Artificial intelligence ethical risk and prevention virtual simulation method, system and robot

Abstract

The invention relates to the technical field of robots, in particular to an artificial intelligence ethical risk and prevention virtual simulation method and system and a robot. S1, data are input based on an existing inspection framework, and multiple pieces of artificial intelligence inspection alternative data are input; wherein input data of the ethical inspection framework comprises a universal basic motion mode and a plurality of emergency processing modes based on different scenes; s2, acquiring an artificial intelligence operation path and scene data; s3, rule risk judgment: sequentially judging whether the multiple pieces of acquired scene data are consistent or not through an artificial intelligence ethical rule in multiple artificial intelligence alternative rules; data can be rapidly collected and analyzed through the data collection element, equipment faults can be found and processed in time, the inspection efficiency is improved, the robot can work in dark, humid, poisonous and harmful severe environments, and the risk of manual inspection is reduced.

Description

Technical Field

[0001] The present invention relates to the field of robotics technology, and in particular to an artificial intelligence ethical risk and prevention virtual simulation method, system and robot. Background Art

[0002] Track-mounted pipeline inspection robots are widely used in the inspection of urban underground integrated pipeline corridors. These pipeline corridors usually concentrate on laying municipal pipelines such as electricity, communications, gas, and water supply, and are an important part of urban infrastructure. The robot can move autonomously along the track in the pipeline corridor, monitor environmental parameters and equipment status in real time, and ensure the smooth operation of the pipeline corridor system.

[0003] When the rail-type pipeline corridor inspection machine conducts a long-distance inspection, the track may not always be in a straight state. In order to more accurately detect the environment and working status of each component, the track may be designed according to the height of each component, that is, the track may be in an arc state. The robot will pass through an upward arc when moving along the track. During this process, the robot is in a tilted state. If it moves too fast, it may jitter. Multiple frequent jitters may affect the accuracy of the equipment set at the bottom for detection. Summary of the invention

[0004] In response to the problems in the prior art, the present invention provides an artificial intelligence ethical risk and prevention virtual simulation method, system and robot.

[0005] The technical solution adopted by the present invention to solve the technical problem is: an artificial intelligence ethical risk and prevention virtual simulation method, the ethical risk and prevention virtual simulation method comprises the following steps: S1: Input data based on the existing inspection framework and input multiple AI inspection candidate data. The input data of the ethics inspection framework includes general basic movement methods and several emergency response methods based on different scenarios; S2: AI operation path and scene data acquisition; S3: Rule risk judgment: multiple acquired scene data are judged in turn by the AI ​​ethics rules in multiple AI alternative rules to see if they comply, and the acquired scene data that complies is used as the scene data of the AI ​​rules, and then the acquired scenes that do not comply are used as risk scenes of the AI ​​rules, and at the same time, instructions are issued to users of scenes that do not comply to comply with the AI ​​rules; Assume that the multiple AI alternative rules are A, A={A1,A2,A3,…,An}, where A1,A2,A3,…,An are each AI ethical rule, and θ1,θ2,θ3,…,θn are the risk assessment results corresponding to each AI ethical rule, where θ1,θ2,θ3,…,θn∈{0,1}.

[0006] Therefore, the risk assessment results of multiple artificial intelligence alternative rules can be expressed as:

[0007] Right now Indicates that the risk assessment of multiple AI alternative rules has passed and the scenario can be executed; When it indicates that the risk assessment of multiple AI candidate rules fails, an alarm is required for this scenario; S4: Treat all scenario data of AI rules in scenarios that comply with ethical standards as the behavior of all compliant AI entities, and issue an alarm for each non-compliant scenario to prevent risks.

[0008] Furthermore, the AI ​​ethics rules obtained in S1 are input according to the scenario, and include mandatory rules, optional rules, or a combination of mandatory rules and optional rules.

[0009] Furthermore, S3 incorporates scenario data that meets multiple AI alternative rules into the risk success prevention knowledge base, which can be subsequently learned from.

[0010] The present invention also provides an artificial intelligence ethical risk and prevention virtual simulation system, which is used for the operation of the above-mentioned artificial intelligence ethical risk and prevention virtual simulation method.

[0011] On the other hand, the present invention also provides a robot, comprising a housing, wherein a side wall of the housing is provided with a notch suitable for an I-shaped track; Chassis; the chassis is fixedly connected to the bottom of the shell; A transverse guide wheel is connected to the chassis; a groove is provided in the middle of the transverse guide wheel for clamping the I-shaped rail, and a 45° bevel is provided at the edge of the inner wall of the groove; Support wheel; the support wheel is placed in the middle of the I-shaped track, one side of the support wheel passes through the support frame through the shaft, the side wall of the support frame is provided with a side connecting groove, and a clamping plate is provided between the side connecting groove and the transverse guide wheel.

[0012] Furthermore, the clamping plate is an elastic metal sheet, and the lower surface of the middle part of the clamping plate is fixedly connected to the upper surface of the chassis through a gas pressure rod; One end of the clamping plate extends into a side connection groove provided on the side wall of the support frame, and the other end of the clamping plate is provided with a chamfer, which is matched with the oblique angle of the groove provided in the middle of the transverse guide wheel.

[0013] Furthermore, a base is symmetrically arranged at the end of the upper surface of the chassis, and two bases arranged at the same end of the chassis are connected by a double-hook tension spring; A limit column is fixedly provided at the middle of one end of the chassis away from the rotating axis; and a transverse guide wheel is arranged on the outer wall of the limit column through a bearing sleeve.

[0014] Furthermore, a limiting guide ring is sleeved on the outer wall of the limiting column, and the bearing is placed in an annular groove provided in the middle of the limiting guide ring, and the width of the annular groove is greater than the thickness of the bearing.

[0015] Furthermore, a plurality of through holes are provided on the inner wall of the groove arranged on the side wall of the transverse guide wheel, and buffer beads are placed in the through holes, and the buffer beads are larger than the diameter of the through holes.

[0016] Furthermore, an elastic snap ring is arranged inside the transverse guide wheel, and the elastic snap ring is placed in a groove opened on the inner wall of the transverse guide wheel and contacts the outer wall of one end of the transverse guide wheel where the elastic snap ring is placed.

[0017] Furthermore, a motor is fixedly arranged on the upper surface of the chassis, an output end of the motor is connected to a driving shaft via a belt, and both ends of the driving shaft are fixedly connected to a first pulley.

[0018] Furthermore, a support block is fixedly connected to the upper surface of the chassis, and the support frame and the support block are connected via a nitrogen cylinder.

[0019] Furthermore, a second pulley is provided on the fixing sleeve at the shaft end on one side of the supporting wheel, and the second pulley is connected to the first pulley via a connecting toothed belt.

[0020] Furthermore, the second pulley includes a side limiter, a side wall of which is provided with a clearance groove, an inner wall of which is slidably provided with an engaging protrusion that engages with the connecting toothed belt, and the engaging protrusion is connected to the clearance groove by a supporting spring.

[0021] Beneficial effects of the present invention: (1) The present invention can quickly collect and analyze data through data collection elements, timely discover and handle equipment failures, and improve inspection efficiency. The robot can work in harsh environments such as dim, humid, toxic and harmful environments, reducing the risk of manual inspection. The robot is trained multiple times to inspect the corridor with tracks, realizing comprehensive, real-time and efficient inspection of the environment and equipment in the corridor. The track-type inspection robot can move autonomously on a specific track without human intervention, realizing fully automatic inspection.

[0022] (2) The present invention provides a clamping plate. When the clamping plate moves to the I-rail and bends upward to form an arc-shaped guide rail, the clamping plate will move downward under the downward pressure generated by the lateral guide wheel. At the same time, it will press down on the support wheel so that the support wheel and the I-rail fit more tightly, avoiding large shaking during the cornering process and ensuring the stability of the robot during movement. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] The present invention is further described below in conjunction with the accompanying drawings and embodiments.

[0024] Figure 1 It is a schematic diagram of the overall structure of the present invention; Figure 2 It is a schematic diagram of the internal components of the housing of the present invention; Figure 3 This is a schematic diagram of the positions of the support wheels and the support frame of the present invention; Figure 4 For the present invention Figure 3 Schematic diagram of the structure at A in the middle; Figure 5 is a cross-sectional view of a second pulley of the present invention; Figure 6 This is a schematic diagram of the three-dimensional structure of the transverse guide wheel of the present invention; Figure 7 It is a schematic diagram of the three-dimensional structure of the base of the present invention; Figure 8 This is a schematic diagram of the connection between the present invention and the I-shaped track; Fig. 9 The figure is a flow chart of the method of the present invention.

[0025] In the figure: 100, housing; 200, data collection element; 300, elastic protective cover; 410, lateral guide wheel; 4111, buffer bead; 411, limit column; 413, base; 414, double-hook tension spring; 415, clamping plate; 416, spring hole; 417, elastic snap ring; 418, limit guide ring; 419, pneumatic rod; 420, motor; 421, drive shaft; 422, first pulley; 423, connecting toothed belt; 430, support wheel; 460, support frame; 461, side connecting groove; 462, nitrogen cylinder; 464, support block; 470, second pulley; 471, side limit member; 472, give way groove; 473, support spring; 474, engaging protrusion; 600, I-rail; 700, chassis. DETAILED DESCRIPTION

[0026] In order to make the technical means, creative features, objectives and effects achieved by the present invention easy to understand, the present invention is further explained below in conjunction with specific implementation methods.

[0027] like Figure 1-Figure 9As shown, an artificial intelligence ethical risk and prevention virtual simulation method of the present invention comprises the following steps: S1: Input data based on the existing inspection framework and input multiple AI inspection candidate data. The input data of the ethics inspection framework includes general basic movement methods and several emergency response methods based on different scenarios; Based on the existing AI ethical risk prevention criteria, one or more scenarios must be obtained first. These scenarios should cover all scenarios of the AI ​​application. Data should be collected in each scenario, and multiple possible human behavior decision options should be set to simulate AI behavior and its ethical impact under different decisions. One decision option should be selected as the first choice from the given decision options to simulate its behavior in the actual scenario. The system performs the corresponding operation and simulates the human behavior decision result corresponding to the operation. The system feeds back the results of the decision execution to the user, including possible risks and their impact. According to the decision results of the AI, the system updates the scenario to simulate the subsequent development under different decisions. When the artificial intelligence collects data in different scenarios or monitors and collects data on different components, the accuracy of the artificial intelligence decision-making results can be increased through multiple training sessions.

[0028] S2: AI operation path and scene data acquisition; When collecting data, artificial intelligence is required to collect data multiple times, store and analyze the data at the same time, and place the artificial intelligence in different environments to collect data, so as to achieve more accurate decision-making results. When abnormal data is found, an alarm can be issued in time. S3: Rule risk judgment: multiple acquired scene data are judged in turn by the AI ​​ethics rules in multiple AI alternative rules to see if they comply, and the acquired scene data that complies is used as the scene data of the AI ​​rules, and then the acquired scenes that do not comply are used as risk scenes of the AI ​​rules, and at the same time, instructions are issued to users of scenes that do not comply to comply with the AI ​​rules; Assume that the multiple AI alternative rules are A, A={A1,A2,A3,…,An}, where A1,A2,A3,…,An are each AI ethical rule, and θ1,θ2,θ3,…,θn are the risk assessment results corresponding to each AI ethical rule, where θ1,θ2,θ3,…,θn∈{0,1}.

[0029] Therefore, the risk assessment results of multiple artificial intelligence alternative rules can be expressed as:

[0030] Right now Indicates that the risk assessment of multiple AI alternative rules has passed and the scenario can be executed; When it indicates that the risk assessment of multiple AI candidate rules fails, an alarm is required for this scenario; During the work process, a series of data such as the component data, working environment data, such as the surrounding temperature and humidity, will be collected, and photos of the originals will be taken and transmitted together with the data. Taking communication equipment as an example, many communication equipment will take into account the adaptability in various environments during design and manufacturing, so there is usually a relatively wide operating temperature range. Generally speaking, this range may be between 0℃ and 50℃; for some special types of communication equipment, such as optical fiber temperature measurement host, there may be more specific requirements for its operating temperature range. For example, the operating temperature of the fiber optic temperature measurement host may be required to be between 5°C and 40°C to ensure its measurement accuracy and stability; when it is detected that the temperature of the fiber optic temperature measurement host is higher than the preset range, if the optimized event library can show that the operating temperature of the fiber optic temperature measurement host may be required to be between 5°C and 40°C, there is a risk in monitoring. After fault diagnosis and early warning, other specifications in the working environment of the fiber optic temperature measurement host are calibrated one by one, such as humidity; if the data cannot be found in the database or does not meet the preset standards, the fault will be re-diagnosed to avoid misjudgment. At this time, the early warning mode is turned on, and the data is compared with the data in the risk assessment specifications. If all are in compliance, execution will continue. If there is any non-compliance, the warning state will be immediately switched to the alarm state to remind the staff to perform maintenance.

[0031] S4: Treat all scenario data of AI rules in scenarios that comply with ethical standards as the behavior of all compliant AI entities, and issue an alarm for each non-compliant scenario to prevent risks.

[0032]

[0033] Specifically, the artificial intelligence obtained in S1 is input according to the scenario, and there are mandatory rules, optional rules, or a combination of mandatory rules and optional rules.

[0034] The mandatory rules include stopping in time when encountering obstacles ahead to avoid collision and damage; the data collected by the robot should be strictly protected; The optional rules include that when the battery power is too low during operation, the vehicle can move directly to a charging station for charging, or it can store power after monitoring the current environmental data, and selective adjustment can be achieved through estimation of the storage time.

[0035] Specifically, S3 will incorporate scenario data that meets the AI ​​alternative rules into the risk prevention success knowledge base, and subsequent learning can be conducted through the risk prevention success knowledge base.

[0036] Through artificial intelligence learning, subsequent judgments can be more accurate.

[0037] The present invention also provides an artificial intelligence ethical risk and prevention virtual simulation system, which is used for the operation of the above-mentioned artificial intelligence ethical risk and prevention virtual simulation method.

[0038] The present invention also provides a robot, comprising a housing 100, wherein a side wall of the housing 100 is provided with a notch suitable for an I-shaped rail 600; The chassis 700 is fixedly connected to the bottom of the housing 100; A transverse guide wheel 410, wherein the transverse guide wheel 410 is connected to the chassis 700; a groove is provided in the middle of the transverse guide wheel 410 for clamping the I-shaped rail 600, and an inner wall edge of the groove is provided with an inclined angle of 45°; Support wheel 430; the support wheel 430 is placed in the middle of the I-rail 600, and one side of the support wheel 430 passes through the support frame 460 through an axis. A side connecting groove 461 is opened on the side wall of the support frame 460, and a clamping plate 415 is arranged between the side connecting groove 461 and the transverse guide wheel 410.

[0039] The robot needs to be trained several times before use, and it is required to inspect the pipeline corridor with tracks to realize comprehensive, real-time and efficient inspection of the environment and equipment in the pipeline corridor. The track inspection robot can move autonomously on a specific track without manual intervention to realize fully automatic inspection. The data collection element 200 installed therein includes advanced sensors, cameras and data processing systems, which can monitor the environmental parameters and equipment status in the pipeline corridor in real time. At the same time, the data collection element 200 can quickly collect and analyze data, timely discover and handle equipment failures, and improve inspection efficiency. The robot can work in harsh environments such as dim, humid, toxic and harmful, reduce the risk of manual inspection, and has anti-collision and autonomous obstacle avoidance functions. It can automatically stop and alarm when encountering obstacles to prevent damage caused by collisions. The elastic protective cover 300 can bend and deform to make way when the data collection element 200 is obstructed, so as to avoid damage to the data collection element 200.

[0040] When the robot is traveling on the I-rail 600, the lateral guide wheels 410 are clamped on the protruding position at the lower end of the I-rail 600. During the linear movement, the double-hook tension springs 414 exert the same tension on the same group of lateral guide wheels 410, thereby ensuring that the base 700 is always placed directly below the track to avoid shaking.

[0041] Through the setting of the clamping plate 415, when it moves to the I-rail 600 and bends upward to form an arc-shaped guide rail, the clamping plate 415 will move downward under the downward pressure generated by the lateral guide wheel 410, and at the same time press the support wheel 430 downward to make the support wheel 430 fit more tightly with the I-rail 600, avoiding large shaking during the cornering process, thereby ensuring the stability of the robot during movement.

[0042] The inner wall edge of the groove opened in the middle of the transverse guide wheel 410 is provided with an inclined angle of 45°, which can ensure that the transverse guide wheel 410 can smoothly pass through the moving arc track.

[0043] Specifically, the clamping plate 415 is an elastic metal sheet, and the lower surface of the middle portion of the clamping plate 415 is fixedly connected to the upper surface of the chassis 700 through a gas pressure rod 419; One end of the clamping plate 415 extends into a side connection groove 461 provided on a side wall of the support frame 460 , and the other end of the clamping plate 415 is chamfered and matched with the groove angle provided in the middle of the transverse guide wheel 410 .

[0044] The clamping plate 415 is an elastic metal sheet, which can transfer pressure to the support wheel 430 when the lateral guide wheel 410 moves to the upward arc of the I-rail 600, so that the support wheel 430 and the I-rail 600 fit more tightly. At the same time, when the pressure reaches the preset value, the clamping plate 415 will deform due to the elasticity of the metal itself, and can return to its original state when it moves to the horizontal I-rail 600.

[0045] Specifically, a base 413 is symmetrically rotated at the end of the upper surface of the chassis 700, and two bases 413 disposed at the same end of the chassis 700 are connected by a double-hook tension spring 414; A limiting column 411 is fixedly provided through the middle of one end of the chassis 700 away from the rotation axis; the transverse guide wheel 410 is mounted on the outer wall of the limiting column 411 through a bearing sleeve.

[0046] The outer wall of the limiting column 411 is sleeved with a limiting guide ring 418, and the bearing is placed in a ring groove set in the middle of the limiting guide ring 418, and the width of the ring groove is greater than the thickness of the bearing.

[0047] A spring hole 416 for hanging a double-hook tension spring 414 is provided on the side where the two bases 412 are close to each other. The double-hook tension spring 414 is hung to tighten the two lateral guide wheels 410 to the I-rail 600. The bearing sleeve is placed in an annular groove set in the middle of the limiting guide ring 418, and when walking to the arc-shaped lateral guide wheel 410, it can tilt at an angle of less than 10° to ensure that the lateral guide wheel 410 can pass smoothly. The width of the annular groove is greater than the thickness of the bearing, so that the lateral guide wheel 410 can be tilted, and the maximum tilt angle is set within a preset range.

[0048] The rough setting of the inner wall of the bearing can produce greater friction with the inner wall of the ring groove and less relative sliding Specifically, a plurality of through holes are formed on the inner wall of the groove disposed on the side wall of the transverse guide wheel 410 , and buffer beads 4111 are placed in the through holes. The buffer beads 4111 are larger than the diameter of the through holes.

[0049] An elastic snap ring 417 is disposed inside the transverse guide wheel 410 . The elastic snap ring 417 is placed in a groove formed on the inner wall of the transverse guide wheel 410 and contacts the outer wall of one end of the transverse guide wheel 410 where the elastic snap ring 417 is placed.

[0050] When the transverse guide wheel 410 moves to the arc-shaped inclined I-rail 600, the buffer beads 4111 placed on the upper surface of the I-rail 600 will be squeezed and enter the transverse guide wheel 410, and the elastic retaining ring 417 will be deformed when squeezed by the buffer beads 4111. At this time, the buffer beads 4111 on the upper surface of the I-rail 600 are still in a tight state with the I-rail 600, further ensuring the stability of the transverse guide wheel 410 when it moves to the arc-shaped inclined I-rail 600. At the same time, the buffer beads 4111 placed on the lower surface of the I-rail 600 will move to the outside of the transverse guide wheel 410 under the squeezing of the contacting elastic retaining ring 417, and are still in a tight state with the lower surface of the I-rail 600.

[0051] Specifically, a motor 420 is fixedly disposed on the upper surface of the chassis 700, and an output end of the motor 420 is connected to a driving shaft 421 via a belt, and both ends of the driving shaft 421 are fixedly connected to a first pulley 422; A support block 464 is fixedly connected to the upper surface of the chassis 700 , and the support frame 460 and the support block 464 are connected via a nitrogen cylinder 462 .

[0052] A second belt pulley 470 is fixedly mounted on the shaft end of one side of the support wheel 430 , and the second belt pulley 470 is connected to the first belt pulley 422 via a connecting toothed belt 423 .

[0053] The second pulley 470 includes a side limiter 471 , a side wall of which is provided with a clearance groove 472 , an inner wall of which is slidably provided with an engagement protrusion 474 that engages with the connecting toothed belt 423 , and the engagement protrusion 474 is connected to the clearance groove 472 via a support spring 473 .

[0054] The motor 420 can drive the driving shaft 421 to rotate synchronously during the rotation process, and the driving shaft 421 drives the first pulleys 422 at both ends to rotate. The first pulley 422 drives the second pulley 470 to rotate through the connecting toothed belt 423 while rotating. The support frame 460 is connected to the support block 464 through the nitrogen cylinder 462, which can play a shock-absorbing role, ensure the stability during the movement, and facilitate the stable operation of the data collection element 200 connected at the bottom. When the nitrogen cylinder 462 is buffered or the robot is suddenly subjected to a downward pulling force, the nitrogen cylinder 462 will stretch, and the pressure connecting the toothed belt 423 and the second pulley 470 will increase instantly. At this time, the meshing protrusion 474 moves toward the middle of the side limit member 471 under the action of pressure to make way, thereby avoiding the belt from breaking or being damaged.

[0055] The above shows and describes the basic principles, main features and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The above embodiments and descriptions are only for explaining the principles of the present invention. Without departing from the spirit and scope of the present invention, the present invention may have various changes and improvements, which fall within the scope of the present invention. The scope of the present invention is defined by the attached claims and their equivalents.

Claims

1. A virtual simulation method for artificial intelligence ethical risks and prevention, characterized by: The ethical risk and prevention virtual simulation method comprises the following steps: S1: Input data based on the existing inspection framework and input multiple AI inspection candidate data. The input data of the ethics inspection framework includes general basic movement methods and several emergency response methods based on different scenarios; S2: AI operation path and scene data acquisition; S3: Rule risk judgment: multiple acquired scene data are judged in turn by the AI ​​ethics rules in multiple AI alternative rules to see if they comply, and the acquired scene data that complies is used as the scene data of the AI ​​rules, and then the acquired scenes that do not comply are used as risk scenes of the AI ​​rules, and at the same time, instructions are issued to users of scenes that do not comply to comply with the AI ​​rules; S4: Treat all scenario data of AI rules in scenarios that comply with ethical standards as the behavior of all compliant AI entities, and issue an alarm for each non-compliant scenario to prevent risks.

2. According to claim 1, an artificial intelligence ethical risk and prevention virtual simulation method is characterized by: The artificial intelligence ethical rules obtained in S1 are input according to the scenario, and there are mandatory rules, optional rules, or a combination of mandatory and optional rules.

3. An artificial intelligence ethical risk and prevention virtual simulation system, characterized by: The system is used for running an artificial intelligence ethical risk and prevention virtual simulation method as described in any one of claims 1-2.

4. A robot, operating using an artificial intelligence ethical risk and prevention virtual simulation method according to any one of claims 1-2, characterized in that: It comprises a housing (100), wherein a side wall of the housing (100) is provided with a notch suitable for an I-shaped rail (600); A chassis (700); the chassis (700) is fixedly connected to the bottom of the housing (100); A transverse guide wheel (410), the transverse guide wheel (410) being connected to the chassis (700); a groove is provided in the middle of the transverse guide wheel (410) for clamping the I-shaped rail (600), and an inner wall edge of the groove is provided with an inclined angle of 45°; A support wheel (430); the support wheel (430) is placed in the middle of the I-shaped track (600); one side of the support wheel (430) passes through the support frame (460) through an axis; a side connection groove (461) is provided on a side wall of the support frame (460); a pressing plate (415) is provided between the side connection groove (461) and the transverse guide wheel (410).

5. A robot according to claim 4, characterized in that: The clamping plate (415) is an elastic metal sheet, and the lower surface of the middle portion of the clamping plate (415) is fixedly connected to the upper surface of the chassis (700) via a gas pressure rod (419); One end of the clamping plate (415) extends into a side connection groove (461) provided on a side wall of the support frame (460), and the other end of the clamping plate (415) is provided with a chamfer that matches the angle of a groove provided in the middle of the transverse guide wheel (410).

6. A robot according to claim 4, characterized in that: A base (413) is symmetrically arranged at the end of the upper surface of the chassis (700), and two bases (413) arranged at the same end of the chassis (700) are connected via a double-hook tension spring (414); A limiting column (411) is fixedly provided through the middle of one end of the chassis (700) away from the rotation axis; the transverse guide wheel (410) is arranged on the outer wall of the limiting column (411) via a bearing sleeve.

7. A robot according to claim 6, characterized in that: The outer wall of the limiting column (411) is sleeved with a limiting guide ring (418), and the bearing is placed in a ring groove provided in the middle of the limiting guide ring (418), and the width of the ring groove is greater than the thickness of the bearing.

8. A robot according to claim 7, characterized in that: A plurality of through holes are provided on the inner wall of the groove arranged on the side wall of the transverse guide wheel (410), and buffer beads (4111) are placed in the through holes. The buffer beads (4111) are larger than the diameter of the through holes.

9. A robot according to claim 8, characterized in that: An elastic snap ring (417) is provided inside the transverse guide wheel (410); the elastic snap ring (417) is placed in a groove provided on the inner wall of the transverse guide wheel (410) and is in contact with the outer wall of one end of the transverse guide wheel (410) where the elastic snap ring (417) is placed.

10. A robot according to claim 6, characterized in that: A motor (420) is fixedly arranged on the upper surface of the chassis (700); the output end of the motor (420) is connected to a drive shaft (421) via a belt; and both ends of the drive shaft (421) are fixedly connected to a first pulley (422).

11. A robot according to claim 10, characterized in that: A support block (464) is fixedly connected to the upper surface of the chassis (700), and the support frame (460) and the support block (464) are connected via a nitrogen cylinder (462).

12. A robot according to claim 10, characterized in that: A second belt pulley (470) is provided on a shaft end fixing sleeve on one side of the support wheel (430), and the second belt pulley (470) is connected to the first belt pulley (422) via a connecting toothed belt (423).

13. A robot according to claim 11, characterized in that: The second pulley (470) comprises a side limiter (471), a side wall of the side limiter (471) is provided with a clearance groove (472), an inner wall of the clearance groove (472) is provided with an engaging protrusion (474) which is slidably engaged with the connecting toothed belt (423), and the engaging protrusion (474) and the clearance groove (472) are connected via a supporting spring (473).

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