WO2023001206A1

WO2023001206A1 - Chassis and robot

Info

Publication number: WO2023001206A1
Application number: PCT/CN2022/106882
Authority: WO
Inventors: 陈海波; 朱峰; 黄森
Original assignee: 深兰机器人(上海)有限公司
Priority date: 2021-07-20
Filing date: 2022-07-20
Publication date: 2023-01-26
Also published as: CN113753132A

Abstract

A chassis (10) and a robot (1). The chassis (10) comprises: a chassis fixing frame (200) comprising a base plate (210) and a plurality of support columns (220), the plurality of support columns (220) being spaced apart from each other and provided on the base plate (210) in a circular direction, and the support columns (220) being vertically connected to the base plate (210); and a suspension mechanism (100) connected to the base plate (210), the suspension mechanism (100) comprising at least two wheel body components, the two wheel body components being provided opposite to each other, and the wheel body components being configured to locomote on a locomotion surface. The chassis fixing frame (200) uses an all-steel structure, the plurality of support columns (220) are used as the main bearing beams, all forces are borne on the plurality of support columns (220), and then the overall position is fixed by means of the base plate (210) to ensure that the plurality of support columns (220) are evenly stressed in the vertical direction, firm, and reliable.

Description

Chassis and Robot

This application claims the priority of the Chinese patent application 202110821188.6 with the filing date of July 20, 2021. This application cites the full text of the above-mentioned Chinese patent application.

technical field

This application relates to the field of robot technology, in particular to chassis and robots.

Background technique

In the relevant prior art, the chassis is the walking part of the robot, wherein the chassis includes a chassis fixing frame, and the chassis fixing frame is equipped with a wheel body assembly. In addition to the function of installing the wheel body, the chassis fixing frame is also the bottom plate support of the robot. The stability and load-bearing effect of the robot. The load-bearing steel frame structure design of the existing chassis fixing frame is unreasonable, the load-bearing effect is poor, easy to wear, the walking is not stable, and it needs to be replaced frequently, which increases the use cost of the robot.

In addition, in the prior art, the wheel body assembly is rigidly connected to the chassis fixing frame, the diameter of the wheel body is small, and the conventional chassis on the market is low from the ground, so that when the wheel body travels on different uneven roads, the bumps are more serious.

Contents of the invention

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

The first aspect of the present application provides a chassis, including: a chassis fixing frame, including a bottom plate and a plurality of support columns, the plurality of support columns are spaced from each other and arranged on the bottom plate in a circular direction, and the support columns are perpendicular to the bottom plate a suspension mechanism, connected to the bottom plate; wherein, the suspension mechanism includes at least two wheel assemblies, the two wheel assemblies are arranged opposite to each other, and the wheel assemblies are configured to walk on a walking surface.

In the chassis provided in the first aspect of the application, the chassis fixing frame adopts an all-steel structure, and multiple support columns are used as the main load-bearing beams, all the forces are relied on the multiple support columns, and then the overall position is fixed through the bottom plate. In order to ensure that the multiple supporting columns are evenly stressed in the vertical direction, it is firm and reliable, and can reduce the impact force on the chassis during walking, thereby making the chassis more stable during walking.

With reference to the first aspect, in a possible implementation manner, the chassis further includes: an electrical box; the chassis fixing bracket further includes: a side plate assembly, which is connected to a plurality of the support columns, so as to An accommodating space is enclosed by the bottom plate, the electrical box is placed in the accommodating space, and the electrical box is detachably connected to the side plate assembly.

With reference to the first aspect, in a possible implementation manner, the chassis further includes: the chassis further includes a limiting structure for the electrical box, and the limiting structure for the electrical box includes: a snap-in slot provided on the electrical box On: the clamping part is provided in the accommodation space, and the clamping part is connected with the side panel assembly, and the clamping part is clamped with the clamping groove; the side connecting plate is connected with the side plate assembly Board assemblies are detachably connected.

With reference to the first aspect, in a possible implementation manner, the suspension mechanism includes: a connecting rod; an elastic pressing member abutting against the connecting rod; wherein, each of the connecting rods is correspondingly connected to one of the In the wheel assembly, the elastic pressing member is configured to press the connecting rod, so that the wheel assembly and the contact surface generate friction; or the elastic pressing member is configured to relax the connecting rod.

With reference to the first aspect, in a possible implementation manner, the elastic pressing member includes: a pressing plate; a first elastic member, one end of which abuts against the connecting rod, and the other end of the first elastic member abuts against the pressing plate abutment; wherein, the pressing plate is configured to press the first elastic member, so that the first elastic member presses the connecting rod; or the pressing plate is configured to relax the first elastic member.

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

With reference to the first aspect, in a possible implementation manner, the suspension mechanism further includes: an adjusting screw configured to be screwed in to abut against the pressing plate, or screwed back to disengage from the pressing plate.

With reference to the first aspect, in a possible implementation manner, the first elastic member includes: a column, one end of which is connected to the connecting rod; a compression spring, sleeved on the column; wherein, the pressure plate is sleeved On the column, and the pressure plate is slidingly connected with the column, and one end of the pressure spring along the elastic direction abuts against the pressure plate.

With reference to the first aspect, in a possible implementation manner, the suspension mechanism further includes: a connecting shaft; wherein, the connecting rod has a shaft installation hole, and the connecting shaft is configured to be rotatably connected through the shaft installation hole. two connecting rods.

With reference to the first aspect, in a possible implementation manner, the wheel body assembly includes: a driving wheel, rotatably connected to the connecting rod; a compound guide wheel, connected to the connecting rod; wherein, the connecting rod has The first end and the second end, the driving wheel is arranged at the first end, and the compound guide wheel is arranged at the second end for connection.

With reference to the first aspect, in a possible implementation manner, the composite guide wheel includes: a guide wheel configured to contact the running surface; an auxiliary wheel arranged on one side of the guide wheel, and the auxiliary wheel and The guide wheel is arranged eccentrically, so that the auxiliary wheel protrudes from the guide wheel in the forward direction, and there is a height difference between the tangent between the auxiliary wheel and the horizontal plane and the tangent between the guide wheel and the horizontal plane.

With reference to the first aspect, in a possible implementation manner, there is a first eccentricity and a second eccentricity between the auxiliary wheel and the guide wheel, and the first eccentricity makes the auxiliary wheel protrudes above the guide wheel, and the second eccentricity makes the height difference between the tangent between the auxiliary wheel and the horizontal plane and the tangent between the guide wheel and the horizontal plane.

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

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

With reference to the first aspect, in a possible implementation manner, there are two auxiliary wheels, the two auxiliary wheels are respectively arranged on opposite sides of the guide wheel, and the two auxiliary wheels are coaxial set up.

With reference to the first aspect, in a possible implementation manner, the composite guide wheel further includes: a wheel shaft; wherein, the guide wheel has a wheel frame, and the wheel frame includes a top plate and a side plate, and the side plate and the The top board is connected, and the side boards are bent outwards to enclose an accommodating space, the guide wheels are partially placed in the accommodating space, and the side boards have opposite two sides to connect the A wheel shaft, the auxiliary wheel is rotatably connected to the end of the wheel shaft away from the side plate.

With reference to the first aspect, in a possible implementation manner, the compound guide wheel further includes: a bearing rotatably connected to the wheel shaft; and/or the wheel shaft is welded, riveted, or threaded. Either way is fixedly connected with the wheel frame; wherein, the auxiliary wheel is fixedly sleeved on the outer peripheral surface of the bearing

With reference to the first aspect, in a possible implementation manner, the chassis fixing frame further includes: a connecting plate disposed at the front end of the chassis in an advancing direction, and the connecting plate is connected to the chassis fixing frame; wherein, The opposite sides of the connecting plate are respectively provided with one of the multiple guide wheels, and the two suspension mechanisms are respectively located at the rear end of the forward direction of the chassis.

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

The second aspect of the present application provides a robot, which includes: the chassis described in any of the above implementations; wherein, the chassis fixing frame also includes a mounting plate and a fixed beam, and the support column is a square steel pipe, so The fixed beam is connected to the end of the support column of the chassis away from the bottom plate, the fixed beam has a horizontal installation surface, and the horizontal installation surface and the installation plate are attached to each other, so that the installation plate and the installation plate The bottom plates are parallel to each other.

Since the robot provided in the second aspect of the present application includes the chassis in any of the above-mentioned implementation manners, it has the technical effect of any of the above-mentioned chassis, and will not be repeated here.

Description of drawings

FIG. 1 is a schematic diagram of a three-dimensional structure of a chassis provided in some implementation manners of the present application.

FIG. 2 is a schematic three-dimensional structure diagram of a chassis fixing bracket of a chassis provided in some implementation manners of the present application.

FIG. 3 is a front structural schematic diagram of a chassis fixing frame provided by some implementations shown in FIG. 2 .

FIG. 4 is a schematic side view structural diagram of a chassis fixing frame provided by some implementation manners shown in FIG. 2 .

FIG. 5 is a schematic top view of the chassis fixing frame provided by some implementations shown in FIG. 2 .

FIG. 6 is a schematic perspective view of a suspension mechanism of a chassis provided in some implementation manners of the present application.

FIG. 7 is a schematic perspective view of a suspension mechanism of a chassis provided in some other implementation manners of the present application.

FIG. 8 is a schematic three-dimensional structural diagram of a partial structure of a suspension mechanism of a chassis provided in some implementation manners of the present application.

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

FIG. 10 is a schematic perspective view of the three-dimensional structure of the multiple guide wheels of the chassis provided in some implementations of the present application.

FIG. 11 is a front structural schematic view of the multiple guide wheels of the chassis provided by the implementation shown in FIG. 10 .

FIG. 12 is a schematic side view of the multiple guide wheels of the chassis provided by the implementation shown in FIG. 10 .

FIG. 13 is a schematic top view of the multiple guide wheels of the chassis provided by the implementation shown in FIG. 10 .

FIG. 14 is a schematic bottom view of the multiple guide wheels of the chassis provided by the implementation shown in FIG. 10 .

Fig. 15 is a schematic structural diagram of a robot provided in some implementation manners of the present application.

FIG. 16 is a schematic diagram of a front view structure of a robot provided in some other implementation manners of the present application.

FIG. 17 is a schematic diagram of a three-dimensional structure of a robot provided in some other implementation manners of the present application.

FIG. 18 is a schematic diagram of a front view structure of a robot before going up a hurdle provided by some implementations of the present application.

Fig. 19 is a front structural schematic view of the front double guide wheel sill-up process of the robot provided in some implementation manners of the present application.

Fig. 20 is a schematic diagram of the front structure of the front part of the robot after the upper sill of the multiple guide wheels provided by some implementations of the present application.

Fig. 21 is a schematic diagram of the front view structure of the driving wheel of the robot provided by some implementation manners of the present application.

Fig. 22 is a front structural schematic view of the front compound guide wheels of the robot provided by some implementations of the present application after lowering the sill.

Fig. 23 is a schematic diagram of the front view structure of the driving wheel of the robot provided in some implementation manners of the present application after the driving wheel is lowered to the sill.

detailed description

The following will clearly and completely describe the technical solutions in the embodiments of the application with reference to the drawings in the embodiments of the application. Apparently, the described embodiments are only some, not all, embodiments of the application. Based on the embodiments in this application, all other embodiments obtained by persons of ordinary skill in the art without creative efforts fall within the protection scope of this application.

Application overview

In order to solve the technical problems of poor load-bearing effect of the chassis fixing frame and unstable walking in the background technology, the diameter of the wheel body can be increased to improve the unevenness of the chassis during walking. However, since the installation of the wheel body is limited by the size of the bottom space of the chassis, it is limited by increasing the diameter of the wheel body.

In view of the above technical problems, the basic idea of this application is to propose a chassis and a robot. Split the chassis into two layers: the first layer is used to concentrate the bearing capacity in the vertical direction perpendicular to the walking surface; the second layer is used to ensure the overall structure is more stable. Since the multiple support columns are vertically connected to the base plate, it is ensured that the bearing capacity can be concentrated in the vertical direction, and the base plate is connected with multiple support columns to ensure the stability and stability of the overall structure.

It should be noted that the chassis provided in this application can be applied to robots in any scene. Specifically, the design purpose of the mechanical structure is to complete specific work tasks, and the way to complete the work tasks is to complete specific mechanical actions or information transmission through the corresponding mechanical structure or some or all components in the mechanical structure.

After introducing the basic principles of the application, various non-limiting embodiments of the application will be described in detail below with reference to the accompanying drawings.

Exemplary Chassis

FIG. 1 is a schematic diagram of a three-dimensional structure of a chassis provided in some implementation manners of the present application. As shown in FIG. 1 , the chassis 100 includes a chassis fixing frame 200 and a suspension mechanism 100 . Wherein, the chassis fixing frame 200 includes a base plate 210 and a plurality of support columns 220, for example, there may be four support columns 220, and the plurality of support columns 220 are spaced apart from each other and arranged circumferentially on the base plate 210, so that the support force can be evenly distributed on the base plate On 210, the structure is more stable. Moreover, the support column 220 is perpendicular to the bottom plate 210, so that the bearing capacity can be concentrated on the support column 220, which can reduce the shaking phenomenon of the chassis 100 during walking and is more stable. The suspension mechanism 200 is connected to the support column 220 . Wherein, the suspension mechanism 100 includes at least two wheel body assemblies, the two wheel body assemblies are arranged oppositely, and the wheel assembly is configured to walk on the walking surface.

More specifically, the chassis fixing frame 200 adopts an all-steel structure, and a plurality of support columns 220 are used as main load-bearing beams, and all forces are relied on the plurality of support columns, and then the overall position is fixed through the bottom plate 210 to ensure The plurality of support columns 220 are uniformly stressed in the vertical direction, are firm and reliable, and can reduce the impact force received by the chassis 10 during walking, thereby making the chassis 10 more stable during walking.

Continuing to show in FIG. 1 , in combination with the first aspect, in a possible implementation manner, the chassis 10 further includes an electrical box 800, and the chassis fixing frame 200 further includes: a side plate assembly 230, which is connected to a plurality of supports On the column, the overall structural strength of the chassis mount can be further enhanced. The side plate assembly 230 includes plate body assemblies arranged on both sides. The plate body assembly includes side plates and connecting end plates. 210 encloses an accommodating space. The electrical box 800 is placed in the accommodation space, which reduces the structural size of the chassis. The electrical box 800 is detachably connected to the side plate assembly 230 to facilitate maintenance of the electrical box.

Continuing to show in FIG. 1 , in a possible implementation manner, the chassis 10 further includes an electrical box limiting structure 250, and the electrical box limiting structure 250 includes: a clamping slot 253, a clamping portion 251 and a side connecting plate 255, The clamping groove 253 is provided on the electric box, the clamping part 251 is arranged in the accommodation space, and the clamping part 251 is connected with the side plate assembly 230, the shape of the protruding part of the clamping part 251 and the concave part of the clamping groove 253 Matched so that the engaging portion 251 engages with the engaging groove 253 . A plurality of through holes are provided on the side connecting plate for passing fasteners, so that the side connecting plate is detachably connected to the side plate assembly 230 . Among them, since the electric box needs to be disassembled, overhauled and replaced with batteries during routine maintenance, by adopting the opposite sex clamping position of the clamping groove 253 and the clamping part 251, the displacement in the four aspects of up, down, left, and right can be controlled, and then the rear end can be aligned through screw parts Fixing ensures that the entire electrical box will not be loosened by external impact or vibration during the movement of the robot.

FIG. 6 is a schematic perspective view of a three-dimensional structure of a chassis provided in some implementation manners of the present application. As shown in FIG. 6 , the suspension mechanism 100 includes: a connecting rod 120 and an elastic pressing member 140 .

Specifically, each connecting rod 120 is correspondingly connected with a wheel assembly, the wheel assembly is connected to the connecting rod 120, the elastic pressing piece 140 abuts against the connecting rod 120, and the elastic pressing piece 140 is configured to press the connecting rod 120, so that the wheel The body component and the contact surface generate friction, or the elastic pressing piece 140 is configured to loosen the connecting rod 120 . The connecting rod 120 is under the pressure of the elastic pressing member 140, so that the wheel body assembly can be close to the ground and generate enough frictional force, thereby driving the wheel body in the forward direction of the wheel body assembly to go up the bump first, and then with the elastic pressure With the gradual release of the elastic force of the member 140, the frictional force between the wheel body assembly and the ground gradually decreases, which avoids the generation of violent bumps.

FIG. 8 is a schematic three-dimensional structural diagram of a partial structure of a suspension mechanism of a chassis provided in some implementation manners of the present application. As shown in FIG. 8 , in a possible implementation manner, the wheel assembly includes a driving wheel 130 and a compound guide wheel 110 , the drive wheel 130 is rotatably connected to the connecting rod 120 , and the compound guide wheel 110 is connected to the connecting rod 120 . Wherein, the connecting rod 120 has a first end 121 and a second end 123 , the driving wheel 130 is arranged at the first end 121 , and the compound guide wheel 110 is arranged at the second end 123 .

Specifically, referring to FIG. 8 , the driving wheel 130 is rotationally connected to the first end 121 . FIG. 9 shows an enlarged schematic diagram of the structure at B in FIG. 8 . As shown in FIG. 9 , the bottom of the first end 121 is provided with a driving wheel shaft 1301 , and the driving wheel 130 is rotatably connected to the driving wheel shaft 1301 . The driving wheel 130 is used to drive the suspension mechanism 100 to travel, and the compound guide wheel 110 is connected to the second end 123 through the wheel frame 111 . The driving wheel 130 is installed on the suspension mechanism 100 and used together with the compound guide wheel 110, which can be used as a balance wheel and can improve the stability during walking. In addition, the suspension mechanism 100 as an independent component also improves its adaptability. The suspension mechanism 100 provides driving force through the driving wheel 130 so that the multiple guide wheels 110 can overcome the corresponding height of the threshold, so that the suspension mechanism 100 can overcome the corresponding height of the threshold, which improves the application range of the suspension mechanism 100 .

More specifically, the driving wheel 130 is used to drive the suspension mechanism 100 to travel, and the multiple guide wheel 110 is connected to the second end 123 through the wheel frame 111 . The driving wheel 130 is installed on the suspension mechanism 100 and used together with the compound guide wheel 110, which can be used as a balance wheel and can improve the stability during walking. In addition, the suspension mechanism 100 as an independent component also improves its adaptability. The suspension mechanism 100 provides driving force through the driving wheel 130 so that the multiple guide wheels 110 can overcome the corresponding height of the threshold, so that the suspension mechanism 100 can overcome the corresponding height of the threshold, which improves the application range of the suspension mechanism 100 .

Continuing to show in FIG. 6 , in a possible implementation manner, the elastic pressing member 140 includes a pressing plate 141 and a first elastic member 143 , one end of the first elastic member 143 abuts against the connecting rod 120 , and the first elastic member 143 The other end abuts against the pressing plate 141 . Wherein, the pressing plate 141 is configured to press the first elastic member 143 so that the first elastic member 143 presses the connecting rod 120 . Or the pressing plate 141 is configured to loosen the first elastic member 143 . It can be understood that the elastic member 141 has elasticity, and after being pressed by the pressing plate 141 , the elastic member 141 can react against the connecting rod 120 under the action of elastic force, thereby increasing the frictional force of the wheel assembly on the connecting rod 120 . Wherein, the pressing plate 141 presses the elastic member 141 under the drive of the power mechanism, so that the elastic member 141 presses the connecting rod 120 .

FIG. 7 is a schematic perspective view of a suspension mechanism of a chassis provided in some other implementation manners of the present application. As shown in FIG. 7 , in a possible implementation manner, the first elastic member 143 includes: an installation shaft 1431 and a torsion spring 1433 , the installation shaft 1431 is installed laterally, and the installation shaft 1431 is configured to be rotatable.

The torsion spring 1433 is sleeved on the installation shaft 1431 . Wherein, the pressing plate 141 is connected to the installation shaft 1431 . The pressing plate 141 can be U-shaped, so that the plates on both sides of the pressing plate 141 are respectively fixedly connected with the installation shaft 1431 so as to be able to rotate synchronously with the installation shaft 1431 . One end of the torsion spring 1433 abuts against the pressing plate 141, and the other end of the torsion spring 1433 abuts against the connecting rod 120. It can be understood that one end of the torsion spring 1433 is connected to the bottom plate of the pressing plate 141, and the other end of the torsion spring 1433 is connected to the first end 121, so that the compression force of the torsion spring 1433 can quickly act on the driving wheel 130.

More specifically, as shown in FIG. 7 , the power mechanism for the pressing plate 141 to drive the first elastic member 143 to press the connecting rod 120 can be an adjusting screw 160, which is screwed to the chassis fixing frame, and the adjusting screw 160 is configured to screw in to abut against the pressing plate 141 , or rotate back to disengage from the pressing plate 141 . Wherein, the chassis fixing frame is provided with a vertical plate, and the vertical plate is provided with threaded holes for passing the adjusting screw 160 . By adopting the adjustment screw 160 as the power mechanism, the structure is simple and the adjustment is convenient. The function of the adjustment screw 160 can not only be used as the power to drive the pressure plate 141, but also can adjust the bearing force of the torsion spring 1433 according to the different loads on the chassis, so as to play the role of crossing and Smooth transition effect on uneven road surface.

More specifically, when the adjusting screw 160 is adjusted and pushed forward to make the pressure plate 141 rotate counterclockwise through the installation shaft 1431, the end of the torsion spring 1433 contacting the pressure plate 141 is pressed, causing the end of the torsion spring 1433 in contact with the connecting rod 120 to Press down, and then make the driving wheel 130 increase the frictional force with the ground. At the same time, the lower end of the extension spring is fixed on the rotating shaft 323, and the upper end of the traction member is fixed on the chassis frame, so as to ensure that when the adjusting screw 160 is adjusted and pushed forward to make the pressing plate 141 rotate counterclockwise through the mounting shaft 1431, the torsion spring 1433 contacts the pressing plate 141 After one end of the chassis is under pressure, the chassis as a whole is tilted up excessively and then turned over.

Since the characteristic of the torsion spring 1433 is linear deformation, the force of releasing and bearing pressure is relatively stable during the overall hurdle-crossing process, and the vibration generated by the chassis during the ridge-passing process is restricted by the tension of the extension spring. Reduced buffering.

FIG. 17 is a schematic diagram of a three-dimensional structure of a robot provided in some other implementation manners of the present application. As shown in FIG. 17 , the first elastic member 143 includes: a column 1435 and a compression spring 1437 , and one end of the column 1435 is connected to the connecting rod 120 .

Wherein, there is a fixing plate 1439 on the chassis fixing frame, one end of the column 1435 is connected with the chassis fixing frame through the fixing plate 1439 , and the other end of the column 1435 is connected to the first end 121 .

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

Wherein, the pressing plate 141 is sleeved on the column 1435 , the pressing plate 141 is located at the bottom of the column 1435 , and the pressing plate 141 is slidingly connected with the column 1435 , it can be understood that the pressing plate 141 can slide up and down along the column 1435 . One end of the compression spring 1437 along the elastic direction abuts against the pressure plate 141 . The other end of the compression spring 1437 along the elastic direction abuts against the chassis fixing frame. It can be understood that the pressure plate 141 is threadedly connected with the column 1435 to realize relative sliding in the axial direction between the pressure plate 141 and the column 1435. By rotating the pressure plate 141, the The pressing plate 141 compresses the compression spring 1437 or elongates the compression spring 1437 , so as to achieve the purpose of compressing the connecting rod 120 or loosening the connecting rod 120 by adjusting the elastic deformation of the compression spring 1437 . Wherein, the power of the pressing plate 141 can be provided manually, for example, by turning the pressing plate 141 manually.

FIG. 16 is a schematic diagram of a front view structure of a robot provided in some other implementation manners of the present application. As shown in FIG. 16 , in a possible implementation manner, the suspension mechanism 100 further includes: a connecting shaft 150 .

Wherein, as shown in FIG. 3 , the connecting rod 120 has a shaft mounting hole 125, the shaft mounting hole 125 is located between the first end 121 and the second end 123, and the connecting shaft 150 is configured to rotate through the shaft mounting hole 125 to connect two connecting rods. Rod 120. It can be understood that the shaft mounting hole 125 is configured to mount the connecting shaft 150 so that one end of the connecting shaft 150 is rotatably connected to the shaft mounting hole 125 on one connecting rod 120 , and the other end of the connecting shaft 150 is rotatably connected to the other connecting rod 120 Inside the mounting hole 125. The connecting shaft 150 not only plays the role of connecting the two connecting rods 120, but also makes the structure of the suspension mechanism 100 more stable, and connects the two connecting rods 120 through the connecting shaft 150 to balance the compound guide wheels 110 and driving wheels on both sides. 130, so that the compound guide wheel 110 will not be deflected or rolled over during the turning process.

Exemplary Duplex Guide Wheels

FIG. 10 is a schematic perspective view of the three-dimensional structure of the multiple guide wheels of the chassis provided in some implementations of the present application. As shown in FIG. 10 , the composite guide wheel 110 includes: a guide wheel 111 and an auxiliary wheel 113 .

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

More specifically, the guide wheels 111 are configured to be in contact with the running surface. Before the compound guide wheel 110 crosses the ridge, because the auxiliary wheel 113 is in the air, the guide wheel 111 is in contact with the ground. Since the height of the ridge is higher than the ground, and the auxiliary wheel protrudes from the guide wheel 111 in the forward direction, therefore, in the process of crossing the ridge, In the process, the auxiliary wheel 113 first contacts with the ridge, and under the action of friction, the auxiliary wheel 113 climbs along the ridge, thereby driving the guide wheel 111 to climb up the ridge. When the auxiliary wheel 113 climbs to the height of the height difference H, the guide wheel 111 is in contact with the ridge, so that the guide wheel 111 drives the auxiliary wheel 113 to continue climbing the ridge until the ridge is crossed, so that the multiple guide wheels 110 can climb over the ridge through the two-stage way of crossing the ridge. Wherein, the height of the ridge that the auxiliary wheels 113 can climb is corresponding to the height difference formed between the tangent line between the guide wheel and the horizontal plane and the tangent line between the auxiliary wheel and the horizontal plane. Therefore, as long as the suitable height difference is designed, the compound guide wheel 111 can cross over a ridge of considerable height, and then the guide wheel 111 crosses the ridge again, and realizes by splitting the process of crossing the ridge of the guide wheel 111 into two stages, thereby improving the The range of the height of the ridge that the compound guide wheel 110 can cross also increases the application range of the compound guide wheel 110 .

FIG. 11 is a schematic front view of the structure of the multiple guide wheels provided by the implementation shown in FIG. 10 . As shown in Figure 11, the auxiliary wheel 113 overlaps with the axial projection of the guide wheel 111. It can be understood that the auxiliary wheel 113 is eccentrically arranged with the guide wheel 111, at least forming an eccentric distance in the forward direction. Protrude from the guide wheel 111 in the advancing direction, but the eccentric distance between the auxiliary wheel 113 and the guiding wheel 111 in the advancing direction is less than the sum of the radius of the auxiliary wheel 113 and the radius of the guiding wheel 111. At this time, the auxiliary wheel 113 first contacts with the ridge to climb the slope, and the guide wheel 111 contacts with the ridge to climb the slope, so that the compound guide wheel 110 can be guaranteed to cross the ridge in two stages.

In addition, since the compound guide wheel 110 has at least one auxiliary wheel 113, the compound guide wheel 110 can pass obstacles on one side.

Continuing to show in FIG. 11 , in a possible implementation, there is a first eccentricity A1 and a second eccentricity A2 between the auxiliary wheel 113 and the guide wheel 111. It can be understood that the first eccentricity A1 is the auxiliary The eccentric distance formed between the wheel 113 and the guide wheel 111 in the forward direction. There are two eccentricities between the auxiliary wheel 113 and the guide wheel 111, that is, the first eccentricity A1 is the eccentricity in the horizontal direction, and the second eccentricity A2 is the eccentricity in the height difference direction, that is, the vertical eccentricity. The first eccentricity A1 makes the auxiliary wheel 113 protrude from the guide wheel 111 in the forward direction, and the second eccentricity A2 makes the auxiliary wheel 113 suspended. Therefore, the guide wheel 111 can not only meet the requirement of rotating within a certain diameter range, but also meet the height difference H, so that in the walking direction, the auxiliary wheel 113 can contact the ridge first.

Continuing to show in FIG. 11 , in a possible implementation manner, the first eccentricity A1 is a horizontal eccentricity, wherein the horizontal tangent at the bottom of the auxiliary wheel 113 at the determined height difference is tangent to the outer diameter of the auxiliary wheel 113, forming The horizontal tangent point C, the horizontal tangent point C of the auxiliary wheel 113 is located on the outer diameter of the guide wheel 111, so as to obtain the first eccentricity A1, which is the optimal first eccentricity, so that the compound guide wheel 110 is in the process of crossing the ridge more stable.

More specifically, taking a three-inch guide wheel as an example, that is, the radius of the guide wheel 111 is 75 mm, and the radius of the auxiliary wheel 113 is 80 mm. The height difference H is 6.5 mm to 13 mm, and optimally 9.5 mm to 10 mm, which improves the height at which the compound guide wheels 110 can cross the ridge. The first eccentricity A1 is 20 mm to 26 mm, preferably 23 mm, which is relatively small among similar 3-inch guide wheels, and such an eccentricity can better complete small-radius steering. Wherein, the guide wheel 111 may be a universal wheel.

Continuing to show in Figure 11, in a possible implementation, the height difference H is 1/2 to 1/8 of the radius of the guide wheel 111, it can be understood that the height difference H can be 1/2 of the radius of the guide wheel , 1/5 of the radius of the guide wheel, and 1/8 of the radius of the guide wheel.

Continuing to show in FIG. 10 , in a possible implementation manner, there are two auxiliary wheels 113 , the two auxiliary wheels 113 are respectively arranged on opposite sides of the guide wheel 111 , and the two auxiliary wheels 113 are arranged coaxially. Wherein, the auxiliary wheel 113 is rotatably connected to the wheel shaft 117, and the two auxiliary wheels 113 are respectively arranged on opposite sides of the guide wheel 111, so that the compound guide wheel 110 is more stable during walking and has a certain load-bearing capacity.

FIG. 12 is a side structural schematic view of the compound guide wheel provided by the implementation shown in FIG. 10 . As shown in Figure 12, in a possible implementation, the compound guide wheel 100 also includes: a wheel shaft 117, wherein the guide wheel 111 has a wheel frame 115, and the wheel frame 115 includes a top plate 1151 and a side plate 1153, and the side plate 1153 and The top plate 1151 is connected, and the side plates 1153 are bent outwards to enclose an accommodating space. The guide wheel 111 is partially placed in the accommodating space. It can be understood that the wheel body of the guiding wheel 111 is partially placed in the accommodating space . The side plate 1153 has two opposite sides for connecting the axle 117 , and the auxiliary wheel 113 is rotatably connected to the end of the axle 117 away from the side plate 1153 .

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

More specifically, as shown in Figure 12 and Figure 10, the wheel frame 115 includes: a top plate 1151 and a side plate 1153, the side plate 1153 forms a U-shaped structure, and the side plate 1153 is connected with the top plate to form an accommodation space for installation The wheel body of guide wheel 111. Wherein, one end of a wheel shaft 117 is connected to one side of the side plate 1153 . One end of the other axle 117 is connected to the other side of the side plate 1153 . FIG. 13 is a schematic top view of the multiple guide wheels provided by the implementation shown in FIG. 5 . As shown in Figure 13, the side plate 1153 has a curved portion, so that the cross-section of the side plate 1153 becomes a U-shape with an outwardly protruding structure, and the protruding portion of the curved portion faces the auxiliary wheel 113, so that it is placed in the accommodating space The wheel body of the guide wheel 111 will not interfere with the side plate 1153, and the structural strength of the side plate 1153 can be improved. The wheel body of the guiding wheel 111 is located in the accommodating space, and the auxiliary wheel 113 is located outside the accommodating space, so that mutual interference between the guiding wheel 111 and the auxiliary wheel 113 can be avoided. FIG. 14 is a schematic bottom view of the multiple guide wheels of the chassis provided by the implementation shown in FIG. 10 . As shown in FIG. 14 , threaded holes are provided on the top plate 1151 , which can be used to install the multiple guide wheels 100 through fasteners.

11 and 14, in a possible implementation, the compound guide wheel 100 also includes a bearing 119, the bearing 119 is rotatably connected to the wheel shaft 117, and/or the wheel shaft 117 adopts welding, riveting, thread lock Either way is fixedly connected to the wheel frame 115, wherein the auxiliary wheel 113 is fixedly sleeved on the outer peripheral surface of the bearing 119, so that the auxiliary wheel 113 can rotate synchronously with the bearing 119, and the auxiliary wheel 113 is installed through the bearing 119, It can reduce the friction between the auxiliary wheel 113 and the axle 117 to generate resistance.

Fig. 15 is a schematic structural diagram of a robot provided in some implementation manners of the present application. As shown in FIG. 15 , the robot includes: a chassis 10 in any implementation manner; wherein, FIG. 2 is a schematic three-dimensional structure diagram of a chassis fixing frame of the chassis provided in some implementation manners of the present application. As shown in Figure 2, the chassis fixing frame 200 also includes a mounting plate 280 and a fixed beam 240, the support column 220 is a square steel pipe, the fixed beam 240 is connected to the end of the support column 220 of the chassis away from the bottom plate 210, and the fixed beam 240 has a horizontal mounting surface , the horizontal mounting surface and the mounting plate 280 are attached to each other, so that the mounting plate 280 and the bottom plate 210 are parallel to each other. The mounting plate 280 can be used to fix and ensure that the plastic casing is not deformed when subjected to external impact, or the plastic casing is deformed due to environmental changes when placed for a long time.

The chassis 10 also includes a traction member 300 and the suspension mechanism 100 in the above implementation manner. The traction member 300 is connected with the chassis fixing frame 200 . For the suspension mechanism 100 in any implementation manner, the suspension mechanism 100 is connected with the traction member 300 . Wherein, the traction member 300 is connected with the chassis fixed frame 200 , and the connecting rod 120 is connected with the traction member 300 . The suspension mechanism 100 is connected with the suspension mechanism 100 through the traction member 300, which improves the stability of the suspension mechanism 100 in the process of crossing a hurdle.

Continuing to show in FIG. 7 , in a possible implementation manner, the chassis 10 further includes a traction member 300, the upper end of the traction member 300 is connected to the chassis fixing frame 200, and the lower end of the traction member 300 is connected to the connecting rod 120. The component 300 can connect the suspension mechanism 100 to the chassis fixing frame 200 .

Specifically, the traction member 300 includes: an elastic member 310, such as a tension spring. One end of the elastic member 310 along the elastic direction is connected to the chassis fixing frame 200, and the other end of the elastic member 310 along the elastic direction is connected to the connecting rod 120, so that the elastic member 310 can play the role of traction to the connecting rod 120 under the action of the elastic force. function, simple structure and reliability.

Continuing to show in FIG. 9 , in a possible implementation manner, the traction member 300 further includes: a limit rotation member 320 , the limit rotation member 320 is rotatably connected to the first end 121 of the connecting rod 120 , the limit rotation member 320 It is configured to rotate at an acute angle. Wherein, the other end of the elastic member 310 along the elastic direction is connected with the limiting rotating member 320, so that the elastic member 310 can rotate at a certain angle under the limiting action of the limiting rotating member 320, so as to improve the compressive force of the elastic member 310. Or the force generated during the elongation process is relatively gentle, and it will not lose its traction function due to infinite rotation.

Continuing to show in FIG. 9 , in a possible implementation manner, the first end is provided with a mounting seat 321 , the limiting rotating member 320 includes: a rotating shaft 323 and a limiting pin 325 , and the mounting seat 321 is provided at the first end 121 The rotating shaft 323 is rotatably connected to the mounting base 321, and the rotating shaft 323 is located above the end surface 1211 of the first end. It can be understood that the rotating shaft 323 has a certain distance from the end surface 1211 of the first end. The limit pin 325 radially penetrates the rotating shaft 323 and protrudes from one end of the mounting seat 321, wherein the length of the limit pin 325 passing through the two ends of the rotating shaft 323 is not less than the distance between the limit shaft and the end surface of the first end 121 , so that the limit pin 325 abuts against the end surface of the first end 121 during the rotation of the rotation shaft 323 . Wherein, the other end of the elastic member 310 along the elastic direction is connected to the rotating shaft 323 . That is, under normal conditions, the limiting pin 325 is horizontally arranged, so that the rotation of the limiting pin 325 will not exceed 90°. The other end of the rotating shaft 323 opposite to the end where the limit pin 325 is disposed is connected to the elastic member 310 . Wherein, the two ends of the elastic member 310 can be provided with hook-shaped structures, so as to connect and fix the elastic member 310 .

Continuing to show in FIG. 7 , in a possible implementation manner, the traction member 300 further includes: a first adjusting rod 330 connected to the chassis fixing frame 200, and the first adjusting rod 330 is configured to be on the elastic member 310 is stretched or shortened in the elastic direction. Wherein, one end of the elastic member 310 along the elastic direction is connected with the first adjusting rod 330. Wherein, the first adjusting rod 330 may be a threaded rod member, and a threaded hole is provided on the chassis fixing frame 200 so that the first adjusting rod 330 and the chassis fixing frame 200 can be threadedly connected. The elastic member 310 is connected to the first adjusting rod 330 , and when the extension length of the first adjusting rod 330 is adjusted, the elastic member 310 will be stretched or shortened. It can be understood that after the pressure of the torsion spring 1433 releases the force, the chassis 10 will have a tendency to lean back excessively, or when the chassis 10 is equipped with a top, there will be an upward tilt angle in the case of an upper sill, which will easily lead to a backturn. By adjusting the screw rod 160 to adjust the elastic elongation of the elastic member 310, it can be used to balance the tendency of the chassis to lean backward or turn backward.

As shown in FIG. 16 , in a possible implementation, the chassis 10 further includes: a second adjustment rod 600 connected to the chassis fixing frame 200 , and the second adjustment rod 600 is located at the second end Above the top surface of the second end 123 , the second adjusting rod 600 is configured to abut against or disengage from the top surface of the second end 123 . Wherein, the second adjusting rod 600 may be a threaded rod member, and a threaded hole is provided on the chassis fixing frame 200 so that the second adjusting rod 600 and the chassis fixing frame 200 can be threadedly connected. A wear-resistant block 900 is provided at the second end 123. When the second adjusting rod 600 is screwed in, the second adjusting rod 600 is pushed downward against the wear-resistant block 900 and can be aligned with the upper sill. When the chassis is reclining, if The tension spring does not play a role, and can play a secondary protection role for the suspension mechanism 100 .

FIG. 17 is a schematic diagram of a three-dimensional structure of a robot provided in some implementation manners of the present application. As shown in FIG. 17 , the robot 1 includes: the chassis 10 in any implementation manner. Wherein, the chassis fixing bracket 200 of the chassis 10 has a mounting plate 280 , and FIG. 5 is a schematic top view structural diagram of the chassis fixing bracket provided by some implementations shown in FIG. 2 . As shown in FIG. 5 , the mounting plate 280 is arranged horizontally, so that the robot 1 can be loaded through the mounting plate 280 , which is suitable for passing through relatively high obstacles at extremely low speed. Since the robot 1 adopts the compound guide wheel 110 in any of the above implementation manners, it can be used as a universal wheel, so that the robot 1 can rotate on the ground with a high drop. In addition, since the robot 1 includes the chassis 10 in any of the above-mentioned implementation manners, it has the technical effect of the chassis 10 in any of the above-mentioned implementations, which will not be repeated here.

As shown in FIG. 15 , in a possible implementation manner, the robot further includes: a connecting plate 260 and the multiple guide wheels 110 in any implementation manner. FIG. 3 is a front structural schematic diagram of a chassis fixing frame provided by some implementations shown in FIG. 2 . As shown in FIG. 3 , the connecting plate 260 is connected to the chassis fixing frame 200 , and the multiple guide wheels 110 are connected to the connecting plate 260 . Wherein, the driving wheel 130 is located between the two compound guide wheels 110 in the traveling direction of the chassis. It can be understood that the connecting plate 260 can ensure that the compound guide wheel 110 will not be deformed and damaged when being impacted by the frontal force and the unevenness of the ground.

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

Continuing to show in FIG. 15 , in a possible implementation manner, the chassis 10 further includes: anti-collision

Frame 270 . FIG. 4 is a schematic side view structural view of a chassis fixing frame of the chassis provided in some implementation manners shown in FIG. 2 . As shown in FIG. 4 , the anti-collision frame 270 is connected to the connection plate 260 and can be used to protect the multiple guide wheels 110 connected to the connection plate 260 from being bumped, and details will not be repeated here. The anti-collision beam 270 is rigidly fixed, which can ensure that the external plastic parts will be displaced and deformed after impact. At the same time, it ensures that the internal crash mechanism can be effectively triggered.

In a possible implementation manner, the robot 1 has a counterweight center of gravity, which is located in front of the driving wheels 130 of the chassis 10 , so as to be able to pass through high obstacles on the ground or high drop more effectively.

FIG. 18 is a schematic diagram of a front view structure of a robot before going up a hurdle provided by some implementations of the present application. As shown in FIG. 18 , the driving wheel 130 and the guiding wheel 111 are supported on the ground, while the auxiliary wheel 113 is suspended in the air. At this time, the included angle _θ1 between the mounting plate 280 and the horizontal plane is zero, that is, the mounting plate 280 does not tilt.

FIG. 19 is a schematic front view structural view of the process of going up the sill with the multiple guide wheels 110 at the front of the robot provided by some implementations of the present application. As shown in Figure 19, when the driving wheel 130 is activated and simultaneously pushes the front compound guide wheel 110 to climb up the ridge a, the suspension mechanism 100 makes the driving wheel 130 close to the ground to generate sufficient friction under the tension of the torsion spring 1433 Force, the tension of the torsion spring 1433 is through the pressure plate 141 to squeeze the torsion spring 1433 to generate greater friction, driving the front compound guide wheel 110 to climb up the ridge a, while the traction member 300 ensures that the center of gravity of the chassis is forward to increase the suspension The frictional force of the mechanism 100 also ensures that when other structures are arranged on the chassis, it will not fall backward at a certain height. At this time, the robot is in the climbing process, so the chassis is inclined, so that the angle _θ1 between the mounting plate 280 and the horizontal plane gradually increases. At this time, the elastic member 310 and the first adjustment rod 330 can be separated from each other. , to avoid back flipping.

FIG. 20 is a schematic front view of the structure of the front compound guide wheel 110 of the robot provided by some implementations of the application. As shown in Figure 20, the compound guide wheel 110 at the front part has crossed the sill, and the driving wheel 130 is supported on the ground and has not crossed the upper sill a, so the inclination angle of the chassis can reach the maximum, that is, make the gap between the mounting plate 280 and the horizontal plane The included angle θ ₁ is the largest, at this time, the elastic member 310 and the first adjusting rod 330 continue to be in a state of disengaging from each other.

FIG. 21 is a schematic diagram of the front structure of the driving wheel 130 of the robot provided by some implementations of the present application after the sill is raised. As shown in FIG. 21 , when the driving wheel 130 begins to climb the ridge a, the angle _θ1 between the mounting plate 280 and the horizontal plane gradually decreases again, and the elastic member 310 and the first adjusting rod 330 can be connected.

FIG. 22 is a schematic front view of the structure of the front compound guide wheel 110 of the robot provided by some implementations of the present application. As shown in Figure 22, after the compound guide wheel 110 at the front portion climbs over the upper sill a and enters the first walking surface b, then climbs over the lower sill c and enters the second walking surface d, and the chassis 10 tilts again. At this time, the installation The angle _θ1 between the plate 280 and the horizontal plane gradually increases again.

FIG. 23 is a schematic diagram of the front view structure of the driving wheel 130 of the robot provided by some implementations of the present application after it has descended the sill. As shown in Figure 23, when the driving wheel 130 also drives into the second walking surface d, the inclination angle of the chassis 10 begins to gradually decrease again, and at this time, the included angle _θ1 between the mounting plate 280 and the horizontal plane gradually decreases again, The first adjusting rod 330 and the elastic member 310 can be separated from each other again.

In this application, the auxiliary wheel 113 is added under the premise that the diameter of the original guide wheel 111 remains unchanged, and the principle of passing the auxiliary wheel 113 first, and then the guide wheel 111 increases the height of the sill to 20mm. At the same time, the compound The guide wheel 110 and the drive wheel 130 are integrated on the connecting rod 120, and the elastic member 310 is used to form a balanced suspension mechanism 100, which can cope with different uneven road surfaces. The chassis 10 is made up of two driving wheels 130 and four compound guide wheels 110. The driving wheels 130 are installed on the suspension mechanism 100 and are used together with the compound guide wheels 110 at the rear as balance wheels. The height of the auxiliary wheels 113 from the ground is Defined according to the height of the hurdle that needs to be crossed. Adjusting screw rod 160 adjusts the bearing force of torsion spring 1433 according to the different loads on the chassis, so as to play the role of smooth transition between hurdles and uneven road surfaces. When the force of the torsion spring 1433 acts on the connecting rod 120, the shaft 1431 is used to achieve left-right swing and maintain balance, so as to ensure that the chassis will not be excessively leaned forward and backward when there is a body on the chassis, so that the robot has good passability on uneven road surfaces. And it also has stability when vibration occurs when driving at high speed.

The complex guide wheels 110, the suspension mechanism 100, the chassis and the simple structure of the robot in this application have a large market space for the cost of the equipment.

The overall chassis structure in this application is formed by profile and sheet metal, which greatly improves the passability and strength of the whole machine and ensures that the product life can be improved.

The above are only preferred embodiments of the application, and are not intended to limit the application. Any modifications, equivalent replacements, etc. made within the spirit and principles of the application shall be included within the scope of protection of the application. .

Claims

A chassis, characterized in that the chassis comprises:

The chassis fixing frame includes a bottom plate and a plurality of support columns, the plurality of support columns are spaced apart from each other and arranged on the bottom plate in a circumferential direction, and the support columns are perpendicular to the bottom plate;

a suspension mechanism connected to the support column;

Wherein, the suspension mechanism includes at least two wheel assemblies, the two wheel assemblies are arranged opposite to each other, and the wheel assemblies are configured to walk on the walking surface.
The chassis according to claim 1, wherein the chassis further comprises:

Electric box;

The chassis fixing frame also includes: a side plate assembly, the side plate assembly is connected to a plurality of the support columns to enclose an accommodation space on the bottom plate, and the electrical box is placed in the accommodation space , and the electrical box is detachably connected to the side panel assembly.
The chassis according to claim 2, characterized in that, the chassis also includes an electrical box limiting structure, and the electrical box limiting structure includes:

The clamping groove is arranged on the electric box;

A clamping part is provided in the accommodation space, and the clamping part is connected with the side plate assembly, and the clamping part is clamped with the clamping groove;

The side connecting plate is detachably connected with the side plate assembly.
The chassis according to any one of claims 1 to 3, wherein the suspension mechanism comprises:

link;

an elastic pressing piece abuts against the connecting rod;

Wherein, each of the connecting rods is correspondingly connected with one of the wheel assemblies, and the elastic pressing member is configured to press the connecting rod so that the wheel assembly and the contact surface generate friction; or the elastic pressing The member is configured to loosen the connecting rod.
The chassis according to claim 4, wherein the elastic pressing member comprises:

platen;

a first elastic member, one end of which is in contact with the connecting rod, and the other end of the first elastic member is in contact with the pressure plate;

Wherein, the pressing plate is configured to press the first elastic member, so that the first elastic member presses the connecting rod; or the pressing plate is configured to relax the first elastic member.
The chassis according to claim 5, wherein the first elastic member comprises:

The mounting shaft is configured to be rotatable;

A torsion spring is sleeved on the installation shaft, and one end of the torsion spring is in contact with the pressure plate, and the other end of the torsion spring is in contact with the connecting rod;

Wherein, the pressing plate is connected to the installation shaft.
The chassis according to claim 5 or 6, wherein the suspension mechanism further comprises:

The adjusting screw is configured to be screwed in so as to abut against the pressing plate, or to be screwed back so as to be separated from the pressing plate.
The chassis according to claim 5, wherein the first elastic member comprises:

a column, one end of which is connected to the connecting rod;

The compression spring is sleeved on the column;

Wherein, the pressure plate is sleeved on the upright, and the pressure plate is slidably connected to the upright, and one end of the compression spring along the elastic direction abuts against the pressure plate.
The chassis according to any one of claims 4 to 8, wherein the suspension mechanism further comprises:

connecting shaft;

Wherein, the connecting rod has a shaft installation hole, and the connecting shaft is configured to rotatably connect the two connecting rods through the shaft installation hole.
The chassis according to any one of claims 1 to 3, wherein the wheel assembly comprises:

The driving wheel is rotatably connected with the connecting rod;

The compound guide wheel is connected with the connecting rod;

Wherein, the connecting rod has a first end and a second end, the driving wheel is arranged at the first end, and the compound guide wheel is arranged at the second end for connection.
The chassis according to claim 10, wherein the compound guide wheels comprise:

a guide wheel configured to contact the running surface;

The auxiliary wheel is arranged on one side of the guide wheel, and the auxiliary wheel is eccentrically arranged with the guide wheel, so that the auxiliary wheel protrudes from the guide wheel in the forward direction, and makes the auxiliary wheel and the horizontal plane There is a height difference between the tangent of the guide wheel and the tangent of the guide wheel to the horizontal plane.
The chassis according to claim 11, characterized in that there is a first eccentricity and a second eccentricity between the auxiliary wheel and the guide wheel, and the first eccentricity makes the auxiliary wheel move in the forward direction Protruding from the guide wheel, the second eccentricity makes the height difference between the tangent between the auxiliary wheel and the horizontal plane and the tangent between the guide wheel and the horizontal plane.
The chassis according to claim 12, wherein the first eccentricity is a horizontal eccentricity; wherein, the horizontal tangent point of the auxiliary wheel is located on the outer diameter of the guide wheel, so as to obtain the first Eccentricity.
The chassis according to any one of claims 11 to 13, characterized in that the height difference is 1/2 to 1/8 of the radius of the guide wheel.
The chassis according to any one of claims 11 to 13, characterized in that there are two auxiliary wheels, the two auxiliary wheels are respectively arranged on opposite sides of the guide wheel, and the two auxiliary wheels Said training wheel coaxial setting.
The chassis according to any one of claims 11 to 13, wherein the compound guide wheels further comprise:

axle;

Wherein, the guide wheel has a wheel frame, and the wheel frame includes a top plate and a side plate, the side plate is connected with the top plate, and the side plate is bent outwards to enclose an accommodating space, and the guide wheel The wheels are partially placed in the accommodating space, the side plate has two opposite sides for connecting with the wheel axle, and the auxiliary wheel is rotatably connected to an end of the wheel axle away from the side plate.
The chassis according to claim 16, wherein the compound guide wheels further comprise:

The bearing is rotatably connected to the wheel shaft; and/or the wheel shaft is fixedly connected to the wheel frame by any one of welding, riveting and thread locking;

Wherein, the auxiliary wheel is fixedly sleeved on the outer peripheral surface of the bearing.
The chassis according to any one of claims 11 to 13, wherein the chassis fixing bracket further comprises:

The connecting plate is arranged at the front end of the forward direction of the chassis, and the connecting plate is connected with the chassis fixing frame;

Wherein, the two opposite sides of the connecting plate are respectively provided with one of the multiple guide wheels, and the two suspension mechanisms are respectively located at the rear end of the forward direction of the chassis.
The chassis according to claim 18, wherein the chassis fixing bracket further comprises:

The anti-collision frame is connected with the connecting plate.
A robot, characterized in that the robot comprises:

A chassis as claimed in any one of claims 1 to 19;

Wherein, the chassis fixing frame also includes a mounting plate and a fixed beam, the support column is a square steel pipe, the fixed beam is connected to the end of the support column of the chassis away from the bottom plate, and the fixed beam has a horizontal The installation surface, the horizontal installation surface and the installation plate are attached to each other, so that the installation plate and the bottom plate are parallel to each other.