the central portion.

Optionally, the protruding portion includes a first side wall and a second side wall that are disposed opposite to each other, the connecting frame includes a third side wall and a fourth side wall that are disposed opposite to each other, the first suspension includes a first rocker arm and a second rocker arm, one end of the first rocker arm is hinged to an end portion of the first side wall that is close to the ground direction, and the other end of the first rocker arm is hinged to an end portion of the third side wall that is close to the ground direction, one end of the second rocker arm is hinged to an end portion of the second side wall that is close to the ground direction, and the other end of the second rocker arm is hinged to an end portion of the fourth side wall that is close to the ground direction.

Optionally, the first suspension further comprises a reinforcing structure, one end of the reinforcing structure is connected to the end of the first rocker arm far from the ground direction, and the other end of the reinforcing structure is connected to the end of the second rocker arm far from the ground direction.

Optionally, the second suspension is located between the first rocker arm and the second rocker arm, the second suspension includes a square plate structure and a bending structure, the bending structure is located on two sides of the square plate structure in the length direction, one end of the bending structure close to the first side wall and the third side wall is hinged to an end portion of the first side wall away from the ground direction, the other end of the bending structure is hinged to an end portion of the third side wall away from the ground direction, one end of the bending structure close to the second side wall and the fourth side wall is hinged to an end portion of the second side wall away from the ground direction, and the other end of the bending structure is hinged to an end portion of the fourth side wall away from the ground direction.

Optionally, the connecting structure further includes a flange plate, the flange plate is connected to one side of the omni wheel facing the direction of the chassis frame, and the transmission shaft is connected to the flange plate.

Optionally, the chassis frame is a cross structure as a whole, and the suspension mechanisms are respectively arranged at four ends of the chassis frame.

Optionally, the mechanism of moving away to avoid possible earthquakes still includes first pole, second pole, first articulated head and second articulated head, first pole set up with the pore structure of second pole shape looks adaptation, second pole swing joint in pore structure, first articulated head connect in first pole is kept away from the tip of second pole direction, the second articulated head connect in the second pole is kept away from the tip of first pole direction, the spring housing is located first pole with the second pole, the one end of spring connect in first articulated head, and the other end connect in the second articulated head, the mechanism of moving away to avoid possible earthquakes passes through first articulated head with the second articulated head articulates in arbitrary adjacent two between the first suspension.

Optionally, the power mechanism includes a driving motor, and an output end of the driving motor is in driving connection with the transmission shaft.

Additionally, the utility model discloses still provide a robot, include as before the removal chassis.

Since the technical improvement of the robot and the technical effect obtained are the same as those of the moving chassis, the technical effect of the robot will not be described in detail.

Drawings

Fig. 1 is a first schematic structural diagram of a mobile chassis according to an embodiment of the present invention;

fig. 2 is a second schematic structural diagram of the mobile chassis according to the embodiment of the present invention;

fig. 3 is a partial enlarged view of the point i in fig. 1.

Description of the reference numerals:

1. a chassis frame; 11. a central portion; 12. a projection; 121. a first side wall; 122. a second side wall; 2. a suspension mechanism; 21. a first suspension; 211. a first rocker arm; 212. a second rocker arm; 213. a reinforcing structure; 22. a second suspension; 221. a square plate structure; 222. a bending structure; 23. a connecting structure; 231. a connecting frame; 2311. a third side wall; 2312. a fourth side wall; 232. a drive shaft; 233. a flange plate; 3. a shock absorbing mechanism; 31. a spring; 32. a first lever; 33. a second lever; 34. a first hinge joint; 35. a second hinge joint; 4. an omni wheel; 5. the motor is driven.

Detailed Description

In order to make the aforementioned objects, features and advantages of the present invention more comprehensible, embodiments accompanied with figures are described in detail below.

In the description of the present invention, it is to be understood that the terms "upper", "lower", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, which are merely for convenience of description of the present invention and simplification of description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention.

Also, in the drawings, the Z-axis indicates a vertical, i.e., up-down position, and a positive direction of the Z-axis (i.e., an arrow direction of the Z-axis) indicates up, and a negative direction of the Z-axis (i.e., a direction opposite to the positive direction of the Z-axis) indicates down.

It should also be noted that the foregoing Z-axis representation is meant only to facilitate the description of the invention and to simplify the description, and is not intended to indicate or imply that the device or element so referred to must have a particular orientation, be constructed and operated in a particular orientation, and is therefore not to be considered limiting of the invention.

As shown in fig. 1 to fig. 3, the utility model provides a mobile chassis, including: chassis frame 1, suspension mechanism 2, shockproof mechanism 3, omni wheel 4 and power unit, chassis frame 1's periphery interval is provided with a plurality of suspension mechanism 2, the tip of keeping away from chassis frame 1 direction at every suspension mechanism 2 is provided with omni wheel 4 respectively, suspension mechanism 2 includes first suspension 21, second suspension 22 and connection structure 23, connection structure 23 includes link 231 and transmission shaft 232, transmission shaft 232 rotates and connects in link 231, power unit connects in link 231, and power unit passes through transmission shaft 232 and is connected with omni wheel 4 drive, the one end of first suspension 21 articulates the tip that link 231 is close to the ground direction, and the other end articulates the tip that chassis frame 1 is close to the ground direction, the one end of second suspension 22 articulates the tip that link 231 keeps away from the ground direction, and the other end articulates the tip that chassis frame 1 is far away from the ground direction, shockproof mechanism 3 includes spring 31, spring 31 is connected between two arbitrary adjacent first suspensions 21.

In this embodiment, as shown in fig. 1-3, the mobile chassis is specifically a non-independent suspension mobile chassis, a main body of the robot may be mounted on a chassis frame 1 to form a ground mobile robot, and the mobile chassis may ensure that wheels of the ground mobile robot contact the ground and have good adhesion when the ground mobile robot runs on uneven ground, specifically, the power mechanism may drive the omni wheel 4 to rotate through the driving transmission shaft, and the omni wheel 4 may move in different directions to adapt to different working conditions, so that when the ground mobile robot encounters a fluctuating road section, the omni wheel 4 on one side of the mobile chassis is lifted, at this time, through the suspension mechanism 2 connected between the lifted omni wheel 4 and the chassis frame 1, the spring 31 of the suspension mechanism 3 connected to two sides of the suspension mechanism 2 may be compressed, that is, the lifted omni wheel 4 drives the connecting frame 231 of the connecting structure 23 and the transmission shaft 232 to fluctuate along with the lifted omni wheel 4, the connecting frame 231 will drive the first suspension 21 and the second suspension 22 to perform angular deflection, and the deflection of the first suspension 21 will drive the spring 31 on two sides of the first suspension 21 to compress the spring, thereby forcing the second suspension frame to compress the omni wheel 4 to adapt to the ground connection, so that the second suspension frame 231 and the second suspension frame is capable of preventing the ground mobile robot from deflecting. The utility model discloses a remove the chassis, compare in prior art, can overcome great ground difference in height to guarantee ground mobile robot normal operating.

In the above working process, the aforementioned "hinge" is a mechanical device, such as a hinge or a pin hinge, for connecting two solid bodies and allowing relative rotation between the two solid bodies. The chassis frame 1 may be a square structure or a disc structure, wherein the plurality of suspension mechanisms 2 are disposed at the periphery of the chassis frame 1 at intervals, and the wheeled robot is mostly of a four-wheel structure, so the suspension mechanisms 2 are generally disposed four, and if the chassis frame 1 is a square structure, the suspension mechanisms 2 are disposed at four corners of the chassis frame 1. One end of the first suspension 21 is hinged to the end of the connection frame 231 close to the ground (the direction opposite to the Z axis in fig. 1), and the other end is hinged to the end of the chassis frame 1 close to the ground (the direction opposite to the Z axis in fig. 1), one end of the second suspension 22 is hinged to the end of the connection frame 231 far from the ground (the direction positive to the Z axis in fig. 1), and the other end is hinged to the end of the chassis frame 1 far from the ground (the direction positive to the Z axis in fig. 1).

Alternatively, the chassis frame 1 includes a central portion 11 and a plurality of protruding portions 12 disposed at intervals on the outer periphery of the central portion 11, and the suspension mechanisms 2 are disposed at ends of each protruding portion 12 away from the central portion 11.

In the present embodiment, as shown in fig. 1, the central portion 11 may be a frame structure having a square shape, the protruding portions 12 may be a square structure, the protruding portions 12 are correspondingly connected to four surfaces except the upper and lower surfaces (the Z-axis direction in fig. 1) of the central portion 11, wherein the protruding portions 12 and the central portion 11 may be welded or integrally formed, and the suspension mechanism 2 is correspondingly disposed on each protruding portion 12.

In other embodiments, the central portion 11 may also be a disk structure, and the number of the protruding portions 12 may be determined according to actual requirements (generally, four), and is not limited herein.

Alternatively, the protruding portion 12 includes a first side wall 121 and a second side wall 122 that are oppositely disposed, the connecting bracket 231 includes a third side wall 2311 and a fourth side wall 2312 that are oppositely disposed, the first suspension 21 includes a first swing arm 211 and a second swing arm 212, one end of the first swing arm 211 is hinged to an end portion of the first side wall 121 close to the ground direction, and the other end is hinged to an end portion of the third side wall 2311 close to the ground direction, one end of the second swing arm 212 is hinged to an end portion of the second side wall 122 close to the ground direction, and the other end is hinged to an end portion of the fourth side wall 2312 close to the ground direction.

In this embodiment, referring to fig. 2, the first sidewall 121 in fig. 2 is a sidewall of one of the protruding portions 12, the second sidewall 122 (not shown in fig. 2) is located opposite to the first sidewall 121, the second sidewall 122 in fig. 2 is a sidewall of one of the protruding portions 12, the first sidewall 121 (not shown in fig. 2) is located opposite to the second sidewall 122, and the third sidewall 2311 and the fourth sidewall 2312 of the connecting frame 231 are the same as above, and will not be described again. One end of the first swing arm 211 may be hinged to the lower end of the first side wall 121 (in the Z-axis direction of fig. 1 or 2) by a hinge pin, and the other end may be hinged to the lower end of the third side wall 2311 by a hinge pin, one end of the second swing arm 212 may be hinged to the lower end of the second side wall 122 (in the Z-axis direction of fig. 1 or 2) by a hinge pin, and the other end may be hinged to the lower end of the fourth side wall 2312 by a hinge pin.

Optionally, the first suspension 21 further comprises a reinforcing structure 213, one end of the reinforcing structure 213 is connected to the end of the first swing arm 211 away from the ground direction, and the other end is connected to the end of the second swing arm 212 away from the ground direction.

In the present embodiment, as shown in fig. 1, the reinforcing structure 213 may be a round bar structure, and the reinforcing structure 213 is connected between the first rocker arm 211 and the second rocker arm 212 for reinforcing the working strength between the first rocker arm 211 and the second rocker arm 212.

In other embodiments, the first rocker arm 211, the second rocker arm 212 and the reinforcing structure 213 may be an integral structure or a separate structure, which is not limited herein and depends on actual requirements.

Optionally, the second suspension 22 is located between the first rocker arm 211 and the second rocker arm 212, the second suspension 22 includes a square plate structure 221 and a bending structure 222, the bending structure 222 is located on two sides of the length direction of the square plate structure 221, one end of the bending structure 222 close to the first side wall 121 and the third side wall 2311 is hinged to the end of the first side wall 121 far away from the ground direction, the other end of the bending structure 222 is hinged to the end of the third side wall 2311 far away from the ground direction, one end of the bending structure 222 close to the second side wall 122 and the fourth side wall 2312 is hinged to the end of the second side wall 122 far away from the ground direction, and the other end of the bending structure is hinged to the end of the fourth side wall 2312 far away from the ground direction.

In this embodiment, as shown in fig. 1 and fig. 2, the square plate structure 221 of the second suspension 22 may be a square plate structure, a width of the square plate structure 221 is slightly smaller than a distance between the first rocker arm 211 and the second rocker arm 212, the bending structure 222 is vertically disposed between the square plate structure 221 and the bending structure 222 bends downward (in a direction opposite to the Z axis in fig. 1), and the bending structure 222 and the square plate structure 221 may be welded or integrally formed. One end of the bending structure 222 near the first and

third sidewalls

121 and 2311 may be hinged to the upper end of the first sidewall 121 by a pin, and the other end may be hinged to the upper end of the third sidewall 2311 by a pin, one end of the bending structure 222 near the second and

fourth sidewalls

122 and 2312 may be hinged to the upper end of the second sidewall 122 by a pin, and the other end may be hinged to the upper end of the fourth sidewall 2312 by a pin.

Optionally, the connecting structure 23 further comprises a flange 233, the flange 233 is connected to one side of the omni wheel 4 facing the direction of the chassis frame 1, and the transmission shaft 232 is connected to the flange 233.

In this embodiment, referring to fig. 1, the flange 233 may be connected to the omni wheel 4 by bolts, the transmission shaft 232 may be welded or connected to the flange 233 by a key, and the flange 233 plays a role of transmission.

Optionally, the chassis frame 1 is a cross structure as a whole, and the suspension mechanisms 2 are respectively disposed at four ends of the chassis frame 1.

In this embodiment, as shown in fig. 1, since the wheeled robot is mostly of a four-wheel structure, the chassis frame 1 may be of a cross structure, that is, the suspension mechanisms 2 are correspondingly disposed at four end portions of the chassis frame 1, respectively.

Optionally, the suspension mechanism 3 further includes a first rod 32, a second rod 33, a first hinge 34 and a second hinge 35, the first rod 32 is provided with a hole structure adapted to the shape of the second rod 33, the second rod 33 is movably connected to the hole structure, the first hinge 34 is connected to the end of the first rod 32 away from the second rod 33, the second hinge 35 is connected to the end of the second rod 33 away from the first rod 32, the spring 31 is sleeved on the first rod 32 and the second rod 33, one end of the spring 31 is connected to the first hinge 34, and the other end of the spring 31 is connected to the second hinge 35, and the suspension mechanism 3 is hinged between any two adjacent first suspensions 21 through the first hinge 34 and the second hinge 35.

In this embodiment, as shown in fig. 3, the suspension mechanism 3 is hinged between any two adjacent first suspensions 21 through the first hinge joint 34 and the second hinge joint 35, when a rough road section is encountered, the omnidirectional wheel 4 on one side of the mobile chassis is lifted, at this time, the second rod 33 retracts into the hole structure of the first rod 32, and further compresses the spring 31, the first rod 32 and the second rod 33 can make the spring 31 more stable when being pressed, so that the spring 31 is not inclined in the working process, and the longer spring 31 is prevented from being bent when being compressed.

In other embodiments, the shock absorbing mechanism 3 can be a spring damping shock absorber or a spring damping shock absorber (also called a prestressed spring shock absorber) which is currently available, the damping spring shock absorber adopts spring steel with the best quality, the shock absorber effect can reach more than 95%, the service life can reach more than 10 years, and the shock absorbing mechanism has the dual advantages of low frequency and large damping of the steel spring shock absorber, and has good shock absorbing effect.

Optionally, the power mechanism includes a driving motor 5, and an output end of the driving motor 5 is in driving connection with the transmission shaft 232.

In this embodiment, as shown in fig. 2, the driving motor 5 may be connected to the connecting frame 231 by bolts, and the driving motor 5 is used for driving the transmission shaft 232 to rotate, so as to drive the omni wheel 4 to rotate.

In addition, the robot of the utility model discloses another embodiment includes the removal chassis as before.

The terms "first" and "second" 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" or "second" may explicitly or implicitly include at least one of the feature.

Although the present disclosure has been described above, the scope of the present disclosure is not limited thereto. Various changes and modifications may be made by those skilled in the art without departing from the spirit and scope of the disclosure, and these changes and modifications are intended to fall within the scope of the disclosure.

Claims

1. A mobile chassis, comprising: a chassis frame (1), a suspension mechanism (2), a shock absorbing mechanism (3), an omnidirectional wheel (4) and a power mechanism, a plurality of suspension mechanisms (2) are arranged at intervals on the periphery of the chassis frame (1), the omnidirectional wheel (4) is respectively arranged at the end part of each suspension mechanism (2) far away from the chassis frame (1), the suspension mechanism (2) comprises a first suspension (21), a second suspension (22) and a connecting structure (23), the connecting structure (23) comprises a connecting frame (231) and a transmission shaft (232), the transmission shaft (232) is rotatably connected with the connecting frame (231), the power mechanism is connected with the connecting frame (231), and the power mechanism is in driving connection with the omnidirectional wheel (4) through the transmission shaft (232), one end of the first suspension (21) is hinged to the end part of the connecting frame (231) close to the ground direction, and the other end is hinged with the end part of the chassis frame (1) close to the ground direction, one end of the second suspension (22) is hinged to the end of the connecting frame (231) far away from the ground surface direction, and the other end is hinged with the end part of the chassis frame (1) far away from the ground, the shock absorbing mechanism (3) comprises a spring (31), and the spring (31) is connected between any two adjacent first suspensions (21).

2. The mobile chassis according to claim 1, wherein the chassis frame (1) comprises a central portion (11) and a plurality of projections (12) arranged at intervals on the periphery of the central portion (11), and the suspension mechanism (2) is arranged at the end of each projection (12) remote from the central portion (11).

3. The mobile chassis according to claim 2, wherein the protrusion (12) comprises a first side wall (121) and a second side wall (122) arranged opposite to each other, the connection bracket (231) comprises a third side wall (2311) and a fourth side wall (2312) arranged opposite to each other, the first suspension (21) comprises a first swing arm (211) and a second swing arm (212), one end of the first swing arm (211) is hinged to the end of the first side wall (121) close to the ground direction, and the other end is hinged to the end of the third side wall (2311) close to the ground direction, one end of the second swing arm (212) is hinged to the end of the second side wall (122) close to the ground direction, and the other end is hinged to the end of the fourth side wall (2312) close to the ground direction.

4. The mobile chassis according to claim 3, wherein the first suspension (21) further comprises a reinforcement structure (213), one end of the reinforcement structure (213) being connected to the end of the first swing arm (211) facing away from the ground and the other end being connected to the end of the second swing arm (212) facing away from the ground.

5. The mobile chassis according to claim 3, wherein the second suspension (22) is located between the first rocker arm (211) and the second rocker arm (212), the second suspension (22) comprises a square plate structure (221) and a bent structure (222), the bent structure (222) is located on two sides of the square plate structure (221) in the length direction, one end of the bent structure (222) close to the first side wall (121) and the third side wall (2311) is hinged to the end of the first side wall (121) away from the ground direction, and the other end is hinged to the end of the third side wall (2311) away from the ground direction, one end of the bent structure (222) close to the second side wall (122) and the fourth side wall (2312) is hinged to the end of the second side wall (122) away from the ground direction, and the other end is hinged to the end of the fourth side wall (2312) away from the ground direction.

6. Mobile chassis according to claim 4, characterised in that the connection structure (23) further comprises a flange plate (233), which flange plate (233) is connected to the side of the omni-wheel (4) facing in the direction of the chassis frame (1), and that the drive shaft (232) is connected to the flange plate (233).

7. The mobile chassis according to claim 1, characterized in that the chassis frame (1) is a cruciform structure in its entirety and the suspension means (2) are provided at each of the four ends of the chassis frame (1).

8. The mobile chassis according to claim 1, wherein the shock absorbing mechanism (3) further comprises a first rod (32), a second rod (33), a first hinge joint (34) and a second hinge joint (35), the first rod (32) is provided with a hole structure matched with the second rod (33) in shape, the second rod (33) is movably connected to the hole structure, the first hinge joint (34) is connected to the end portion of the first rod (32) far away from the direction of the second rod (33), the second hinge joint (35) is connected to the end portion of the second rod (33) far away from the direction of the first rod (32), the spring (31) is sleeved on the first rod (32) and the second rod (33), one end of the spring (31) is connected to the first hinge joint (34), the other end of the spring is connected to the second hinge joint (35), and the shock absorbing mechanism (3) is hinged between any two adjacent first suspensions (21) through the first hinge joint (34) and the second hinge joint (35).

9. The mobile chassis according to claim 1, wherein the power mechanism comprises a drive motor (5), and an output end of the drive motor (5) is in driving connection with the transmission shaft (232).

10. A robot, characterized by comprising a mobile chassis according to any of claims 1 to 9.