CN219883975U - Chassis structure and robot - Google Patents

Abstract

The utility model provides a chassis structure and robot, chassis structure includes the chassis main part, the drive wheel, universal wheel and at least a set of directional wheel subassembly, the drive wheel sets up in the bottom of chassis main part, be used for driving the chassis main part and take place to remove, the universal wheel sets up in the bottom of chassis main part, and be located the both sides of the drive direction of drive wheel, directional wheel subassembly sets up in the bottom of chassis main part, at least a set of directional wheel subassembly is close to the edge setting of chassis main part, directional wheel subassembly has rotation mode and fixed mode, directional wheel subassembly includes first motor and directional wheel, when the chassis main part meets the obstacle, directional wheel subassembly is in rotation mode, first motor drives directional wheel and takes place to rotate, when the chassis main part does not meet the obstacle, directional wheel subassembly is in fixed mode, first motor stops running, do not drive directional wheel and take place to rotate, distance between directional wheel and the chassis main part is less than the distance between universal wheel and the chassis main part, in this way, obstacle crossing ability and the commonality of chassis main part can be improved.

Description

Chassis structure and robot

Technical Field

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

Background

With the progress of science and the continuous improvement of living standard of people, robots are more and more popular with people and are an indispensable part in work and life of people. Robots are commonly used for transporting objects, such as in hotels or restaurants, where they are used to dispense physical objects or objects, and in hospitals where they are used to transport drugs to designated areas, reducing the labor intensity of medical workers. While the robot is running, the robot is inevitably encountered with barriers, such as a threshold, a ditch, a ground concave-convex part and the like, and the existence of the barriers adversely affects the conveying work of the robot.

In order to increase obstacle crossing capability of the existing robot, on one hand, the torque of the driving wheel and the wheel diameter of the universal wheel are increased, the torque of the driving wheel is increased, the driving force can be improved, the wheel diameter of the universal wheel is increased, the resistance encountered when the robot is used for crossing an obstacle can be reduced, the torque of the driving wheel and the wheel diameter of the universal wheel are limited by the outline dimension of the robot, and the obstacle crossing capability of the robot is improved to be smaller. On the other hand, through setting up the directional wheel at the chassis of robot, when the robot carries out the obstacle crossing, directional wheel and obstacle phase contact, and then improve the obstacle crossing ability of robot, directional wheel self can't rotate, only can take place to rotate under the promotion of drive wheel, and obstacle crossing ability is relatively poor.

Therefore, how to improve the obstacle surmounting capability of the robot is a problem to be solved by those skilled in the art.

Disclosure of Invention

The utility model aims to provide a chassis structure and a robot, wherein the chassis structure is provided with at least one group of directional wheel assemblies, the directional wheel assemblies are in a rotating mode and a fixed mode, when a chassis main body is used for obstacle crossing, the directional wheel assemblies are in the rotating mode, a first motor drives the directional wheels to rotate, the chassis main body can be assisted to cross the obstacle, the obstacle crossing capacity of the robot is improved, when the chassis main body does not need to cross the obstacle, the directional wheel assemblies are in the fixed mode, and the first motor does not drive the directional wheel assemblies to rotate, so that the power consumption can be reduced.

The technical scheme provided by the utility model is as follows:

the chassis structure comprises a chassis main body, driving wheels, universal wheels and at least one group of directional wheel assemblies, wherein the driving wheels are arranged at the bottom of the chassis main body and used for driving the chassis main body to move, and the universal wheels are arranged at the bottom of the chassis main body and positioned at two sides of the driving direction of the driving wheels;

the orientation wheel assemblies are arranged at the bottom of the chassis main body, and at least one group of orientation wheel assemblies are arranged close to the edge of the chassis main body;

the directional wheel assembly is provided with a rotating mode and a fixed mode, the directional wheel assembly comprises a first motor and a directional wheel, the distance between the directional wheel and the chassis main body is smaller than the distance between the universal wheel and the chassis main body, when the chassis main body encounters an obstacle, the directional wheel assembly is in the rotating mode, the first motor drives the directional wheel to rotate, when the chassis main body does not encounter the obstacle, the directional wheel assembly is in the fixed mode, the first motor stops running and does not drive the directional wheel to rotate.

In some embodiments, at least one set of the directional wheel assemblies is disposed on a forward side of the direction of travel of the universal wheel.

In some embodiments, the wheel diameter of the orienting wheel is less than or equal to the wheel diameter of the universal wheel;

the distance between the lowest point of the orienting wheel and the lowest point of the universal wheel is not greater than the radius of the universal wheel.

In some embodiments, the axis of the universal wheel is parallel to the axis of the drive wheel, and the wheel diameter of the universal wheel is smaller than the wheel diameter of the drive wheel.

In some embodiments, the chassis body is provided with a directional wheel bracket for mounting the directional wheel assembly;

the directional wheel bracket comprises a fixed plate and two support plates, wherein the fixed plate is arranged on one side of the chassis main body, which is close to the ground, the two support plates are arranged on the fixed plate at intervals, a rotating shaft is arranged on the directional wheel, and the directional wheel is rotatably arranged between the two support plates through the rotating shaft;

the first motor is arranged on the supporting plate, a first synchronous wheel is arranged on an output shaft of the first motor, a second synchronous wheel is arranged at the end part of the rotating shaft, and the first synchronous wheel is in transmission connection with the second synchronous wheel and is used for driving the directional wheel to rotate.

In some embodiments, the drive system further comprises a synchronous belt, wherein the first synchronous wheel and the second synchronous wheel are in transmission connection through the synchronous belt.

In some embodiments, the number of the driving wheels is two, the two driving wheels are symmetrically distributed by taking the central axis of the chassis main body as an object, and the driving wheels are also connected with a second motor, and the second motor is used for driving the driving wheels to rotate;

and/or

The universal wheels are arranged in two groups, the number of each group of universal wheels is two, and the two groups of universal wheels are symmetrically arranged on two sides of the driving direction of the driving wheel.

In some embodiments, the device further comprises a telescopic rod, one end of the telescopic rod is arranged on the chassis main body, and one end of the telescopic rod, which is far away from the chassis main body, is arranged on the directional wheel bracket and used for adjusting the distance between the directional wheel and the chassis main body.

In some embodiments, the control assembly further comprises a controller and a detector, wherein the detector is arranged on the chassis main body and is used for sensing external terrain and transmitting terrain data to the controller;

the controller is arranged on the chassis main body, is connected with the first motor circuit and is used for controlling the first motor to run.

The chassis structure and the robot provided by the utility model have the following beneficial effects:

1. according to the chassis structure and the robot, the orientation wheel assembly is arranged at the bottom of the chassis main body, at least one group of orientation wheel assemblies are arranged at the edge of the chassis main body, and the distance between the orientation wheels and the chassis main body is smaller than the distance between the universal wheel groups and the chassis main body, so that the orientation wheels are firstly contacted with obstacles, and when the obstacle is surmounted, the orientation wheel assemblies are in a rotating mode, the first motor drives the universal wheels to rotate, so that the obstacle surmounting capability of the chassis main body is further improved, and the chassis structure is simple and convenient to operate.

2. According to the chassis structure and the robot, the chassis main body further comprises the telescopic rod, the telescopic rod is used for connecting the chassis main body and the directional wheel support, the length of the telescopic rod is adjustable, a user can adjust the distance between the directional wheel and the chassis main body according to actual requirements, obstacle surmounting capacity of the robot is further improved, application scenes of the robot are enriched, and universality of the robot is improved.

3. According to the chassis structure and the robot, the controller and the detector are further arranged, the detector can sense external terrain and transmit detected terrain data to the controller, the controller further controls the first motor to start and close, when the detector detects an obstacle, the controller controls the first motor to operate, so that the directional wheel rotates, the robot is assisted to surmount the obstacle, and when the detector does not detect the obstacle, the first motor does not operate, and therefore power consumption of the robot is greatly reduced.

Drawings

The above features, technical features, advantages and implementation modes of the present utility model will be further described in the following description of preferred embodiments with reference to the accompanying drawings in a clear and understandable manner.

FIG. 1 is a front view of a chassis structure and a robot provided by the present utility model;

FIG. 2 is a lower view of a chassis structure and robot provided by the present utility model;

FIG. 3 is a side view of a chassis structure and robot provided by the present utility model;

fig. 4 is a block diagram of a chassis structure and a directional wheel assembly of a robot according to the present utility model.

Reference numerals illustrate:

chassis main body 100, driving wheel 110, universal wheel 120, directional wheel assembly 130, directional wheel 131, first motor 132, directional wheel bracket 133, first synchronizing wheel 134, first synchronizing wheel 135, fixing plate 136, supporting plate 137, and detector 138.

Detailed Description

In order to more clearly illustrate the embodiments of the present utility model or the technical solutions in the prior art, the following description will explain the specific embodiments of the present utility model with reference to the accompanying drawings. It is evident that the drawings in the following description are only examples of the utility model, from which other drawings and other embodiments can be obtained by a person skilled in the art without inventive effort.

For the sake of simplicity of the drawing, the parts relevant to the present utility model are shown only schematically in the figures, which do not represent the actual structure thereof as a product. Additionally, in order to simplify the drawing for ease of understanding, components having the same structure or function in some of the drawings are shown schematically with only one of them, or only one of them is labeled. Herein, "a" means not only "only this one" but also "more than one" case.

In this context, it should be noted that the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected, unless explicitly stated or limited otherwise; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present utility model will be understood in specific cases by those of ordinary skill in the art.

In addition, in the description of the present utility model, the terms "first," "second," and the like are used merely to distinguish between descriptions and are not to be construed as indicating or implying relative importance.

In one embodiment, referring to fig. 1 to 4 of the drawings, a chassis structure is described, which is simple to operate and has high obstacle crossing capability by providing at least one group of directional wheel assemblies 130 at the bottom of the chassis main body 100, when obstacle crossing is required, the directional wheel assemblies 130 are in a rotating mode, the first motor 132 drives the directional wheels 131 to rotate, and the directional wheels 131 are firstly contacted with an obstacle and lift the chassis main body 100 and pass the obstacle under the action of the driving wheels 110.

Specifically, a chassis structure includes a chassis body 100, a drive wheel 110, a universal wheel 120, and at least one set of directional wheel assemblies 130. Wherein, the side of the chassis main body 100 close to the ground is set as the bottom of the chassis main body 100, and the driving wheel 110 is disposed at the bottom of the chassis main body 100, and the driving wheel 110 can drive the chassis main body 100 to move. Accordingly, the universal wheel 120 is also provided at the bottom of the chassis main body 100, and the universal wheel 120 is provided at both sides of the driving direction of the driving wheel 110, i.e., the universal wheel 120 is provided at both sides of the advancing direction of the driving wheel 110.

Further, the orientation wheel assembly 130 is disposed at the bottom of the chassis main body 100, and accordingly, at least one set of orientation wheel assemblies 130 is disposed at the edge of the chassis main body 100. It is noted that the directional wheel assembly 130 includes a directional wheel 131 and a first motor 132, and the first motor 132 is in driving connection with the directional wheel 131 to rotate the directional wheel 131. And the distance between the orientation wheel 131 and the chassis main body 100 is smaller than the distance between the universal wheel 120 and the chassis main body 100.

Further, the directional wheel assembly 130 has a rotation mode and a fixed mode, when the chassis main body 100 encounters an obstacle, the directional wheel assembly 130 is in the rotation mode, the first motor 132 drives the directional wheel 131 to rotate, and correspondingly, when the chassis main body 100 does not encounter an obstacle, the directional wheel assembly 130 is in the fixed mode, the first motor 132 does not operate, and the first motor 132 does not drive the directional wheel 131 to rotate.

In this embodiment, referring to fig. 1 to 4 of the drawings, when the chassis mechanism moves, there may be some obstacles on the travel path of the chassis mechanism, which requires that the chassis mechanism not only pass over a flat road surface but also need to go over some obstacles. When the chassis mechanism works and encounters an obstacle, the directional wheel assembly 130 is in a rotating mode, the directional wheel 131 is firstly contacted with the obstacle, and the chassis main body 100 moves forwards under the action of forward pushing of the driving wheel 110, so that the transition to the universal wheel 120 presses against the obstacle is facilitated. It is noted that, the first motor 132 drives the directional wheel 131 to rotate, and the directional wheel 131 contacts with the obstacle, while the directional wheel assembly 130 is in the rotating mode. In this way, under the combined action of the driving wheel 110 and the directional wheel 131, the chassis main body 100 has a stronger obstacle surmounting capability, and the stability of the chassis main body 100 when surmounting an obstacle is improved. Accordingly, when the vehicle is on an uphill, downhill or flat road, the directional wheel assembly 130 is in a fixed mode, the first motor 132 does not work, and the directional wheel 131 is not driven to rotate, so that the power consumption of the chassis mechanism can be reduced, the practical cost is reduced, and the endurance time of the chassis mechanism is prolonged.

In one embodiment, the present embodiment further describes the chassis main body 100. Specifically, the chassis main body 100 is further provided with an orientation wheel bracket 133, and the orientation wheel assembly 130 is mounted on the chassis main body 100 through the orientation wheel bracket 133. The orienting wheel bracket 133 includes a fixing plate 136 and a supporting plate 137, the fixing plate 136 is disposed at a side of the chassis main body 100 close to the ground, and the supporting plate 137 is disposed at two, and the two supporting plates 130 are disposed at a side of the fixing plate 136 away from the chassis main body 100 at a distance. Correspondingly, a rotating shaft is arranged on the directional wheel 131, penetrates through the central axis of the directional wheel 131 and is fixedly connected with the directional wheel 131. The directional wheel 131 is rotatably disposed between the two support plates 130 through a rotation shaft, the first motor 132 is fixedly disposed on the support plate 137, and the first motor 132 is in transmission connection with the directional wheel 131 and is used for driving the directional wheel 131 to rotate.

Further, a first synchronizing wheel 134 is disposed on an output shaft of the first motor 132, a second synchronizing wheel 135 is disposed at an end of a rotating shaft of the directional wheel 131, the first synchronizing wheel 134 is in transmission connection with the second synchronizing wheel 135, the output shaft of the first motor 132 rotates to drive the first synchronizing wheel 134 to rotate, and the first synchronizing wheel 134 drives the second synchronizing wheel 135 to rotate, so as to drive the directional wheel 131 to rotate.

Notably, referring to fig. 4 of the drawings, the first synchronizing wheel 134 and the second synchronizing wheel 135 are drivingly connected by a timing belt. The first synchronizing wheel 134 and the second synchronizing wheel 135 are both provided with inner grooves for the clamping fit of the synchronous belt. The synchronous belt is sleeved on the first synchronous wheel 134 and the second synchronous wheel 135 and is clamped in the inner groove, so that the first synchronous wheel 134 drives the second synchronous wheel 135 to rotate.

Of course, the first synchronizing wheel 134 and the second synchronizing wheel 135 may be provided with mutually matched saw teeth, respectively, and the first synchronizing wheel 134 and the second synchronizing wheel 135 are directly connected and are engaged and driven by the saw teeth. The first synchronous wheel 134 and the second synchronous wheel 135 can also be connected and driven by a transmission rod, and various modes of connecting the first synchronous wheel 134 and the second synchronous wheel 135 can be realized, so that the first motor 132 drives the directional wheel 131 to rotate, which is not described in detail herein, and the method is within the protection scope of the present utility model.

Preferably, the first motor 132 may be a planetary gear motor, which has the characteristics of small size, low power consumption, large torque, high stability, and the like.

In one embodiment, the present embodiment further describes the chassis main body 100. Specifically, the wheel diameter of the directional wheel 131 is smaller than or equal to the wheel diameter of the universal wheel 120, and accordingly, the side of the directional wheel 131 away from the chassis main body 100 is set to be the lowest point of the directional wheel 131, and the side of the universal wheel 120 away from the chassis main body 100 is set to be the lowest point of the universal wheel 120. The distance between the lowest point of the directional wheel 131 and the lowest point of the universal wheel 120 is not greater than the radius of the universal wheel 120. It can be appreciated that when the chassis main body 100 moves, the chassis main body 100 is convenient to cross the obstacle, the universal wheel 120 is convenient to pass the obstacle smoothly, if the wheel diameter of the directional wheel 131 is too large, the chassis main body 100 is easy to incline, the wheel diameter of the directional wheel 131 is too small, the obstacle crossing capability is poor, and the wheel diameter of the directional wheel 131 can be set according to the actual requirement.

Further, the axis of the universal wheel 120 is parallel to the axis of the driving wheel 110, and the wheel diameter of the universal wheel 120 is smaller than that of the driving wheel 110, so that the obstacle can be easily overcome. It will be appreciated that when the obstacle passes through the universal wheel 120 to contact the driving wheel 110, the contact surface of the obstacle and the driving wheel 110 is below the axial height of the universal wheel 120, so that the driving wheel 110 can conveniently press against the obstacle.

Further, referring to fig. 2 of the drawings, the number of the driving wheels 110 is two, the two driving wheels 110 are symmetrically distributed with the central axis of the chassis main body 100 as a symmetry axis, and the driving wheels 110 are also connected with a second motor, an output shaft of the second motor is fixedly connected with the driving wheels 110, and the second motor rotates to further drive the driving wheels 110 to rotate.

Further, referring to fig. 2 of the drawings, the universal wheels 120 are arranged in two groups, the number of the universal wheels 120 in each group is two, and each group of universal wheels 120 is symmetrically arranged at both sides of the driving direction of the driving wheel 110.

In one embodiment, the present embodiment further describes the directional wheel assembly 130. At least one set of the orientation wheel assemblies 130 is disposed at an edge of the chassis main body 100, and at least one set of the orientation wheel assemblies 130 is disposed at a front side of the advancing direction of the universal wheel 120, such that the universal wheel assemblies 130 positioned at the front side of the advancing direction of the universal wheel 120 first come into contact with an obstacle when the chassis main body 100 moves.

Specifically, when the steering wheel assemblies 130 are provided in a group, the steering wheel assemblies 130 are located at the front side in the advancing direction of the universal wheel 120. When the chassis main body 100 moves and encounters an obstacle, the universal wheel 131 is firstly contacted with the obstacle, the directional wheel assembly 130 is in a rotating mode, the first motor 132 drives the universal wheel 131 to rotate, the chassis main body 100 correspondingly lifts under the combined action of the universal wheel 131 and the driving wheel 110 until the obstacle contacts with the universal wheel 120, the robot continuously lifts through the rotation of the universal wheel 120, and the universal wheel 120 passes through the obstacle until the chassis main body 100 passes over the obstacle.

When the steering wheel assemblies 130 are provided in two sets, the two sets of steering wheel assemblies 130 are provided at both ends of the advancing direction of the chassis main body 100, respectively, and there is one set of steering wheel assemblies 130 located at the front side of the advancing direction of the universal wheel 120, and the other set of steering wheel assemblies 130 is provided near the edge of the chassis main body 100. The two directional wheel assemblies 130 are arranged, when the chassis main body 100 moves, the directional wheel assemblies 130 positioned at the front side of the advancing direction of the universal wheel 120 are firstly contacted with the obstacle, the two directional wheel assemblies 130 are in a rotating mode, the first motor 132 drives the universal wheel 131 to rotate, and under the combined action of the universal wheel 131 and the driving wheel 110, the chassis main body 100 correspondingly lifts until the obstacle is contacted with the universal wheel 120. The drive wheel 110 continues to walk forward such that the drive wheel 110 passes over the obstacle until the directional wheel 131 of the other set of directional wheel assemblies 130 contacts the obstacle, and the directional wheel 131 of the other set of directional wheel assemblies 130 rotates, pushing the chassis body 100 over the obstacle.

It is noted that in other embodiments, the number of directional wheel assemblies 130 may be three, four, five or more. Two directional wheel assemblies 130 are respectively disposed at both ends of the advancing direction of the chassis main body 100, and other directional wheel assemblies 130 are disposed in the area surrounded by the universal wheel 120. The number of the front directional wheel assemblies 130 located in the advancing direction of the universal wheel 120 may be two, which is not described herein in detail, and is within the scope of the present utility model.

In one embodiment, the present embodiment further describes the chassis main body 100. The chassis main body 100 further includes a telescopic rod, one end of which is disposed on the chassis main body 100, and one end of which is remote from the chassis main body 100 is disposed on the orienting wheel bracket 133. Accordingly, the length of the telescopic rod can be adjusted to adjust the distance between the directional wheel 131 and the bottom surface.

Specifically, the telescopic link includes slide bar, dead lever and electric putter, and wherein, the dead lever is inside to be provided with to hold the chamber, and electric putter movably sets up in the holding intracavity of dead lever, and the tip and the slide bar connection of electric putter are fixed, and the other end of slide bar is located the dead lever and installs on directional wheel support 133. The electric push rod is started, and moves in the fixing rod, so that the sliding rod is driven to move in the accommodation of the fixing rod, and the distance between the directional wheel 131 and the bottom surface is adjusted. It should be noted that, when the chassis main body 100 passes over some relatively low obstacles, the directional wheel 131 cannot contact with the obstacle, and the directional wheel 131 cannot play a corresponding role, at this time, the electric push rod is started, so that the directional wheel 131 moves towards a direction close to the obstacle, so that the directional wheel 131 can contact with the obstacle, and the first motor 132 drives the directional wheel 131 to rotate, thereby further improving the obstacle-crossing capability of the chassis main body 100.

In one embodiment, this embodiment further describes a chassis structure. Specifically, the chassis main body 100 is further provided with a control assembly. The control assembly comprises a controller and a detector 138, wherein the detector 138 and the controller are arranged on the chassis main body 100 and are used for sensing external terrain and transmitting terrain data to the controller correspondingly, and the controller is arranged on the chassis main body 100 and is in circuit connection with the first motor 132 and is used for controlling the first motor 132 to operate. Specifically, when the detector 138 detects an obstacle, the controller controls the first motor 132 to start operating, the steering wheel assembly 130 is in a rotational mode, and when the chassis structure does not encounter an obstacle in a flat road movement, the first motor 132 is not operated, and the steering wheel assembly 130 is in a fixed mode.

A robot comprising a chassis structure as provided in any one of the above embodiments.

It should be noted that the above embodiments can be freely combined as needed. The foregoing is merely a preferred embodiment of the present utility model and it should be noted that modifications and adaptations to those skilled in the art may be made without departing from the principles of the present utility model, which are intended to be comprehended within the scope of the present utility model.

Claims (10)

1. The chassis structure is characterized by comprising a chassis main body, driving wheels, universal wheels and at least one group of directional wheel assemblies, wherein the driving wheels are arranged at the bottom of the chassis main body and used for driving the chassis main body to move, and the universal wheels are arranged at the bottom of the chassis main body and positioned at two sides of the driving direction of the driving wheels;

the orientation wheel assemblies are arranged at the bottom of the chassis main body, and at least one group of orientation wheel assemblies are arranged close to the edge of the chassis main body;

the directional wheel assembly is provided with a rotating mode and a fixed mode, the directional wheel assembly comprises a first motor and a directional wheel, the distance between the directional wheel and the chassis main body is smaller than the distance between the universal wheel and the chassis main body, when the chassis main body encounters an obstacle, the directional wheel assembly is in the rotating mode, the first motor drives the directional wheel to rotate, when the chassis main body does not encounter the obstacle, the directional wheel assembly is in the fixed mode, the first motor stops running and does not drive the directional wheel to rotate.

2. A chassis structure according to claim 1, wherein at least one of said directional wheel assemblies is disposed on a front side of a forward direction of said universal wheel.

3. A chassis structure according to claim 2, wherein the wheel diameter of the orienting wheel is less than or equal to the wheel diameter of the universal wheel;

the distance between the lowest point of the orienting wheel and the lowest point of the universal wheel is not greater than the radius of the universal wheel.

4. A chassis structure according to claim 3, wherein the axis of the universal wheel is parallel to the axis of the drive wheel and the wheel diameter of the universal wheel is smaller than the wheel diameter of the drive wheel.

5. A chassis structure according to any one of claims 1 to 4, wherein the chassis body is provided with a directional wheel bracket for mounting the directional wheel assembly;

the directional wheel bracket comprises a fixed plate and two support plates, wherein the fixed plate is arranged on one side of the chassis main body, which is close to the ground, the two support plates are arranged on the fixed plate at intervals, a rotating shaft is arranged on the directional wheel, and the directional wheel is rotatably arranged between the two support plates through the rotating shaft;

the first motor is arranged on the supporting plate, a first synchronous wheel is arranged on an output shaft of the first motor, a second synchronous wheel is arranged at the end part of the rotating shaft, and the first synchronous wheel is in transmission connection with the second synchronous wheel and is used for driving the directional wheel to rotate.

6. The chassis structure of claim 5, further comprising a timing belt, wherein the first timing wheel and the second timing wheel are drivingly connected by the timing belt.

7. A chassis structure according to claim 6, wherein,

the number of the driving wheels is two, the two driving wheels are symmetrically distributed by taking the central axis of the chassis main body as an object, and the driving wheels are also connected with a second motor which is used for driving the driving wheels to rotate;

and/or

The universal wheels are arranged in two groups, the number of each group of universal wheels is two, and the two groups of universal wheels are symmetrically arranged on two sides of the driving direction of the driving wheel.

8. A chassis structure according to claim 6 or 7, further comprising a telescopic rod, one end of which is provided on the chassis body, and one end of which is provided on the orienting wheel bracket, remote from the chassis body, for adjusting the distance between the orienting wheel and the chassis body.

9. The chassis structure of claim 8, further comprising a control assembly including a controller and a detector disposed on the chassis body for sensing external terrain and transmitting terrain data to the controller;

the controller is arranged on the chassis main body, is connected with the first motor circuit and is used for controlling the first motor to run.

10. A robot comprising a chassis structure according to any one of claims 1-9.