CN218948875U

CN218948875U - Suspension driving wheel and robot chassis

Info

Publication number: CN218948875U
Application number: CN202222583430.3U
Authority: CN
Inventors: 王运志
Original assignee: Guangzhou Institute Of Intelligent Software Industry
Current assignee: Guangzhou Institute Of Intelligent Software Industry
Priority date: 2022-09-27
Filing date: 2022-09-27
Publication date: 2023-05-02
Anticipated expiration: 2032-09-27

Abstract

The utility model belongs to the technical field of robots, and particularly relates to a suspension driving wheel and a robot chassis. The suspension driving wheel comprises a suspension mechanism and a driving wheel, one end of the suspension mechanism is connected with the driving wheel, and the other end of the suspension mechanism is provided with a mounting end; the lower end of the driving wheel is provided with a supporting end which is lower than the suspension mechanism; the suspension mechanism is provided with a supporting state and a triggering state, and is used for supporting the driving wheel when the suspension mechanism is in the supporting state; when the suspension mechanism is in a triggering state, the suspension mechanism drives the driving wheel to enable the supporting end to move up and down. The suspension driving wheel provided by the utility model can enable the driving wheel to be connected with the robot chassis in a suspension manner, and can be well applied to indoor cross-floor distribution of a building.

Description

Suspension driving wheel and robot chassis

Technical Field

The utility model belongs to the technical field of robots, and particularly relates to a suspension driving wheel and a robot chassis.

Background

Currently, the robot industry is rising, and mobile robots are gradually applied to various service fields. The robot applied to building express delivery and article distribution is one of the robots. The walking of the mobile robot is realized through wheel groups in a robot chassis, and the robot chassis determines the walking stability of the robot. In order to increase the walking stability of a robot, a damping device is generally arranged on a chassis, for example, in the prior art, CN202010402679.2 discloses a mobile chassis for the robot, which comprises a lower chassis seat, an upper chassis seat, a damping mechanism and a shelf mounting mechanism, wherein universal wheel sets are respectively fixed on the lower end surface of the lower chassis seat, a driving motor is fixed on the upper end surface of the lower chassis seat, driving wheels are respectively fixed on the output shaft ends of the driving motors, an installation table is fixed above the lower chassis seat through angle steel blocks, a power supply control module is arranged at the center of the upper end surface of the installation table, and the shelf mounting mechanism is also arranged on the upper end surface of the lower chassis seat by arranging the damping mechanism on a hinged block group; the X-shaped cross hinge fixing is carried out by the spring shock absorber and the oil pressure shock absorber of the movable chassis through the connecting shaft seat, and the X-shaped cross hinge fixing has the advantage that vibration of the movable chassis can be restrained in the using process. However, by analyzing the prior art, the driving wheel and the movable chassis are directly fixed, when the robot is applied to the indoor cross-floor distribution of a building, the phenomenon of slipping caused by the fact that the driving wheel on the chassis is easy to hang in the air due to the step difference between the elevator car and the ground, and even the occurrence of dumping accidents caused by unstable running of the robot (refer to figure 1).

Disclosure of Invention

Aiming at the defects of the prior art, the utility model provides a suspension driving wheel and a robot chassis.

The suspension driving wheel provided by the utility model can enable the driving wheel to be connected with the robot chassis in a suspension manner, can be well applied to the indoor cross-floor distribution of a building, and can avoid the phenomenon that the driving wheel on the chassis is suspended to skid when the elevator car has a step difference with the ground.

The utility model provides a suspension driving wheel, which comprises a suspension mechanism and a driving wheel, wherein one end of the suspension mechanism is connected with the driving wheel, and the other end of the suspension mechanism is provided with a mounting end; the lower end of the driving wheel is provided with a supporting end which is lower than the hanging mechanism; the suspension mechanism is provided with a supporting state and a triggering state, and is used for supporting the driving wheel when being in the supporting state; when the suspension mechanism is in a triggering state, the suspension mechanism drives the driving wheel to enable the supporting end to move up and down.

Preferably, the suspension mechanism further comprises a damping spring, one end of the damping spring is connected with the driving wheel, the damping spring has a supporting state and a triggering state, and the damping spring is used for supporting the driving wheel when in the supporting state; when the damping spring is in a triggering state, the damping spring stretches and contracts to drive the supporting end to move up and down.

Preferably, the suspension mechanism further comprises a piston damping device and a damping spring, the piston damping device comprises a piston rod and a piston cylinder, one end of a piston head of the piston rod is arranged in the piston cylinder, a first base is formed at the other end of the piston rod, a second base is formed at one end of the piston cylinder far away from the piston rod, and one end of the first base or one end of the second base is rotatably connected with the driving wheel; the damping spring is sleeved outside the piston damping device, the damping spring is positioned between the first base and the second base, and two ends of the damping spring are respectively abutted with the first base and the second base; and when the piston rod and the piston cylinder do telescopic motion, the damping spring is driven to extend or shorten.

Preferably, the suspension mechanism further comprises a swing arm hinged with the piston shock absorbing device, and one end of the swing arm away from the hinge is positioned above one end of the piston shock absorbing device; a first mounting mechanism is arranged at one end, away from the hinge joint, of the piston damping device, and the hinge joint end of the piston damping device can rotate around the first mounting mechanism; a second mounting mechanism is arranged at one end of the swing arm, which is far away from the hinge joint, and the hinge joint end of the swing arm can rotate around the second mounting mechanism; the swing arm is located at one hinged end and is also in rotary connection with the wheel shaft of the driving wheel.

Preferably, the first mounting mechanism is hinged with the piston damping device through a first rotating shaft, and the second mounting mechanism is hinged with the swing arm through a second rotating shaft; the suspension mechanism further comprises an installation seat, the installation seat is arranged at the bottom of the swing arm, a rotating groove is formed between the top of the installation seat and the bottom of the swing arm, and the wheel shaft of the driving wheel is arranged in the rotating groove.

Preferably, when the suspension mechanism is in a supporting state, the swing arm is parallel to the end face of the supporting end or an included angle formed by the swing arm and the end face of the supporting end is alpha, 0 degrees is less than or equal to 10 degrees, and an included angle formed by the piston damping device and the end face of the supporting end is theta, and is more than or equal to 30 degrees and less than or equal to 60 degrees.

The utility model further provides a robot chassis, which comprises a chassis mechanism and the suspension driving wheel, wherein the suspension driving wheel comprises a suspension mechanism and a driving wheel, one end of the suspension mechanism is connected with the driving wheel, the other end of the suspension mechanism is provided with a mounting end, and the chassis mechanism is connected with the mounting end of the suspension mechanism; the lower end of the driving wheel is provided with a supporting end which is lower than the hanging mechanism; the suspension mechanism is provided with a supporting state and a triggering state, and is used for supporting the driving wheel when being in the supporting state; when the suspension mechanism is in a triggering state, the suspension mechanism drives the driving wheel to enable the supporting end to move up and down.

Preferably, the chassis mechanism comprises a support column, an upper support plate connected with the upper end of the support column, a lower support plate connected with the lower end of the support column, and a universal wheel arranged at the bottom of the lower support plate, wherein a support surface is formed at the bottom of the universal wheel, when the support end of the driving wheel is higher or lower than the support surface, the suspension mechanism is in a triggering state, and the suspension mechanism drives the support end to move up and down so that the height of the support end is matched with the height of the support surface; the suspension mechanism is in a supported state when the support end of the drive wheel is coplanar with the support surface.

Preferably, the suspension mechanism further comprises a piston damping device, a damping spring sleeved outside the piston damping device, a swing arm hinged with the piston damping device, a first mounting mechanism and a second mounting mechanism; one end of the first mounting mechanism is rotationally connected with one end, away from the hinge, of the piston damping device, and the other end of the first mounting mechanism is fixedly connected with the chassis mechanism through a first mounting hole; one end of the second mounting mechanism is rotationally connected with one end of the swing arm far away from the hinge joint, and the other end of the second mounting mechanism is fixedly connected with the chassis mechanism through a second mounting hole; when the supporting end moves up and down, the piston damping device is driven to stretch out and draw back, so that the distance between the hinged end of the piston damping device and the rotating connection is prolonged or shortened, and when the piston damping device stretches out and draws back, the damping spring is driven to stretch out and draw back.

Preferably, the robot chassis comprises a plurality of suspension driving wheels, the lower support plate is provided with notches along the periphery for installing the suspension driving wheels, the first installation mechanism comprises a first bolt matched with the first installation hole, and the first installation mechanism is installed on the upper surface of the lower support plate through the first installation hole and the first bolt; the second mounting mechanism comprises a second bolt matched with the second mounting hole, the second mounting mechanism is mounted on the upper surface of the lower support plate through the second mounting hole and the second bolt, and the lower support plate is further provided with a battery box.

Drawings

The foregoing and other objects, features and advantages of the utility model will be apparent from the following more particular description of preferred embodiments of the utility model, as illustrated in the accompanying drawings. Like reference numerals refer to like parts throughout the drawings, and the drawings are not intentionally drawn to scale on actual size or the like, with emphasis on illustrating the principles of the utility model.

Fig. 1 is a schematic structural view of a robot chassis provided in the prior art;

fig. 2 is a schematic structural diagram of a robot chassis according to an embodiment of the present utility model;

FIG. 3 is a schematic view of a suspension drive wheel according to an embodiment;

fig. 4 is an assembled view of a suspension drive wheel provided by an embodiment.

The attached drawings are identified: a robot chassis 1, a suspension driving wheel 100, and a chassis mechanism 200; the driving wheel 101, the wheel axle 102, the suspension mechanism 103, the damping spring 104, the piston damping device 105, the piston rod 106, the first base 107, the piston cylinder 108, the second base 109, the swing arm 110, the first mounting mechanism 111, the first rotating shaft 112, the first mounting hole 113, the second mounting mechanism 115, the second rotating shaft 116, the second mounting hole 117 and the mounting seat 118; an upper support plate 201, a lower support plate 202, a support 203, a universal wheel 204 and a battery box 204.

The attached drawings of the robot chassis in the prior art are identified: chassis seat 1b, first notch 2b, universal wheel group 3b, spring damper 13b, connection axle bed 14b, hydraulic damper 15b, upper chassis seat 16b, upper hinge block 17b, second notch 18b, electro-hydraulic push rod 19b, and shelf mounting plate 20b.

Detailed Description

In order that the utility model may be understood more fully, the utility model will be described with reference to the accompanying drawings.

It will be understood that when an element is referred to as being "connected" to another element, it can be directly connected to and integrated with the other element or intervening elements may also be present. The terms "mounted," "one end," "the other end," and the like are used herein for illustrative purposes only.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art. The terminology used in the description herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the utility model. The term "and/or" as used herein includes any and all combinations of one or more of the associated listed items.

Referring to fig. 2-4, the present utility model provides a suspension driving wheel 101100, which includes a suspension mechanism 103 and a driving wheel 101, wherein one end of the suspension mechanism 103 is connected with the driving wheel 101, and the other end is formed with a mounting end; the lower end of the driving wheel 101 is provided with a supporting end which is lower than the hanging mechanism 103; the suspension mechanism 103 has a supporting state and a triggering state, and when the suspension mechanism 103 is in the supporting state, the suspension mechanism is used for supporting the driving wheel 101; when the suspension mechanism 103 is in the triggering state, the suspension mechanism 103 drives the driving wheel 101 to enable the supporting end to move up and down. When the robot is used, the mounting end of the suspension mechanism 103 is fixed on the chassis mechanism 200 of the robot, so that the driving wheel 101 is connected with the robot chassis 1 in a suspension manner, when the robot runs to the junction of the elevator car and the ground, the step difference exists between the driving wheel 101 and the ground, at the moment, the suspension mechanism 103 is in a triggering state, and the suspension mechanism 103 drives the driving wheel 101 to enable the supporting end to move up and down, so that the driving wheel 101 is in stable transition at the junction of the elevator car and the ground, and the robot can be well applied to indoor cross-floor distribution of a building.

Referring to fig. 3-4, in a preferred embodiment, the suspension mechanism 103 further includes a damper spring 104, one end of the damper spring 104 is connected to the driving wheel 101, the damper spring 104 has a supporting state and a triggering state, and the damper spring 104 is used for supporting the driving wheel 101 when in the supporting state; when the damping spring 104 is in the triggering state, the damping spring 104 stretches and contracts to drive the supporting end to move up and down. The suspension of the driving wheel 101 is realized by the damping spring 104, and meanwhile, vibration generated when the driving wheel 101 moves on uneven ground can be damped, so that the whole structure can be simplified.

Referring to fig. 3-4, in the preferred embodiment, the suspension mechanism 103 further includes a piston damper 105 and a damper spring 104, the piston damper 105 includes a piston rod 106 (not shown in the drawings) and a piston cylinder 108, one end of a piston head of the piston rod 106 is disposed in the piston cylinder 108, a first base 107 is formed at the other end of the piston rod 106, a second base 109 is formed at one end of the piston cylinder 108 away from the piston rod 106, and one end of the first base 107 or one end of the second base 109 is rotatably connected with the driving wheel 101; the damping spring 104 is sleeved outside the piston damping device 105, the damping spring 104 is positioned between the first base 107 and the second base 109, and two ends of the damping spring 104 are respectively abutted with the first base 107 and the second base 109; the piston rod 106 and the piston cylinder 108 extend or contract when in telescopic motion, and drive the damping spring 104 to extend or contract. The piston damper 105 may adopt any technical means in the prior art, such as an oil pressure damper, and a damping cavity is formed between the piston head of the piston rod 106 and the cavity of the piston cylinder 108, and inert gas or an oil-gas mixture is filled in the damping cavity as damping, so that the elasticity generated by the instantaneous release of the spring force can be fully relieved, and the robot can smoothly walk without shaking forward and backward to generate tilting when passing through a ditch or a ridge.

Referring to fig. 3-4, in a preferred embodiment, the suspension mechanism 103 further includes a swing arm 110 hinged to the piston damper 105, wherein an end of the swing arm 110 remote from the hinge is located above an end of the piston damper 105 that is hinged; the end of the piston damping device 105 away from the hinge is provided with a first mounting mechanism 111, and the hinge end of the piston damping device 105 can rotate around the first mounting mechanism 111; a second mounting mechanism 115 is arranged at one end of the swing arm 110 away from the hinge, and the hinge end of the swing arm 110 can rotate around the second mounting mechanism 115; the swing arm 110 is also rotatably connected to the axle 102 of the drive wheel 101 at one end of the hinge. The piston damper 105 is hinged to the swing arm 110 through a third rotation shaft. Further, the first mounting mechanism 111 is hinged to the piston damper 105 through a first rotation shaft 112, and the second mounting mechanism 115 is hinged to the swing arm 110 through a second rotation shaft 116; the suspension mechanism 103 further comprises a mounting seat 118, the mounting seat 118 is arranged at the bottom of the swing arm 110, a rotating groove is formed between the top of the mounting seat 118 and the bottom of the swing arm 110, and the wheel axle 102 of the driving wheel 101 is arranged in the rotating groove. Further, when the suspension mechanism 103 is in a supporting state, the end face of the swing arm 110 is parallel to the end face of the supporting end or the included angle formed by the end faces of the swing arm 110 and the supporting end is alpha, 0 degrees less than alpha less than or equal to 10 degrees, and the included angle formed by the end faces of the piston damping device 105 and the supporting end is theta, 30 degrees less than or equal to 60 degrees. The piston damping device 105 and the damping spring 104 are arranged at an included angle with the ground, the driving wheel 101 can receive elastic component force in the vertical direction of the damping spring 104, so that a supporting state is formed when the supporting end of the driving wheel 101 is grounded, a triggering state is formed when the supporting end of the driving wheel 101 is grounded, and the driving wheel 101 can be well hung by matching with a connecting mode that the swing arm 110, the first mounting mechanism 111, the second mounting mechanism 115 and the piston damping device 105 are hinged in sequence. On the other hand, the piston damping device 105 and the damping spring 104 are arranged at an included angle with the ground, so that a better ground grabbing force can be provided for the driving wheel 101, and the vertical height of the robot chassis 1 can be reduced.

Referring to fig. 2-4, another aspect of the present utility model provides a robot chassis 1, where the robot chassis 1 includes a chassis mechanism 200 and the suspension driving wheel 101100, the suspension driving wheel 101100 includes a suspension mechanism 103 and a driving wheel 101, one end of the suspension mechanism 103 is connected to the driving wheel 101, and the other end is formed with a mounting end, and the chassis mechanism 200 is connected to the mounting end of the suspension mechanism 103; the lower end of the driving wheel 101 is provided with a supporting end which is lower than the hanging mechanism 103; the suspension mechanism 103 has a supporting state and a triggering state, and when the suspension mechanism 103 is in the supporting state, the suspension mechanism is used for supporting the driving wheel 101; when the suspension mechanism 103 is in the triggering state, the suspension mechanism 103 drives the driving wheel 101 to enable the supporting end to move up and down. The foregoing embodiments have been described correspondingly, and will not be described further herein.

Referring to fig. 2-4, in a preferred embodiment, the chassis mechanism 200 includes a supporting column 203, an upper supporting plate 201 connected to an upper end of the supporting column 203, a lower supporting plate 202 connected to a lower end of the supporting column 203, and 4-8 universal wheels 204 provided at a bottom of the lower supporting plate 202, wherein a supporting surface is formed at a bottom of the universal wheels 204, when a supporting end of the driving wheel 101 is higher or lower than the supporting surface, the suspension mechanism 103 is in a triggered state, and the suspension mechanism 103 drives the supporting end to move up and down so that a height of the supporting end is adapted to a height of the supporting surface; when the support end of the drive wheel 101 is coplanar with the support surface, the suspension mechanism 103 is in a supported state. Further, the first mounting mechanism 111 is fixedly connected with the chassis mechanism 200 through the first mounting hole 113; one end of the second mounting mechanism 115 is fixedly connected with the chassis mechanism 200 through a second mounting hole 117; when the supporting end moves up and down, the piston damper 105 is driven to stretch and retract, so that the distance between the hinged end of the piston damper 105 and the rotating connection is prolonged or shortened, and when the piston damper 105 stretches and contracts, the damping spring 104 is driven to stretch or shorten. Further, the robot chassis 1 includes a plurality of suspension driving wheels 101100, the number of the suspension driving wheels 101100 is generally 2-6, the suspension driving wheels 101100 are symmetrically arranged on the left side and the right side of the robot chassis 1, the lower support plate 202 is provided with notches along the periphery for installing the suspension driving wheels 101100, the first installation mechanism 111 includes a first bolt matched with the first installation hole 113, the first installation mechanism 111 is installed on the upper surface of the lower support plate 202 through the first installation hole 113 and the first bolt, the lower support plate 202 is provided with a first bolt hole corresponding to the first installation hole 113, and the first bolt passes through the first installation hole 113 to be matched with the first bolt hole, so that the first installation mechanism 111 is fixed on the lower support plate 202; the second installation mechanism 115 comprises a second bolt matched with the second installation hole 117, the second installation mechanism 115 is installed on the upper surface of the lower support plate 202 through the second installation hole 117 and the second bolt, a second bolt hole corresponding to the second installation hole 117 is formed in the lower support plate 202, the second bolt passes through the second installation hole 117 to be matched with the second bolt hole, and the second installation mechanism 115 is fixed on the lower support plate 202; the lower support plate 202 is also provided with a battery case 204. The battery compartment 204 is used to house a battery to power the drive wheel 101.

Referring to fig. 2-4, when the elevator car of the present utility model is in use, when there is a step difference between the elevator car and the ground or there is a trench on the ground, the damping spring 104 triggers a state, and at this time, the supporting end of the driving wheel 101 is higher or lower than the supporting surface, i.e. the supporting end of the driving wheel 101 and the supporting surface of the universal wheel 204 are not on the same plane; when the supporting end of the driving wheel 101 is higher than the supporting surface, under the action of the damping spring 104, when the driving wheel 101 moves downwards to the position that the supporting end of the driving wheel 101 is coplanar with the supporting surface, the damping spring 104 is in a supporting state again; when the supporting end of the driving wheel 101 is lower than the supporting surface, the damping spring 104 is in a supporting state again under the action of the damping spring 104 or gravity when the driving wheel 101 moves upwards until the supporting end of the driving wheel 101 is coplanar with the supporting surface. Because the damping spring 104 and the piston damping device 105 are matched with each other, the utility model can run on the ground with a step difference or a grooved ridge, and can solve the problems that the traditional robot chassis 1 cannot pass the grooved ridge, skid or the stability of the grooved ridge is poor, even vibration causes unsmooth damping of the whole machine when the robot chassis is planted and passes the grooved ridge, and large mechanical noise is generated.

In this application, unless expressly stated or limited otherwise, a first feature "up" or "down" a second feature may be the first and second features in direct contact, or the first and second features in indirect contact via an intervening medium. Moreover, a first feature being "above," "over" and "on" a second feature may be a first feature being directly above or obliquely above the second feature, or simply indicating that the first feature is level higher than the second feature. The first feature being "under", "below" and "beneath" the second feature may be the first feature being directly under or obliquely below the second feature, or simply indicating that the first feature is less level than the second feature.

In the description of the present specification, a description referring to the terms "preferred embodiment," "further embodiment," "other embodiments," or "specific examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present application. In this specification, schematic representations of the above terms are not necessarily directed to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, the different embodiments or examples described in this specification and the features of the different embodiments or examples may be combined and combined by those skilled in the art without contradiction.

Although embodiments of the present application have been shown and described above, it will be understood that the above embodiments are illustrative and not to be construed as limiting the application, and that variations, modifications, alternatives, and variations may be made to the above embodiments by one of ordinary skill in the art within the scope of the application.

Claims

1. The suspension driving wheel is characterized by comprising a suspension mechanism and a driving wheel, wherein one end of the suspension mechanism is connected with the driving wheel, and the other end of the suspension mechanism is provided with a mounting end; the lower end of the driving wheel is provided with a supporting end which is lower than the hanging mechanism; the suspension mechanism is provided with a supporting state and a triggering state, and is used for supporting the driving wheel when being in the supporting state; when the suspension mechanism is in a triggering state, the suspension mechanism drives the driving wheel to enable the supporting end to move up and down.

2. The suspension drive wheel of claim 1, wherein the suspension mechanism further comprises a damper spring, one end of the damper spring being connected to the drive wheel, the damper spring having a support state and a trigger state, the damper spring being configured to support the drive wheel when in the support state; when the damping spring is in a triggering state, the damping spring stretches and contracts to drive the supporting end to move up and down.

3. The suspension drive wheel of claim 1, wherein the suspension mechanism further comprises a piston shock absorbing device and a shock absorbing spring, the piston shock absorbing device comprises a piston rod and a piston cylinder, one end of a piston head of the piston rod is arranged in the piston cylinder, the other end of the piston rod is provided with a first base, one end of the piston cylinder far away from the piston rod is provided with a second base, and one end of the first base or one end of the second base is rotatably connected with the drive wheel; the damping spring is sleeved outside the piston damping device, the damping spring is positioned between the first base and the second base, and two ends of the damping spring are respectively abutted with the first base and the second base; and when the piston rod and the piston cylinder do telescopic motion, the damping spring is driven to extend or shorten.

4. The suspension drive wheel of claim 3, wherein the suspension mechanism further comprises a swing arm hinged to the piston damper, the end of the swing arm remote from the hinge being located above the end of the piston damper that is hinged; a first mounting mechanism is arranged at one end, away from the hinge joint, of the piston damping device, and the hinge joint end of the piston damping device can rotate around the first mounting mechanism; a second mounting mechanism is arranged at one end of the swing arm, which is far away from the hinge joint, and the hinge joint end of the swing arm can rotate around the second mounting mechanism; the swing arm is located at one hinged end and is also in rotary connection with the wheel shaft of the driving wheel.

5. The suspension drive wheel of claim 4, wherein the first mounting mechanism is hinged to the piston shock absorbing device by a first pivot and the second mounting mechanism is hinged to the swing arm by a second pivot; the suspension mechanism further comprises a mounting seat, the mounting seat is arranged at the bottom of the swing arm, a rotating groove is formed between the top of the mounting seat and the bottom of the swing arm, and the wheel shaft of the driving wheel is arranged in the rotating groove.

6. The suspension drive wheel of claim 4, wherein the swing arm is parallel to the end face of the support end or the swing arm forms an angle α with the end face of the support end of 0 ° < α+.ltoreq.10°, and the piston damper forms an angle θ with the end face of the support end of 30 ° +.ltoreq.60° when the suspension mechanism is in a supported state.

7. A robot chassis, characterized in that the robot chassis comprises a chassis mechanism and the suspension driving wheel according to any one of claims 1 to 6, the suspension driving wheel comprises a suspension mechanism and a driving wheel, one end of the suspension mechanism is connected with the driving wheel, the other end is provided with a mounting end, and the chassis mechanism is connected with the mounting end of the suspension mechanism; the lower end of the driving wheel is provided with a supporting end which is lower than the hanging mechanism; the suspension mechanism is provided with a supporting state and a triggering state, and is used for supporting the driving wheel when being in the supporting state; when the suspension mechanism is in a triggering state, the suspension mechanism drives the driving wheel to enable the supporting end to move up and down.

8. The robot chassis of claim 7, wherein the chassis mechanism comprises a support column, an upper support plate connected with the upper end of the support column, a lower support plate connected with the lower end of the support column, and a universal wheel arranged at the bottom of the lower support plate, a support surface is formed at the bottom of the universal wheel, when the support end of the driving wheel is higher or lower than the support surface, the suspension mechanism is in a triggering state, and the suspension mechanism drives the support end to move up and down so that the height of the support end is matched with the height of the support surface; the suspension mechanism is in a supported state when the support end of the drive wheel is coplanar with the support surface.

9. The robot chassis of claim 8, wherein the suspension mechanism further comprises a piston shock absorbing device, a shock absorbing spring sleeved outside the piston shock absorbing device, a swing arm hinged with the piston shock absorbing device, a first mounting mechanism and a second mounting mechanism; one end of the first mounting mechanism is rotationally connected with one end, away from the hinge, of the piston damping device, and the other end of the first mounting mechanism is fixedly connected with the chassis mechanism through a first mounting hole; one end of the second mounting mechanism is rotationally connected with one end of the swing arm far away from the hinge joint, and the other end of the second mounting mechanism is fixedly connected with the chassis mechanism through a second mounting hole; when the supporting end moves up and down, the piston damping device is driven to stretch out and draw back, so that the distance between the hinged end of the piston damping device and the rotating connection is prolonged or shortened, and when the piston damping device stretches out and draws back, the damping spring is driven to stretch out and draw back.

10. The robot chassis of claim 9, wherein the robot chassis includes a plurality of the suspension driving wheels, the lower support plate is provided with notches along an outer circumference for mounting the suspension driving wheels, the first mounting mechanism includes a first bolt engaged with the first mounting hole, and the first mounting mechanism is mounted on an upper surface of the lower support plate through the first mounting hole and the first bolt; the second mounting mechanism comprises a second bolt matched with the second mounting hole, the second mounting mechanism is mounted on the upper surface of the lower support plate through the second mounting hole and the second bolt, and the lower support plate is further provided with a battery box.