CN220639437U - Robot chassis and robot - Google Patents

Abstract

The utility model discloses a robot chassis and a robot, wherein the robot chassis comprises: a frame; the wheel hub assembly comprises a wheel hub motor and a damping wheel bridge, the wheel hub motor forms a wheel hub structure, the wheel hub motor is provided with an output shaft, the wheel hub motor is connected with the damping wheel bridge through the output shaft, the damping wheel bridge is connected with the frame through a wheel bridge mounting assembly, and the damping wheel bridge can swing around a hinging point of the frame; the shock absorber is arranged along the horizontal direction and is connected with the shock absorption wheel bridge and the frame respectively. According to the robot chassis, the damping wheel bridge, the damper and the wheel bridge mounting assembly are matched, so that the hub structure is contacted with the ground, the driving force and damping requirements of the whole machine are met, the occupied space of the robot chassis in the vertical direction can be reduced, the whole structure of the robot chassis is more compact, the gravity center and space waste of the robot chassis are reduced, and the stability and obstacle crossing capacity of the robot between advancing are improved.

Description

Robot chassis and robot

Technical Field

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

Background

The existing robot chassis generally adopts a suspension structure, and the shock absorbers are approximately vertically distributed to realize the chassis shock absorption function. Although the existing design can realize a certain damping function, the existing design occupies a larger vertical space, the hinge points of the damper and the swing arm are far apart, and the existing design needs to be matched with a fixed structure, so that space waste is further caused. Meanwhile, due to the fact that the existing design chassis is dispersed in structure and high in gravity center, stability and obstacle crossing capacity of the robot between advancing are poor. In addition, due to the dispersion of the chassis structure caused by the suspension, other power, electric control and battery components often need to be customized and developed aiming at the chassis structure, which is not beneficial to the modularized design and upgrading iteration of the chassis.

Disclosure of Invention

The utility model aims to provide a novel technical scheme of a robot chassis and a robot, which at least can solve the problems of more space waste of the chassis, high gravity center, poor stability and obstacle surmounting capability of the robot between traveling and the like in the prior art.

In a first aspect of the utility model, a robot chassis is provided, comprising: a frame; the wheel hub assembly comprises a wheel hub motor and a shock absorption wheel bridge, the wheel hub motor forms a wheel hub structure, the wheel hub motor is provided with an output shaft, the wheel hub motor is connected with the shock absorption wheel bridge through the output shaft, the shock absorption wheel bridge is connected with the frame through a wheel bridge installation assembly, and the shock absorption wheel bridge can swing around a hinging point of the frame; the shock absorber is arranged along the horizontal direction and is respectively connected with the shock absorption wheel bridge and the frame.

Optionally, the number of the hub motors is four, and two hub motors which are oppositely arranged are connected with one shock absorption wheel bridge in a matching way.

Optionally, the shock absorbing wheel axle includes: a cross beam; the mounting plate is arranged at the end part of the cross beam, and two ends of the cross beam are respectively connected with the output shaft through the mounting plate; the clamping groove is formed in one end of the swing arm, the swing arm is clamped with the cross beam through the clamping groove, the opening of the clamping groove of the swing arm faces the mounting plate, and the other end of the swing arm is connected with the wheel axle mounting assembly; the support lugs are arranged on the cross beam and are connected with the frame.

Optionally, the mounting plate includes: the first plate body and the second plate body are matched to form a shaft hole for fixing the output shaft.

Optionally, the mounting plate, the swing arm, the cross beam and the support lug are fixed through welding connection.

Optionally, the axle mounting assembly comprises: a connecting piece; the first shaft sleeve is arranged on the connecting piece and connected with the swing arm, and the connecting piece, the first shaft sleeve and the damping wheel axle are fixedly connected; the second shaft sleeve is arranged on the connecting piece, the first shaft sleeve and the second shaft sleeve are arranged at intervals, and the second shaft sleeve is connected with the frame.

Optionally, the axle mounting assembly further comprises a spacer, the spacer is connected with the second sleeve, and the spacer is arranged between the second sleeve and the frame.

Optionally, the shock absorber includes: damping spring, damping spring arranges along the horizontal direction, damping spring's one end with damping wheel bridge is connected, damping spring's the other end with the frame is connected.

Optionally, the robot chassis further comprises: the battery is arranged on the frame; the electric control box is arranged on the frame; the mounting rod is vertically arranged on the frame and is positioned between the battery and the electric cabinet.

In a second aspect of the utility model, a robot is provided comprising a robot chassis as described in the embodiments above.

According to the robot chassis, the driving, steering and damping functions of the robot chassis are realized through the matching of the hub motor and the damping wheel bridge, and the driving force and damping requirements of the whole machine driving are met while the hub structure is ensured to be in contact with the ground through the matching of the damping wheel bridge, the damper and the wheel bridge mounting assembly. Through setting up the shock absorber level on the frame, reduce the occupation space of robot chassis in the vertical direction, guarantee that robot chassis overall structure is compacter, reduce the focus and the space waste of robot chassis, further improve the stability and the obstacle crossing ability between the robot marcing.

Other features of the present utility model and its advantages will become apparent from the following detailed description of exemplary embodiments of the utility model, which proceeds with reference to the accompanying drawings.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments of the utility model and together with the description, serve to explain the principles of the utility model.

FIG. 1 is a schematic structural view of a robot chassis according to an embodiment of the present utility model;

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

FIG. 3 is a schematic structural view of a hub assembly of a robotic chassis according to an embodiment of the present utility model;

FIG. 4 is a block diagram of a wheel axle mounting assembly of a robotic chassis according to an embodiment of the present utility model;

fig. 5 is a cross-sectional view of a wheel axle mounting assembly of a robotic chassis according to an embodiment of the utility model.

Reference numerals:

a frame 10;

a hub assembly 20; a hub motor 21; shock absorbing wheel axles 22; a beam 221; a mounting plate 222; a first plate 2221; a second plate 2222; swing arms 223; lugs 224;

axle mounting assembly 30; a connecting member 31; a first sleeve 32; a second sleeve 33; a spacer 34; a locknut 35;

a damper 40;

a battery 50;

an electric cabinet 60;

the lever 70 is installed.

Detailed Description

Various exemplary embodiments of the present utility model will now be described in detail with reference to the accompanying drawings. It should be noted that: the relative arrangement of the components and steps, numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present utility model unless it is specifically stated otherwise.

The following description of at least one exemplary embodiment is merely exemplary in nature and is in no way intended to limit the utility model, its application, or uses.

Techniques, methods, and apparatus known to one of ordinary skill in the relevant art may not be discussed in detail, but are intended to be part of the specification where appropriate.

In all examples shown and discussed herein, any specific values should be construed as merely illustrative, and not a limitation. Thus, other examples of exemplary embodiments may have different values.

It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further discussion thereof is necessary in subsequent figures.

In the description and claims of the present utility model, the terms "first," "second," and the like, if any, may include one or more of those features, either explicitly or implicitly. In the description of the present utility model, unless otherwise indicated, the meaning of "a plurality" is two or more. Furthermore, in the description and claims, "and/or" means at least one of the connected objects, and the character "/", generally means that the associated object is an "or" relationship.

In the description of the present utility model, it should be understood that, if the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. are referred to, the positional relationship indicated based on the drawings is merely for convenience of description and simplification of the description, and does not indicate or imply that the apparatus or element referred to must have a specific orientation, be configured and operated in a specific orientation, and therefore should not be construed as limiting the utility model.

In the description of the present utility model, it should be noted that the terms "mounted," "connected," and "connected" are to be construed broadly, unless otherwise specifically defined and limited. For example, the connection can be fixed connection, detachable connection or integrated connection; 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 can be understood by those of ordinary skill in the art according to the specific circumstances.

A robot chassis according to an embodiment of the present utility model is described in detail below with reference to the accompanying drawings.

As shown in fig. 1 and 2, the robot chassis according to an embodiment of the present utility model includes a frame 10, a hub assembly 20, and a shock absorber 40.

Specifically, the hub assembly 20 includes a hub motor 21 and a shock absorbing wheel bridge 22, the hub motor 21 forms a hub structure, the hub motor 21 has an output shaft, the hub motor 21 is connected with the shock absorbing wheel bridge 22 through the output shaft, the shock absorbing wheel bridge 22 is connected with the frame 10 through a wheel bridge mounting assembly 30, and the shock absorbing wheel bridge 22 is capable of swinging about a hinge point of the frame 10. Shock absorbers 40 are arranged in the horizontal direction, and shock absorbers 40 are connected with shock absorbing wheel axles 22 and frame 10, respectively.

In other words, referring to fig. 1 and 2, the robot chassis according to the embodiment of the present utility model is mainly composed of a frame 10, a hub assembly 20, and a shock absorber 40. Referring to fig. 3, the hub assembly 20 mainly comprises a hub motor 21 and a shock absorbing wheel axle 22, wherein the hub motor 21 is designed into a hub structure, so that a robot can walk conveniently. The in-wheel motor 21 has an output shaft, and the in-wheel motor 21 is connected to the damper wheel axle 22 via the output shaft. Shock absorbing wheel axle 22 is coupled to frame 10 by a wheel axle mounting assembly 30. And shock absorbing wheel bridge 22 is capable of swinging about the hinge point of frame 10. Shock absorbers 40 are arranged in the horizontal direction, and shock absorbers 40 are connected with shock absorbing wheel axles 22 and frame 10, respectively. Through setting up the shock absorber level on frame 10, reduce the occupation space of robot chassis in the vertical direction, guarantee that robot chassis overall structure is compacter, reduce the focus and the space waste of robot chassis, further improve the stability and the obstacle crossing ability between the robot marcing.

When external vibration is input, the vibration is transmitted to the shock-absorbing wheel bridge 22 through the in-wheel motor 21, the shock-absorbing wheel bridge 22 swings around the hinge point of the frame 10, and finally vibration displacement and energy are transmitted to the shock absorber 40. By the limitation of the shock absorber 40, the vibration amplitude of the shock absorbing wheel bridge 22 and the frame 10 is not excessively large, the whole vehicle is enabled to roll over or the functional components work effectively, and the vibration acceleration is enabled to be not excessively intense, so that structural components are broken or electric components are enabled to work effectively.

In the prior art, due to the dispersion of the chassis structure caused by the suspension, other power, electric control and battery components often need to be customized and developed aiming at the chassis structure, which is not beneficial to the modularized design and upgrading iteration of the chassis. The robot chassis adopts a compact damping chassis wheel bridge structure, has compact structure and small number of parts, and is convenient to assemble, disassemble and maintain. The compact damping chassis damper 40 is arranged, so that the damping effect is guaranteed, meanwhile, the space is small, particularly in the vertical direction, the overall gravity center of the chassis can be guaranteed to be low, the running stability is good, and the modular design and upgrading iteration of the chassis are facilitated.

Therefore, according to the robot chassis provided by the embodiment of the utility model, the driving, steering and damping functions of the robot chassis are realized through the matching of the hub motor 21 and the damping wheel bridge 22, and the driving force and damping requirements of the whole machine driving are met while the hub structure is ensured to be in contact with the ground by utilizing the matching of the damping wheel bridge 22, the damper and the wheel bridge mounting assembly 30. Through setting up the shock absorber level on frame 10, reduce the occupation space of robot chassis in the vertical direction, guarantee that robot chassis overall structure is compacter, reduce the focus and the space waste of robot chassis, further improve the stability and the obstacle crossing ability between the robot marcing.

According to one embodiment of the present utility model, the number of the hub motors 21 is four, and two hub motors 21 arranged oppositely are connected with one shock-absorbing wheel axle 22 in a matching manner.

That is, as shown in fig. 1 and 2, the number of the hub motors 21 is four, and the four hub motors 21 can be used as four hub structures of the robot to realize the walking of the robot. Two wheel hub motors 21 which are oppositely arranged are matched and connected with a damping wheel bridge 22, so that the driving, steering and damping functions of the robot chassis are realized. Every two in-wheel motors 21 are matched with the shock absorber 40 and the wheel axle installation assembly 30 through the wheel axles, so that the in-wheel motors 21 are contacted with the ground, and meanwhile, driving force meeting the driving requirement of the whole machine is provided. The four in-wheel motors 21 provide the supporting force required by the whole machine.

When external vibration is input, the vibration is transmitted to the shock-absorbing wheel bridge 22 through the in-wheel motor 21, the shock-absorbing wheel bridge 22 swings around the hinge point of the frame 10, and finally vibration displacement and energy are transmitted to the shock absorber 40. By the limitation of the shock absorber 40, the vibration amplitude of the shock absorbing wheel bridge 22 and the frame 10 is not excessive, so that the whole vehicle is turned over or functional components work effectively, and the vibration acceleration is not too intense, so that structural components are broken or electric components are effectively used.

When the robot chassis needs to run in a straight line, the four groups of hub motors 21 rotate in the same direction, so that single forward movement is met. When the robot chassis needs to turn or run in the opposite direction, the four groups of hub motors 21 rotate in a left-right differential mode, the steering or opposite direction movement requirement is met, the stability of the robot running room is guaranteed, and most outdoor highway pavements can be met.

According to one embodiment of the utility model, shock absorbing wheel axle 22 includes a cross beam 221, a mounting plate 222, a swing arm 223, and a lug 224.

Specifically, the mounting plates 222 are provided at the ends of the cross beam 221, and both ends of the cross beam 221 are respectively connected to the output shaft through the mounting plates 222. One end of the swing arm 223 is provided with a clamping groove, the swing arm 223 is clamped with the cross beam 221 through the clamping groove, an opening of the clamping groove of the swing arm 223 faces the mounting plate 222, and the other end of the swing arm 223 is connected with the wheel axle mounting assembly 30. Lugs 224 are provided on cross member 221, lugs 224 being connected to frame 10.

In other words, referring to fig. 3, the shock absorbing wheel axle 22 is mainly composed of a cross beam 221, a mounting plate 222, a swing arm 223, and lugs 224. Wherein, mounting panel 222 is installed in the tip of crossbeam 221, and the both ends of crossbeam 221 are connected with the output shaft through mounting panel 222 respectively. The output shaft of the in-wheel motor 21 can be clamped and fixed by the mounting plate 222, and the outer ring tire of the in-wheel motor 21 can be rotated around the output shaft. One end of the swing arm 223 is provided with a clamping groove, the swing arm 223 is clamped with the cross beam 221 through the clamping groove, an opening of the clamping groove of the swing arm 223 faces the mounting plate 222, and the other end of the swing arm 223 is connected with the wheel axle mounting assembly 30. Lugs 224 are mounted on cross member 221 and lugs 224 are connected to frame 10. The hub motor 21 is clamped and fixed to each other by the mounting plate 222, and transmits a support reaction force to the damper 40 through the cross member 221 and the lugs 224.

When external vibration is input, the vibration is transmitted to the shock-absorbing wheel bridge 22 through the in-wheel motor 21, the shock-absorbing wheel bridge 22 swings around the hinge point of the frame 10, and finally vibration displacement and energy are transmitted to the shock absorber 40. By the limitation of the shock absorber 40, the vibration amplitude of the shock absorbing wheel bridge 22 and the frame 10 is not excessive, so that the whole vehicle is turned over or functional components work effectively, and the vibration acceleration is not too intense, so that structural components are broken or electric components are effectively used.

According to one embodiment of the present utility model, the mounting plate 222 includes a first plate body 2221 and a second plate body 2222, and the first plate body 2221 and the second plate body 2222 cooperate to form a shaft hole for fixing the output shaft.

That is, as shown in fig. 3, the mounting plate 222 mainly comprises a first plate body 2221 and a second plate body 2222, wherein the first plate body 2221 and the second plate body 2222 are respectively provided with semicircular shaft holes, and the output shaft can be clamped and fixed by matching the two semicircular shaft holes, so that the output and transmission of the driving force are realized.

According to one embodiment of the utility model, the mounting plate 222, the swing arm 223, the cross beam 221 and the lugs 224 are fixed by welding connection, so as to ensure the stability of the whole structure of the shock absorbing wheel axle 22. Of course, the specific structures of the mounting plate 222, the swing arm 223, the cross beam 221 and the support lug 224 may be specifically designed according to actual needs, and will not be described in detail in the present utility model.

In some embodiments of the present utility model, axle mounting assembly 30 includes a connector 31, a first bushing 32, a second bushing 33, and a spacer 34.

Specifically, the first shaft sleeve 32 is provided on the connecting member 31, the first shaft sleeve 32 is connected with the swing arm 223, and the connecting member 31, the first shaft sleeve 32 and the damper axle 22 are fixedly connected. The second sleeve 33 is provided on the connecting member 31, the first sleeve 32 is provided at a distance from the second sleeve 33, and the second sleeve 33 is connected to the frame 10. The gasket 34 is connected to the second bushing 33, and the gasket 34 is provided between the second bushing 33 and the frame 10.

In other words, as shown in fig. 4 and 5, the axle mounting assembly 30 is mainly composed of a connecting member 31, a first bushing 32, a second bushing 33, and a spacer 34. The first shaft sleeve 32 is installed on the connecting piece 31, and the connecting piece 31 can be a shoulder screw, and the shoulder screw is matched with a locknut 35. The first shaft sleeve 32 is connected with the swing arm 223, and the connecting piece 31, the first shaft sleeve 32 and the damper axle 22 are fixedly connected. The second sleeve 33 is mounted on the connecting member 31, the first sleeve 32 is spaced apart from the second sleeve 33, and the second sleeve 33 is connected to the frame 10. The gasket 34 is connected to the second bushing 33, and the gasket 34 is provided between the second bushing 33 and the frame 10.

The first sleeve 32, the second sleeve 33 and the washer 34 can be threaded into shoulder screws (connectors 31) in sequence and then locked axially by locknuts 35. In addition, the first shaft sleeve 32 is matched with a shaft hole on the swing arm 223, and the second shaft sleeve 33 is matched with a shaft hole on the frame 10. After the whole assembly, the shoulder screw is relatively fixed with the first shaft sleeve 32 and the shock absorbing wheel axle 22, the second shaft sleeve 33 is relatively fixed with the copper pad (gasket 34) and the frame 10, and the two groups of parts can relatively and freely rotate around the axis of the shoulder screw.

According to one embodiment of the present utility model, the shock absorber 40 includes: damping springs, the damping springs is arranged along the horizontal direction, one end of the damping springs is connected with the damping wheel bridge 22, and the other end of the damping springs is connected with the frame 10.

In other words, referring to fig. 1 and 2, shock absorber 40 comprises a shock absorbing spring horizontally disposed on frame 10, one end of the shock absorbing spring being connected to shock absorbing wheel bridge 22, and the other end of the shock absorbing spring being connected to frame 10. Through setting up the shock absorber level on frame 10, reduce the occupation space of robot chassis in the vertical direction, guarantee that robot chassis overall structure is compacter, reduce the focus and the space waste of robot chassis, further improve the stability and the obstacle crossing ability between the robot marcing. The shock absorber 40 can adopt a composite shock absorber 40 of a spring and a damper, so that the shock absorption effect is ensured, meanwhile, the space occupied is small, especially in the vertical direction, the whole gravity center of the chassis is ensured to be lower, and the running stability is better.

According to one embodiment of the utility model, the robot chassis further comprises a battery 50, an electric cabinet 60 and a mounting bar 70. Specifically, battery 50 is provided on frame 10, and electric cabinet 60 is provided on frame 10. Mounting bar 70 is vertically disposed on frame 10, and mounting bar 70 is positioned between battery 50 and electric cabinet 60.

That is, as shown in fig. 1 and 2, the robot chassis is further provided with a battery 50, an electric cabinet 60, and a mounting bar 70. Wherein the battery 50 is mounted on the frame 10 and the electric cabinet 60 is mounted on the frame 10. Mounting bar 70 is vertically mounted to frame 10, and mounting bar 70 is positioned between battery 50 and electric cabinet 60. The battery 50 may be secured to the frame 10 by bolts and straps, and the electric cabinet 60 may be secured to the frame 10 by bolts. Mounting bar 70 may be bolted to frame 10 and mounting bar 70 may be adjusted in height and size as desired. The robot chassis has the advantages that the frame 10, the battery 50, the electric cabinet 60 and other structures are reasonably arranged, so that the number of whole parts is small, the installation and maintenance are convenient, the modularized design is convenient, and the design upgrading iteration is convenient.

In summary, according to the robot chassis of the embodiment of the present utility model, the driving, steering and damping functions of the robot chassis are realized by the cooperation of the hub motor 21 and the damping wheel bridge 22, and the driving force and damping requirements of the whole machine driving are met while the hub structure is ensured to be in contact with the ground by the cooperation of the damping wheel bridge 22, the damper and the wheel bridge mounting assembly 30. Through setting up the shock absorber level on frame 10, reduce the occupation space of robot chassis in the vertical direction, guarantee that robot chassis overall structure is compacter, reduce the focus and the space waste of robot chassis, further improve the stability and the obstacle crossing ability between the robot marcing.

Of course, other structures of the robot chassis and the working principle thereof are understood and can be implemented by those skilled in the art, and detailed description thereof is omitted herein.

According to a second aspect of the present utility model, there is provided a robot comprising a robot chassis as in the above embodiments. The robot chassis according to the embodiment of the utility model has the technical effects, so that the robot according to the embodiment of the utility model has the corresponding technical effects, namely the robot according to the embodiment of the utility model can ensure that the hub structure is contacted with the ground and simultaneously meet the driving force and damping requirement of the whole machine driving. And through setting up the shock absorber level on frame 10, reduce the occupation space of robot chassis in the vertical direction, guarantee that robot chassis overall structure is compacter, reduce the focus and the space waste of robot chassis, further improve the stability and the obstacle crossing ability between the robot marcing.

Of course, it is understood and possible for those skilled in the art that the robot and its structure and operation principle are not described in detail in the present utility model.

While certain specific embodiments of the utility model have been described in detail by way of example, it will be appreciated by those skilled in the art that the above examples are for illustration only and are not intended to limit the scope of the utility model. It will be appreciated by those skilled in the art that modifications may be made to the above embodiments without departing from the scope and spirit of the utility model. The scope of the utility model is defined by the appended claims.

Claims (10)

1. A robotic chassis, comprising:

a frame;

the wheel hub assembly comprises a wheel hub motor and a shock absorption wheel bridge, the wheel hub motor forms a wheel hub structure, the wheel hub motor is provided with an output shaft, the wheel hub motor is connected with the shock absorption wheel bridge through the output shaft, the shock absorption wheel bridge is connected with the frame through a wheel bridge installation assembly, and the shock absorption wheel bridge can swing around a hinging point of the frame;

the shock absorber is arranged along the horizontal direction and is respectively connected with the shock absorption wheel bridge and the frame.

2. The robot chassis according to claim 1, wherein the number of the hub motors is four, and two hub motors arranged oppositely are connected with one shock absorbing wheel bridge in a matching manner.

3. The robotic chassis of claim 1, wherein the shock absorbing wheel bridge comprises:

a cross beam;

the mounting plate is arranged at the end part of the cross beam, and two ends of the cross beam are respectively connected with the output shaft through the mounting plate;

the clamping groove is formed in one end of the swing arm, the swing arm is clamped with the cross beam through the clamping groove, the opening of the clamping groove of the swing arm faces the mounting plate, and the other end of the swing arm is connected with the wheel axle mounting assembly;

the support lugs are arranged on the cross beam and are connected with the frame.

4. A robotic chassis as claimed in claim 3, wherein the mounting plate comprises: the first plate body and the second plate body are matched to form a shaft hole for fixing the output shaft.

5. A robot chassis according to claim 3, wherein the mounting plate, swing arm, cross beam and lugs are secured by a welded connection.

6. A robotic chassis as claimed in claim 3, wherein the axle mounting assembly comprises:

a connecting piece;

the first shaft sleeve is arranged on the connecting piece and connected with the swing arm, and the connecting piece, the first shaft sleeve and the damping wheel axle are fixedly connected;

the second shaft sleeve is arranged on the connecting piece, the first shaft sleeve and the second shaft sleeve are arranged at intervals, and the second shaft sleeve is connected with the frame.

7. The robotic chassis of claim 6, wherein the axle mounting assembly further comprises a spacer coupled to the second hub, the spacer disposed between the second hub and the frame.

8. The robot chassis of claim 1, wherein the shock absorber comprises: damping spring, damping spring arranges along the horizontal direction, damping spring's one end with damping wheel bridge is connected, damping spring's the other end with the frame is connected.

9. The robotic chassis of claim 1, further comprising:

the battery is arranged on the frame;

the electric control box is arranged on the frame;

the mounting rod is vertically arranged on the frame and is positioned between the battery and the electric cabinet.

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