Heavy-load mobile robot chassis structure capable of steering flexibly

Abstract

The invention discloses a heavy-load mobile robot chassis structure capable of steering flexibly, and relates to the technical field of transportation robots, the heavy-load mobile robot chassis structure comprises a robot chassis, the top of the robot chassis is fixedly connected with a bearing table, the top of the bearing table is provided with a balance assembly, and the side wall of the robot chassis is provided with an inertia assembly; a gravity center assembly is arranged on the side wall of the robot chassis. The balance assembly comprises a connecting plate rotationally connected to the top of the robot chassis, a plurality of spring shock absorbers are fixedly connected between the bearing table and the connecting plate, and touch switches are symmetrically and fixedly connected to the lower surface of the connecting plate. When the automobile parts with different gravity centers are carried, the gravity center of the whole heavy-load mobile robot is always kept in the center position, and therefore the situation that when the automobile parts with different shapes are carried, due to the unstable gravity centers, the automobile parts tilt up is avoided.

Description

Technical Field

[0001] The invention relates to the technical field of transport robots, and in particular to a chassis structure of a heavy-load mobile robot which can be flexibly turned. Background Art

[0002] A heavy-load mobile robot is an intelligent device that can autonomously travel and transport in various scenarios. It includes components such as a chassis and a frame, and uses a variety of sensors such as lidar, cameras, and ultrasonic sensors to perceive surrounding environmental information in real time. Among them, the chassis directly affects the maneuverability of the vehicle's movement.

[0003] When the existing heavy-duty mobile robots transport auto parts, since auto parts have various shapes, the center of gravity of auto parts of different shapes may be different. Therefore, when carrying auto parts of different shapes, the overall center of gravity of the heavy-duty mobile robot will be affected by the loaded auto parts of different shapes and change, resulting in an unstable center of gravity, causing one side of the chassis to tilt up; in the process of transporting auto parts to the target location, the heavy-duty mobile robot needs to perform left and right steering movements. When the heavy-duty mobile robot turns, due to the excessive weight of the heavy-duty mobile robot and the auto parts carried on it, the inertia of the chassis of the heavy-duty mobile robot increases when turning, resulting in a tailspin. At the same time, the auto parts carried by the heavy-duty mobile robot will also be offset by inertia, resulting in a change in the position of the center of gravity of the auto parts. If there is a large amount of gravel or other debris on the ground at this time, the center of gravity of the robot chassis will shift, resulting in uneven force on the tires, and they will be squeezed by gravel or other debris and are more likely to roll over.

[0004] Therefore, a heavy-load mobile robot chassis structure with flexible steering capability is proposed. Summary of the invention

[0005] The object of the present invention is to provide a heavy-load mobile robot chassis structure that can be flexibly turned to solve the problems raised in the above-mentioned background technology.

[0006] To achieve the above-mentioned object, the present invention provides the following technical solutions: a chassis structure of a heavy-load mobile robot that can be flexibly turned, comprising a heavy-load robot chassis, a bearing platform is fixedly connected to the top of the heavy-load robot chassis, a balancing component is arranged on the top of the bearing platform, an inertia component is arranged on the side wall of the heavy-load robot chassis, and a center of gravity component is arranged on the side wall of the heavy-load robot chassis; The balancing assembly includes a plurality of spring shock absorbers fixedly connected to the top of the bearing platform, and the spring shock absorbers are provided with no less than four, and a connecting plate is fixedly connected to the top of each spring shock absorber, a touch switch 1 is symmetrically fixedly connected to the upper surface of the bearing platform, a rubber rod is fixedly connected to the lower surface of the connecting plate at a position corresponding to the touch switch 1, and the center position of the bearing platform and the center position of the connecting plate are connected through a universal ball structure; The center of gravity component includes an electric slide rail fixedly connected to the two side walls of the heavy-load robot chassis, the electric slide rail is connected to a hook for hanging a counterweight block, the electric slide rail starts when the touch switch is turned on, and the electric slide rail stops running when the touch switch is turned off.

[0007] Further, the inertial assembly includes a fixing frame 1 symmetrically fixedly connected to the side wall of the heavy-load robot chassis, and at least two fixing frames 1 are provided, each of the fixing frames 1 is slidably connected to a sleeve in a direction away from the heavy-load robot chassis, and each of the sleeves is slidably connected to a sliding rod; The inertial component also includes a fixed block symmetrically fixedly connected to the side wall of the heavy-load robot chassis and located below a fixed frame, a spring is fixedly connected between each of the fixed blocks and the sleeve, and an electric contact block is fixedly connected to the fixed block, and the electric contact block is located on the movement path of the sliding rod.

[0008] Furthermore, each of the electric slide rails is connected to a fixed frame 2, the bottom of each of the fixed frames 2 is fixedly connected to a stepping motor, the output shaft end of each of the stepping motors is fixedly connected to a rotating crank, the top of each of the fixed frames 2 is rotatably connected to a rotating column, the outer side of the rotating column is fixedly connected to a rotating rod 1, the rotating crank is slidably connected to the rotating rod 1, and the side of the rotating column away from the fixed frame 2 is fixedly connected to an arc plate.

[0009] Furthermore, the center of gravity assembly also includes a strip hole opened on the rotating rod 1, the bottom of the fixing frame 2 is rotatably connected to a swing rod, and the hook is fixedly connected to the bottom of the swing rod.

[0010] Furthermore, a protective component is provided on the arc plate and the heavy-load robot chassis, and the protective component includes two rotating rods rotatably connected to the arc plate, the arc plate is provided with a cavity, and two springs are fixedly connected between the inner side walls of the cavity and the two rotating rods, two touch switches are fixedly connected to the arc plate, and a fixed column is fixedly connected to the bottom of the heavy-load robot chassis, and two electric rollers are rotatably connected to the outer side of each of the fixed columns, and the electric roller starts when the touch switch is turned on, and stops running when the touch switch is turned off.

[0011] Furthermore, the touch switch 2 is located on the movement path of the rotating rod 2, and a plurality of rubber scrapers are fixedly mounted on the circumferential surface of the outer side of the electric roller.

[0012] Compared with the prior art, the present invention has the following beneficial effects: The coordination of the balance component and the center of gravity component enables the robot to carry auto parts with different centers of gravity, ensuring that the center of gravity of the heavy-load mobile robot is always kept at the center when carrying auto parts with different centers of gravity, thus avoiding the tilting of auto parts of different shapes due to unstable center of gravity. The spring shock absorber is set to provide shock absorption protection during the transportation of auto parts. Through the setting of the protection component, when the center of gravity of the robot chassis shifts when turning, the electric roller will sweep the gravel and other debris under the robot chassis to the outside of the robot chassis, avoiding the situation that the robot chassis is squeezed by gravel and is more likely to roll over when turning. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 It is a three-dimensional schematic diagram of the overall structure of the present invention; Figure 2 It is an exploded schematic diagram of the balancing component structure of the present invention; Figure 3 For the present invention Figure 2 A schematic diagram of the structure enlargement in the middle; Figure 4 It is a structural stereoscopic schematic diagram of the inertial assembly and other components of the present invention; Figure 5 It is a partial structural schematic diagram of the inertial assembly of the present invention; Figure 6 For the present invention Figure 5 A magnified schematic diagram of the structure at B in the middle; Figure 7 It is a structural stereoscopic schematic diagram of the center of gravity assembly and other components of the present invention; Figure 8 It is a structural stereoscopic schematic diagram of the second fixing frame, the stepping motor and the rotating crank and other components of the present invention; Fig. 9 It is a partial structural cross-sectional schematic diagram of the center of gravity assembly of the present invention; Fig.10 It is a partial cross-sectional view of the center of gravity component and the protection component of the present invention; Fig.11 It is a three-dimensional schematic diagram of the second component of the rotating rod of the present invention; Fig.12 It is a schematic three-dimensional structure diagram of the fixed column and the motorized roller of the present invention.

[0014] In the figure: 1. Heavy-duty robot chassis; 2. Loading platform; 3. Connecting plate; 4. Spring shock absorber; 5. Touch switch 1; 6. Rubber rod; 7. Fixed frame 1; 8. Sleeve; 9. Sliding rod; 10. Spring 1; 11. Fixed block; 12. Electric contact block; 13. Electric slide rail; 14. Fixed frame 2; 15. Stepping motor; 16. Rotating crank; 17. Rotating column; 18. Rotating rod 1; 19. Arc plate; 20. Strip hole; 21. Swinging rod; 22. Hook; 23. Rotating rod 2; 24. Spring 2; 25. Touch switch 2; 26. Fixed column; 27. Electric roller. DETAILED DESCRIPTION

[0015] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0016] See also Figures 1 to 12 , is an embodiment provided by the present invention: a flexibly steerable heavy-load mobile robot chassis structure, comprising a heavy-load robot chassis 1, a load-bearing platform 2 is fixedly connected to the top of the heavy-load robot chassis 1, a balancing component is arranged on the top of the load-bearing platform 2, an inertia component triggered by inertia is arranged on the side wall of the heavy-load robot chassis 1, and a center of gravity component for adjusting the center of gravity of the heavy-load robot chassis 1 is arranged on the side wall of the heavy-load robot chassis 1.

[0017] See also Figures 1 to 3 The balancing component includes a plurality of spring shock absorbers 4 fixedly connected to the top of the bearing platform 2, and four spring shock absorbers 4 are provided. A connecting plate 3 is fixedly connected to the top of the spring shock absorber 4. The bearing platform 2 is rectangular, and touch switches 5 are provided at the four corners of its upper surface. A rubber rod 6 is fixedly connected to the lower surface of the connecting plate 3 corresponding to the position of each touch switch 5. Each touch switch 5 is located on the movement path of each rubber rod 6. The center position of the bearing platform 2 and the center position of the connecting plate 3 are connected through a universal ball structure. The ball part of the universal ball structure is fixed at the center position of the upper surface of the bearing platform 2, and the sleeve part of the universal ball structure is fixed at the center position of the lower surface of the connecting plate 3.

[0018] See also Figures 4 to 6The inertial component includes a fixed frame 7 symmetrically fixedly connected to the side wall of the heavy-load robot chassis 1. Two fixed frames 7 are provided on the front and rear sides of the heavy-load robot chassis 1. A sleeve 8 is slidably connected to each fixed frame 7 on a side surface away from the heavy-load robot chassis 1. A plurality of through holes are arranged in a vertical array on the sleeve 8. A sliding rod 9 is slidably connected inside each sleeve 8. A threaded hole is arranged on the sliding rod 9, and the sizes of the through hole and the threaded hole are adapted to each other, so that the sliding rod 9 can be fixedly connected to the sleeve 8 by screws. The inertial component also includes a fixed block 11 symmetrically fixedly connected to the side wall of the heavy-load robot chassis 1 and located below the fixed frame 7. A spring 10 is fixedly connected between each fixed block 11 and the sleeve 8, and the elastic coefficient of the spring shock absorber 4 is much greater than the elastic coefficient of the spring 10. An opening is provided on a side of the fixed block 11 away from the heavy-load robot chassis 1. An electric contact block 12 is fixedly connected inside the opening of the fixed block 11. The electric contact block 12 is located on the movement path of the sliding rod 9.

[0019] Please refer to Figure 7 The center of gravity assembly includes an electric slide rail 13 fixedly connected to the two side walls of the heavy-duty robot chassis 1. A fixing frame 14 is connected inside each electric slide rail 13. The fixing frame 14 is driven by the electric slide rail 13. The fixing frame 14 is set in an L shape. When the touch switch 15 is turned on, the electric slide rail 13 starts, thereby driving the fixing frame 14 to move back and forth. When the touch switch 15 is turned off, the electric slide rail 13 stops running. A stepper motor 15 is fixedly connected to the bottom of each fixing frame 14. The electric contact block 12 located on the left side of the heavy-duty robot chassis 1 is associated with the on and off of the stepper motor 15 located on the right side of the heavy-duty robot chassis 1, and the electric contact block 12 located on the right side of the heavy-duty robot chassis 1 is associated with the on and off of the stepper motor 15 located on the left side of the heavy-duty robot chassis 1. The output shaft end of each stepper motor 15 is fixedly connected with a rotating crank 16, the top of each fixed frame 14 is rotatably connected with a rotating column 17, the outer side of the rotating column 17 is fixedly connected with a rotating rod 18, the rotating crank 16 is slidably connected to the rotating rod 18, and the side of the rotating column 17 away from the fixed frame 14 is fixedly connected with an arc plate 19, the toothed part of the arc plate 19 is shaped like a quarter arc, and a cavity is opened on the arc plate 19.

[0020] See also Figures 7 to 10 The center of gravity assembly also includes a bar hole 20 opened on the rotating rod 18, and the length of the bar hole 20 is greater than the length of the rotating crank 16. The end of the rotating crank 16 away from the stepping motor 15 is located in the bar hole 20 and can slide in the bar hole 20. The bottom of the fixed frame 14 is rotatably connected to a swing rod 21, and the bottom of the swing rod 21 is fixedly connected to a hook 22. The hook 22 is detachably installed with a counterweight block through a lock.

[0021] See also Fig.11 and Fig.12 , the arc plate 19 and the heavy-duty robot chassis 1 are provided with a protection component, the protection component includes a rotating rod 23 rotatably connected to the cavity opened by the arc plate 19, a spring 24 is fixedly connected between the two inner side walls of the cavity of the arc plate 19 and the rotating rod 23, a touch switch 25 is fixedly connected to the two inner side walls of the cavity of the arc plate 19, and the touch switch 25 is located on the movement path of the rotating rod 23, and a fixed column 26 is fixedly connected to the bottom of the heavy-duty robot chassis 1, and two electric rollers 27 are fixedly connected to each fixed column 26, and a plurality of rubber scrapers are fixedly installed on the circumferential surface of the electric roller 27. When the touch switch 25 is turned on, the electric roller 27 will rotate.

[0022] It should be noted that the spring shock absorber 4 and the spring 10 ensure that when the entire device is not transporting automobile parts, the spring shock absorber 4 can support the connecting plate 3 through its own elastic stretching force to ensure the normal use of the connecting plate 3 when loading automobile parts again, and the spring 10 will push the sleeve 8 to return to its original state through its own elastic stretching force.

[0023] The working principle of the above embodiment is as follows: The initialization steps are as follows: The staff uses a crane to place the automobile parts that need to be transported on the upper surface of the connecting plate 3, and the staff installs a counterweight block on the hook 22, and the spring 10 is not compressed.

[0024] The working steps are as follows: The working steps of the balance component and the center of gravity component are as follows: First of all, it should be noted that if the shape of the automobile part is irregular, its center of gravity will not be at its center. If the shape of the automobile part is regular, its center of gravity will be at its center of gravity.

[0025] When the heavy-load mobile robot transports the auto parts on it to the target location, if the auto parts on it are not irregular, the auto parts are placed at the center of the connecting plate 3. At this time, the center of gravity of the auto parts tends to the center of the connecting plate 3, so the connecting plate 3 is evenly acted upon by the auto parts, so that the connecting plate 3 remains horizontal; if the auto parts are irregular, when the irregular auto parts are placed at the center of the connecting plate 3, the center of gravity of the auto parts is not located at the center of the connecting plate 3, and uneven forces will be applied to the connecting plate 3. Figure 2As shown, when the center of gravity of the special-shaped automobile parts is biased toward the front side of the connecting plate 3 (i.e., the side where the fixing frame 7 is installed), the special-shaped automobile parts will exert more force on the front side of the connecting plate 3. When the exerted force is greater than the elastic force of the two spring shock absorbers 4 located on the front side of the connecting plate 3, the special-shaped automobile parts will press the front side of the connecting plate 3 downward and drive the rubber rod 6 located on the front side of the heavy-duty robot chassis 1 to move synchronously. At this time, the rubber rod 6 located on the front side of the heavy-duty robot chassis 1 moves and contacts the corresponding touch switch 5, and then the electric slide rail 13 is powered on and started. , the electric slide rail 13 drives the fixing frame 2 14 to move away from the fixing frame 1 7, and the fixing frame 2 14 drives the swing rod 21 to move synchronously, so the swing rod 21 drives the counterweight installed on the hook 22 to move away from the fixing frame 1 7, thereby increasing the force borne by the rear side of the heavy-duty robot chassis 1, ensuring that the center of gravity of the heavy-duty mobile robot chassis structure in the front-to-back direction tends to the center position, and when the center of gravity in the front-to-back direction tends to be balanced, the compressed spring shock absorber 4 will reset upward, so that the rubber rod 6 will not contact the touch switch 1 5, and the electric slide rail 13 will stop moving. Similarly, when the center of gravity of the special-shaped automobile parts is biased towards the rear side of the connecting plate 3, the rubber rod 6 located on the rear side will move downward and contact the corresponding touch switch 1 5, and then the electric slide rail 13 drives the fixing frame 2 14 and the counterweight to move to the front side, so as to realize that the center of gravity of the mobile robot chassis structure in the front-to-back direction tends to the center position. When the automobile parts are no longer transported, the compressed spring shock absorber 4 will support the connecting plate 3 through its own elastic stretching force, ensuring the normal use of the connecting plate 3 when the automobile parts are loaded again.

[0026] After the front and rear center of gravity tends to the center position, if the center of gravity of the special-shaped automobile parts is biased towards the left and right sides of the connecting plate 3, the situation is as follows: if the staff observes that the height of the left side of the connecting plate 3 is lower than the height of the right side, it means that the center of gravity of the special-shaped automobile parts is biased towards the left side of the connecting plate 3. The staff replaces the heavier counterweight block on the right hook 22 to balance the center of gravity of the left and right sides of the chassis structure of the heavy-duty mobile robot. At this time, if the balance in the front and rear directions is destroyed, the rubber rod 6 on the side where the center of gravity is biased (front or rear) will contact the touch switch 5 downward, thereby turning on the electric slide rail 13 so that the electric slide rail 13 drives the counterweight block to move in the opposite direction to the center of gravity, until the center of gravity in the front and rear directions is balanced, the rubber rod 6 does not contact the touch switch 5, and the electric slide rail 13 stops starting. At this point, the weight in the front, rear, left and right directions is balanced. The center of gravity of the special-shaped automobile parts is balanced; if the staff observes that the height of the left side of the connecting plate 3 is higher than that of the right side, it means that the center of gravity of the special-shaped automobile parts is biased to the right side of the connecting plate 3. The staff replaces the heavier counterweight block on the left hook 22, so that the counterweight block keeps the left and right sides of the connecting plate 3 on the same horizontal plane, ensuring that the center of gravity of the mobile robot chassis structure in the left and right directions also tends to the center position. At this time, if the balance in the front and rear directions is destroyed, the rubber rod 6 on the side where the center of gravity is biased (the front side or the rear side) will contact the touch switch 5 downward, thereby turning on the electric slide rail 13 so that the electric slide rail 13 drives the counterweight block to move in the direction opposite to the biased center of gravity, until the center of gravity in the front and rear directions is balanced, the rubber rod 6 does not contact the touch switch 5, and the electric slide rail 13 stops starting. At this point, the center of gravity in the front, rear, left and right directions is balanced.

[0027] The use of the balancing component in conjunction with the center of gravity component ensures that when the center of gravity of the heavy-load mobile robot is not located at the center of the transported automobile parts, the center of gravity of the heavy-load mobile robot as a whole is always maintained at its center position, thereby avoiding the situation in which the heavy-load mobile robot tilts up due to unstable center of gravity when transporting automobile parts of different shapes, and avoiding rollover during operation. At the same time, the setting of the spring shock absorber 4 plays a role in shock absorption and protection during the transportation of automobile parts.

[0028] The working principle of the protection component is as follows: When the heavy-load mobile robot needs to turn left, the automobile parts carried by the heavy-load mobile robot are affected by inertia, and their center of gravity will shift to the right side of the heavy-load mobile robot. The rightward shift of the center of gravity of the automobile parts will squeeze the right side of the connecting plate 3 downward, so that the connecting plate 3 pushes the sliding rod 9 on the right side to move vertically downward, and the sliding rod 9 drives the sleeve 8 to slide vertically downward, so that the bottom of the sliding rod 9 moves to a position close to the fixed block 11, so that the bottom of the sliding rod 9 hits the energized contact block 12 on the right side, and then the stepper motor 15 located on the left side of the heavy-load robot chassis 1 is energized and started, and the stepper motor The machine 15 drives the rotating crank 16 to rotate, and at this time the rotating crank 16 slides in the bar hole 20 opened on the rotating rod 18, so that the rotating crank 16 pushes the rotating rod 18 to swing back and forth, the rotating rod 18 drives the rotating column 17 to move synchronously, and the rotating column 17 drives the arc plate 19 to move synchronously; on the contrary, when the heavy-loaded mobile robot needs to turn right, the arc plate 19 on the left rotates; when the heavy-loaded mobile robot maintains a constant speed or stops moving, the compressed spring 10 will push the sliding rod 9 to return to its initial state through its own elastic stretching force.

[0029] When the arc plate 19 is not swinging, the rotating rod 23 and the arc plate 19 remain stationary. When the arc plate 19 starts to swing, the rotating rod 23 will initially squeeze the spring 24 due to its own inertia and contact the touch switch 25. Therefore, when the rotating rod 23 and the touch switch 25 contact each other, the electric roller 27 is powered on and starts to rotate, so that the electric roller 27 cleans the gravel and other debris under the heavy-duty robot chassis 1 to the outside of the heavy-duty robot chassis 1. In summary, the electric roller 27 cleans the gravel and other debris under the heavy-duty robot chassis 1 to the outside of the heavy-duty robot chassis 1, thereby preventing the heavy-duty robot chassis 1 from turning due to being squeezed by gravel or other debris when it is transporting heavy objects.

[0030] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0031] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A flexibly steerable heavy-load mobile robot chassis structure, comprising a heavy-load robot chassis (1), the top of the heavy-load robot chassis (1) being fixedly connected to a bearing platform (2), characterized in that: A balancing component is arranged on the top of the carrying platform (2), an inertia component is arranged on the side wall of the heavy-load robot chassis (1), and a center of gravity component is arranged on the side wall of the heavy-load robot chassis (1); The balancing assembly comprises a plurality of spring shock absorbers (4) fixedly connected to the top of the bearing platform (2), and the number of the spring shock absorbers (4) is no less than four, the top of each spring shock absorber (4) is fixedly connected to a connecting plate (3), the upper surface of the bearing platform (2) is symmetrically fixedly connected to a touch switch (5), the lower surface of the connecting plate (3) is fixedly connected to a rubber rod (6) at a position corresponding to the touch switch (5), and the center position of the bearing platform (2) and the center position of the connecting plate (3) are connected via a universal ball structure; The center of gravity assembly comprises an electric slide rail (13) fixedly connected to two side walls of the heavy-load robot chassis (1), the electric slide rail (13) being connected to a hook (22) for hanging a counterweight block, the electric slide rail (13) starting when the touch switch (5) is turned on, and the electric slide rail (13) stopping when the touch switch (5) is turned off.

2. The chassis structure of the heavy-load mobile robot capable of flexible steering according to claim 1 is characterized in that: The inertial assembly comprises a fixing frame (7) symmetrically fixedly connected to the side wall of the heavy-load robot chassis (1), wherein at least two fixing frames (7) are provided, each fixing frame (7) is slidably connected to a sleeve (8) in a direction away from the heavy-load robot chassis (1), and each sleeve (8) is slidably connected to a sliding rod (9) inside. The inertial component further comprises a fixed block (11) symmetrically fixedly connected to the side wall of the heavy-load robot chassis (1) and located below the fixed frame (7), a spring (10) being fixedly connected between each of the fixed blocks (11) and the sleeve (8), an electric contact block (12) being fixedly connected to the fixed block (11), and the electric contact block (12) being located on the movement path of the sliding rod (9).

3. The chassis structure of the heavy-load mobile robot capable of flexible steering according to claim 2 is characterized in that: Each of the electric slide rails (13) is internally connected to a second fixing frame (14); a stepper motor (15) is fixedly connected to the bottom of each of the second fixing frames (14); a rotating crank (16) is fixedly connected to the output shaft end of each of the stepper motors (15); a rotating column (17) is rotatably connected to the top of each of the second fixing frames (14); a rotating rod (18) is fixedly connected to the outer side of the rotating column (17); the rotating crank (16) is slidably connected to the rotating rod (18); and a curved plate (19) is fixedly connected to the side of the rotating column (17) away from the second fixing frame (14).

4. The chassis structure of the heavy-load mobile robot capable of flexible steering according to claim 3 is characterized in that: The center of gravity assembly also includes a strip hole (20) formed on the first rotating rod (18); the bottom of the second fixed frame (14) is rotatably connected to a swing rod (21); and the hook (22) is fixedly connected to the bottom of the swing rod (21).

5. The chassis structure of the heavy-load mobile robot capable of flexible steering according to claim 4 is characterized in that: The arc plate (19) and the heavy-load robot chassis (1) are provided with a protection component, the protection component comprising a rotating rod (23) rotatably connected to the arc plate (19), the arc plate (19) is provided with a cavity, and a spring (24) is fixedly connected between the inner side walls of the cavity and the rotating rod (23), the arc plate (19) is fixedly connected with two touch switches (25), the bottom of the heavy-load robot chassis (1) is fixedly connected with a fixed column (26), and the outer side of each fixed column (26) is rotatably connected with two electric rollers (27), and the electric roller (27) is started when the touch switch (25) is turned on, and the electric roller (27) stops running when the touch switch (25) is turned off.

6. The chassis structure of the heavy-load mobile robot capable of flexible steering according to claim 5 is characterized in that: The second touch switch (25) is located on the movement path of the second rotating rod (23), and a plurality of rubber scrapers are fixedly mounted on the circumferential surface outside the electric roller (27).

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