Chassis suspension structure of walking robot

Abstract

The invention relates to the technical field of robots, and provides a chassis suspension structure of a walking robot, which comprises a robot body, a plurality of searchlights are symmetrically arranged on one side of the robot body, a chassis suspension module is arranged at the bottom of the robot body, and the chassis suspension module comprises two walking support plates. The long-term operation reliability of the robot is guaranteed.

Description

Technical Field

[0001] This invention relates to the field of robotics, and more particularly to the chassis suspension structure of a walking robot. Background Technology

[0002] With the rapid development of robotics technology, walking robots are widely expected to be used in extreme or unstructured scenarios such as emergency rescue, field exploration, military reconnaissance, planetary exploration, and complex industrial environments. The ground environment in these scenarios is usually extremely complex, full of unpredictable ruggedness, gravel, mud, slopes, steps, and alternating soft and hard surfaces.

[0003] Existing walking robots perform poorly when facing complex terrain, falling far short of practical requirements. This can easily lead to severe vibrations and impacts on the robot as a whole, affecting the accuracy of data from the built-in precision sensors and accelerating fatigue damage to the mechanical structure, thus shortening the robot's lifespan. Furthermore, the inability to effectively conform to the ground contours can cause excessive tilting or twisting of the robot body, resulting in a sharp decline in stability. Summary of the Invention

[0004] In view of this, embodiments of the present invention provide a chassis suspension structure for a walking robot to solve the technical problems in the related art, such as poor walking performance in complex terrain, insufficient practicality, easy generation of severe vibration and impact, and low stability of walking robots.

[0005] This application provides a chassis suspension structure for a walking robot, including a robot body, with multiple searchlights symmetrically arranged on one side of the robot body, and a chassis suspension module arranged at the bottom of the robot body. The chassis suspension module includes two walking support plates, and the walking support plates are fixedly connected to the bottom of the robot body.

[0006] In some optional embodiments, two circular holes are provided on one side of the walking support plate, and the interior of each of the two circular holes is connected to a rotating shaft through a bearing. A triangular stabilizing frame is fixedly connected to the exterior of each of the two rotating shafts. A circular hole is provided on one side of each of the two triangular stabilizing frames, and a rotating block is connected to the interior of each of the two circular holes through a bearing. Two guide cylinders are fixedly connected to one side of each of the two rotating blocks.

[0007] In some optional embodiments, a U-shaped tooling rod is bolted to one side of the walking support plate, and two circular holes are provided on both sides of the U-shaped tooling rod. A rotating tooling frame is connected to the inside of each of the two circular holes through bearings. A guide limit seat is fixedly connected to one side of each of the two rotating tooling frames. A limit hole is provided on one side of each of the two guide limit seats. The guide cylinder slides inside the limit hole. Two buffer springs are fixedly connected to the opposite side of the guide limit seat and the rotating block. The buffer springs are located outside the guide cylinder.

[0008] In some optional embodiments, two lower support arms are fixedly connected to one side of the walking support plate, and each of the two lower support arms has a circular hole four on one side. The two circular holes four are connected to a rotating shaft one through a bearing. A lower swing arm is fixedly connected to the outside of the rotating shaft one, and an upper swing arm is fixedly connected to the outside of the rotating shaft two. The upper swing arm and the lower swing arm are provided with the same longitudinal arm on one side. A walking wheel is provided on the longitudinal arm. The lower swing arm and the triangular stabilizing frame are both provided with a circular hole five on one side. The two circular holes five are connected to a rotating shaft three through a bearing. The two rotating shaft three are movably connected to the same anti-tipping connecting arm.

[0009] In some optional embodiments, two oil injection rings are fixedly connected to one side of each of the two guide limit seats, and the oil injection rings are located outside the guide cylinder. Metal telescopic tubes are fixedly connected to the outside of the multiple oil injection rings. An oil storage tank is provided on one side of the robot body. Two oil replenishment pump bodies are provided at the bottom of the robot body. A delivery pipe is fixedly connected to the oil outlet end of the oil replenishment pump body. Multiple hollow oil drum frames are fixedly connected to the bottom of the robot body. A connecting pipe is fixedly connected to one side of the hollow oil drum frame. One end of the connecting pipe is fixedly connected to one end of the metal telescopic tube.

[0010] In some optional embodiments, the robot body is provided with a walking assistance module, and the walking assistance module includes a guide rail. A lead screw slider is slidably connected inside the guide rail. Circular holes six are opened on both sides of the guide rail. The two circular holes six are connected to the same lead screw through bearings. A lead screw motor is fixedly connected to one side of the robot body. The drive end of the lead screw motor is connected to one end of the lead screw through a coupling.

[0011] In some optional embodiments, a cleaning mounting frame is fixedly connected to one side of the lead screw slider, and a rounded opening is provided at equal intervals on one side of the cleaning mounting frame. Vibrating rounded rods are slidably connected inside the multiple rounded openings. One end of the multiple vibrating rounded rods is fixedly connected to the same cleaning brush plate, and the other end of the multiple vibrating rounded rods is fixedly connected to the same horizontal vibrating plate. A return spring is fixedly connected at equal intervals to the opposite side of the horizontal vibrating plate and the cleaning mounting frame. The return spring is located outside the vibrating rounded rod.

[0012] In some optional embodiments, support plates are fixedly connected to both sides of the cleaning mounting frame, and a circular hole 7 is opened on one side of each of the two support plates. The same rotating rod is connected to the inside of the two circular holes 7 through a bearing. A roller is connected to the rotating rod away from its center through a bearing. A drive box is fixedly connected to one side of one of the support plates, and a camera sensor is provided on one side of the robot body.

[0013] In some optional embodiments, two L-shaped limiting plates are fixedly connected to both sides of the robot body, and a limiting circular opening is opened on one side of the multiple L-shaped limiting plates. A circular abutment is slidably connected inside the multiple limiting circular openings. One end of two circular abutments located on the same side is fixedly connected to the same anti-collision frame. Two buffer springs are fixedly connected to the anti-collision frame and the opposite side of the L-shaped limiting plate. The buffer springs are located outside the circular abutments.

[0014] In some optional embodiments, mounting ports are provided on both sides of the robot body, and the same limiting cylinder is fixedly connected to the opposite side of the two mounting ports. Two buffer sliders are slidably connected to the outside of the two limiting cylinders. The same buffer spring is fixedly connected to the opposite side of the two buffer sliders on the same side. A U-shaped block is fixedly connected to one side of the multiple buffer sliders. A linkage buffer arm is connected to the inside of the multiple U-shaped blocks through a bearing. One end of the linkage buffer arm is movably connected to one end of the cylindrical abutment.

[0015] The beneficial effects of this application embodiment compared with the prior art are as follows: multiple searchlights are symmetrically arranged on one side of the robot body, and a chassis suspension module is arranged at the bottom of the robot body. The chassis suspension module includes two walking support plates, and the walking support plates are fixedly connected to the bottom of the robot body, so that the walking robot can adapt to rough roads, keep the vehicle body stable, protect the internal equipment, and ensure the reliability of long-term operation. Attached Figure Description

[0016] Figure 1 A schematic diagram of the main structure of the chassis suspension structure of the walking robot provided in an embodiment of the present invention; Figure 2 This is a schematic diagram of the bottom structure of the chassis suspension structure of the walking robot provided in an embodiment of the present invention; Figure 3 This is a schematic diagram of the chassis suspension module structure of the walking robot provided in an embodiment of the present invention; Figure 4 This is a schematic diagram of the chassis suspension module of the chassis suspension structure of the walking robot provided in an embodiment of the present invention; Figure 5 A schematic diagram of the oil injection ring portion of the chassis suspension structure of the walking robot provided in an embodiment of the present invention; Figure 6 This is a schematic diagram of the walking assistance module structure of the chassis suspension structure of the walking robot provided in an embodiment of the present invention; Figure 7 This is a schematic diagram of the walking assistance module of the chassis suspension structure of the walking robot provided in an embodiment of the present invention.

[0017] In the diagram: 1. Robot body; 2. Searchlight; 3. Camera sensor; 4. Chassis suspension module; 401. Oil tank; 402. Oil pump body; 403. Delivery pipe; 404. Walking support plate; 405. U-shaped tooling rod; 406. Hollow oil drum frame; 407. Oil injection ring; 408. Metal telescopic tube; 409. Connecting pipe; 410. Rotating tooling frame; 411. Guide limit seat; 412. Lower support arm; 413. Rotating shaft one; 414. Lower swing arm; 415. Rotating shaft two; 416. Triangular stabilizing frame; 417. Rotating block; 418. Buffer spring; 419. Guide cylinder; 420. Anti-tipping connecting arm; 421. Upper swing arm; 22. Longitudinal arm; 423. Traveling wheel; 424. Rotating shaft three; 5. Travel auxiliary module; 501. Guide rail; 502. Lead screw; 503. Lead screw motor; 504. Lead screw slider; 505. Cleaning mounting frame; 506. Vibration slide bar; 507. Cleaning brush plate; 508. Return spring; 509. Horizontal vibration plate; 510. Support plate; 511. Rotating rod; 512. Roller; 513. Drive box; 514. Limiting cylinder; 515. Buffer slider; 516. Buffer spring one; 517. L-limiting plate; 518. Round abutment column; 519. Buffer spring two; 520. U-shaped block; 521. Linkage buffer arm; 522. Anti-collision frame. Detailed Implementation

[0018] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments.

[0019] The chassis suspension structure of the walking robot provided in this embodiment of the invention is mainly applied to the following scenarios: the walking robot has poor walking performance in complex terrain, is not practical enough, and is prone to severe vibration and impact, which not only affects the accuracy of sensor data, but also accelerates structural fatigue and shortens lifespan. At the same time, because it is difficult to conform to the ground contour, it is easy to cause the vehicle body to tilt or twist, resulting in decreased stability.

[0020] In one embodiment of the present invention, see Figures 1-7 The chassis suspension structure of the walking robot includes the robot body 1. Multiple searchlights 2 are symmetrically arranged on one side of the robot body 1. The chassis suspension module 4 is arranged at the bottom of the robot body 1. The chassis suspension module 4 includes two walking support plates 404, and the walking support plates 404 are fixedly connected to the bottom of the robot body 1.

[0021] Specifically, multiple searchlights are symmetrically arranged on one side of the robot body, and a chassis suspension module is installed at the bottom of the robot body. The chassis suspension module includes two walking support plates, which are fixedly connected to the bottom of the robot body. This allows the walking robot to adapt to rough roads, maintain vehicle stability, protect internal equipment, and ensure long-term operational reliability.

[0022] In an optional embodiment, see Figures 1-5 Two circular holes are provided on one side of the walking support plate 404, and the interior of each circular hole is connected to a rotating shaft 415 via a bearing. A triangular stabilizing frame 416 is fixedly connected to the exterior of each rotating shaft 415. A circular hole is provided on one side of each triangular stabilizing frame 416, and a rotating block 417 is connected to the interior of each circular hole via a bearing. Two guide cylinders 419 are fixedly connected to one side of each rotating block 417.

[0023] In an optional embodiment, see Figures 1-5 A U-shaped tooling rod 405 is bolted to one side of the walking support plate 404. Both sides of the U-shaped tooling rod 405 have three round holes. The interior of each of the two round holes is connected to a rotating tooling frame 410 through a bearing. One side of each of the two rotating tooling frames 410 is fixedly connected to a guide limit seat 411. One side of each of the two guide limit seats 411 has a limit hole. The guide cylinder 419 slides inside the limit hole. Two buffer springs 418 are fixedly connected to the opposite side of the guide limit seat 411 and the rotating block 417. The buffer springs 418 are located outside the guide cylinder 419.

[0024] In an optional embodiment, see Figures 1-5 Two lower support arms 412 are fixedly connected to one side of the walking support plate 404, and each of the two lower support arms 412 has a round hole 4 on one side. The two round holes 4 are connected to a rotating shaft 413 through a bearing. The rotating shaft 413 is fixedly connected to a lower swing arm 414. The rotating shaft 415 is fixedly connected to an upper swing arm 421. The upper swing arm 414 and the lower swing arm 421 are provided with the same longitudinal arm 422 on one side. The longitudinal arm 422 is provided with a walking wheel 423. The lower swing arm 414 and the triangular stabilizing frame 416 are both provided with a round hole 5 on one side. The two round holes 5 are connected to a rotating shaft 424 through a bearing. The two rotating shafts 424 are movably connected to the same anti-tipping connecting arm 420.

[0025] In an optional embodiment, see Figures 1-5Two oil injection rings 407 are fixedly connected to one side of each of the two guide limit seats 411, and the oil injection rings 407 are located outside the guide cylinder 419. Metal telescopic tubes 408 are fixedly connected to the outside of the multiple oil injection rings 407. An oil storage tank 401 is provided on one side of the robot body 1. Two oil replenishment pump bodies 402 are provided at the bottom of the robot body 1. A delivery pipe 403 is fixedly connected to the oil outlet end of the oil replenishment pump body 402. Multiple hollow oil drum frames 406 are fixedly connected to the bottom of the robot body 1. A connecting pipe 409 is fixedly connected to one side of the hollow oil drum frame 406. One end of the connecting pipe 409 is fixedly connected to one end of the metal telescopic tube 408.

[0026] Specifically, the two walking support plates 404 at the bottom of the robot body 1 serve as the basis of the suspension structure. They are connected to the triangular stabilizing frame 416 via the second pivot 415. The triangular stabilizing frame 416 is connected to the guide cylinder 419 via the rotating block 417. The guide cylinder 419 slides within the limiting hole of the guide limit seat 411. When the walking wheel 423 encounters uneven ground, the impact force is transmitted to the upper swing arm 421 and the lower swing arm 414 via the longitudinal arm 422. The upper swing arm 421 is linked to the triangular stabilizing frame 416 via the second pivot 415, and the lower swing arm 414 is connected to the lower support arm 412 via the first pivot 413. This multi-link structure allows each walking wheel 423 to move up and down independently, adapting to changes in the ground contour.

[0027] The buffer spring 418 is sleeved on the outside of the guide cylinder 419 and located between the rotating block 417 and the guide limit seat 411. When the ground protrudes or sinks, the guide cylinder 419 slides in the limit hole, compressing or releasing the buffer spring 418, effectively absorbing vibration and impact energy. At the same time, the anti-tipping connecting arm 420 is connected to the lower swing arm 414 and the triangular stabilizing frame 416 through the rotating shaft 424 to form a stable triangular structure.

[0028] When one side of the walking wheel 423 is raised, the anti-tipping connecting arm 420 pulls the triangular stabilizing frame 416 to rotate, and adjusts the angle of the upper swing arm 421 through the second pivot 415 to counteract the tendency of the vehicle body to tilt and prevent the robot from tilting or rolling over.

[0029] The U-shaped tooling rod 405 is fixed to the walking support plate 404 by bolts. The rotating tooling frame 410 on it allows the guide limit seat 411 to rotate within a certain angle, which further enhances the flexibility of the suspension structure, ensures that the walking wheel 423 always keeps in contact with the ground, and improves traction.

[0030] The lubrication system consists of an oil reservoir 401, an oil replenishment pump body 402, a delivery pipe 403, a hollow oil drum frame 406, a connecting pipe 409, a metal telescopic pipe 408, and an oil injection ring 407. The oil replenishment pump body 402 periodically pumps oil from the oil reservoir 401 and delivers it to the hollow oil drum frame 406 through the delivery pipe 403. The lubricating oil flows into the oil injection ring 407 through the connecting pipe 409 and the metal telescopic pipe 408. The oil injection ring 407 is sleeved on the outside of the guide cylinder 419. When the guide cylinder 419 slides, the oil injection ring 407 automatically sprays lubricating oil to reduce the friction between the guide cylinder 419 and the limiting hole. The metal telescopic pipe 408 adopts a flexible design and can extend and retract with the movement of the guide limiting seat 411, ensuring continuous and uniform lubrication, significantly reducing the wear of the suspension components in frequent movement, extending the service life, and maintaining the smoothness of the suspension.

[0031] In addition, the multi-link structure of the chassis suspension module 4 (including the upper control arm 421, lower control arm 414, longitudinal arm 422, and anti-tipping connecting arm 420) allows each walking wheel 423 to move independently, closely conforming to the ground contour. On rough, sloping, or alternating soft and hard surfaces, the suspension structure automatically adjusts its angle and height to reduce vehicle vibration and tilt, thereby improving walking stability. The buffer spring 418 forms a damping system that absorbs ground impact energy. This not only protects the precision sensors inside the robot body 1 from vibration interference and ensures data accuracy, but also reduces mechanical fatigue damage and extends the robot's service life. The automatic lubrication system periodically lubricates key components such as the guide cylinder 419 through the oil replenishment pump body 402 and the oil injection ring 407, reducing the coefficient of friction and preventing jamming or failure due to wear.

[0032] In an optional embodiment, see Figure 1 , Figure 6 and Figure 7 The robot body 1 is equipped with a walking assistance module 5, which includes a guide rail 501. A lead screw slider 504 is slidably connected inside the guide rail 501. Two circular holes are opened on both sides of the guide rail 501. The same lead screw 502 is connected inside the two circular holes through bearings. A lead screw motor 503 is fixedly connected to one side of the robot body 1. The drive end of the lead screw motor 503 is connected to one end of the lead screw 502 through a coupling.

[0033] In an optional embodiment, see Figure 1 , Figure 6 and Figure 7A cleaning mounting frame 505 is fixedly connected to one side of the lead screw slider 504, and a rounded opening is provided at equal intervals on one side of the cleaning mounting frame 505. Vibrating rounded rods 506 are slidably connected inside the multiple rounded openings. One end of the multiple vibrating rounded rods 506 is fixedly connected to the same cleaning brush plate 507, and the other end of the multiple vibrating rounded rods 506 is fixedly connected to the same horizontal vibrating plate 509. A return spring 508 is fixedly connected at equal intervals to the opposite side of the horizontal vibrating plate 509 and the cleaning mounting frame 505. The return spring 508 is located outside the vibrating rounded rods 506.

[0034] In an optional embodiment, see Figure 1 , Figure 6 and Figure 7 Both sides of the cleaning mounting frame 505 are fixedly connected to support plates 510, and one side of each support plate 510 is provided with a circular hole 7. The inside of the two circular holes 7 is connected to the same rotating rod 511 through a bearing. The rotating rod 511 is connected to a roller 512 through a bearing at a position away from its center. One side of one of the support plates 510 is fixedly connected to a drive box 513, and a camera sensor 3 is provided on one side of the robot body 1.

[0035] In an optional embodiment, see Figure 1 , Figure 6 and Figure 7 Two L-limiting plates 517 are fixedly connected to both sides of the robot body 1, and a limiting circular opening is opened on one side of each of the multiple L-limiting plates 517. A circular abutment post 518 is slidably connected inside the multiple limiting circular openings. One end of two circular abutment posts 518 located on the same side is fixedly connected to the same anti-collision frame 522. Two buffer springs 519 are fixedly connected to the opposite side of the anti-collision frame 522 and the L-limiting plate 517. The buffer springs 519 are located outside the circular abutment post 518.

[0036] In an optional embodiment, see Figure 1 , Figure 6 and Figure 7 The robot body 1 has mounting ports on both sides, and the same limiting cylinder 514 is fixedly connected to the opposite side of the two mounting ports. Two buffer sliders 515 are slidably connected to the outside of the two limiting cylinders 514. The same buffer spring 516 is fixedly connected to the opposite side of the two buffer sliders 515 on the same side. A U-shaped block 520 is fixedly connected to one side of the multiple buffer sliders 515. The internal parts of the multiple U-shaped blocks 520 are connected to a linkage buffer arm 521 through a bearing. One end of the linkage buffer arm 521 is movably connected to one end of the round abutment 518.

[0037] Specifically, the walking assistance module 5 includes a guide rail 501, a lead screw 502, a lead screw motor 503, a lead screw slider 504, a cleaning mounting frame 505, a vibrating slide bar 506, a cleaning brush plate 507, a return spring 508, a horizontal vibrating plate 509, a support plate 510, a rotating rod 511, a roller 512, and a drive box 513. The lead screw motor 503 drives the lead screw 502 to rotate, causing the lead screw slider 504 to move horizontally along the guide rail 501, which in turn moves the cleaning mounting frame 505 closer to the camera sensor 3. The cleaning brush plate 507 is connected to the cleaning mounting frame 505 via the vibrating slide bar 506. The return spring 508 is sleeved on the outside of the vibrating slide bar 506. When the cleaning brush 507 contacts the camera sensor 3, the roller 512 is connected to the support plate 510 through the rotating rod 511. The motor in the drive box 513 can drive the roller 512 to rotate. The roller 512 compresses the return spring 508 on the horizontal vibration plate 509, so that the cleaning brush 507 can effectively clean the debris on the camera sensor 3.

[0038] The anti-collision structure consists of an L-shaped limiting plate 517, a circular abutment post 518, an anti-collision frame 522, a second buffer spring 519, a limiting cylinder 514, a buffer slider 515, a first buffer spring 516, a U-shaped block 520, and a linkage buffer arm 521. When the anti-collision frame 522 is impacted, the circular abutment post 518 slides within the limiting circular opening of the L-shaped limiting plate 517, compressing the second buffer spring 519 and absorbing the initial impact energy. At the same time, the circular abutment post 518 pushes the linkage buffer arm 521, which in turn drives the buffer slider 515 to slide along the limiting cylinder 514 via the U-shaped block 520, compressing the first buffer spring 516 and forming a secondary buffer. This multi-stage design disperses the impact force, preventing rigid collisions from damaging the robot body 1. Furthermore, the synergistic effect of the first buffer spring 516 and the second buffer spring 519 effectively reduces the impact of collisions on internal sensors and structures.

[0039] In this way, the cleaning brush 507 of the walking assistance module 5 removes impurities adhering to the camera sensor 3 under the action of the reset spring 508, improving the sensor's accurate guidance; the anti-collision structure disperses collision energy through a multi-level buffer mechanism (buffer spring 2 519 and buffer spring 1 516), reducing peak impact force. The linkage design of the buffer arm 521 and the buffer slider 515 ensures that the collision force is not directly transmitted to the robot body 1, protecting the core components and improving safety in narrow or obstacle-dense environments.

[0040] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and inventive concept of the present invention, should be covered within the scope of protection of the present invention.

Claims

1. A chassis suspension structure of a walking robot comprising a robot body (1), characterized in that, The robot body (1) is symmetrically provided with a plurality of searchlights (2) on one side, and the bottom of the robot body (1) is provided with a chassis suspension module (4), the chassis suspension module (4) comprises two walking support plates (404), and the walking support plates (404) are fixedly connected to the bottom of the robot body (1).

2. The chassis suspension structure according to claim 1, characterized by The walking support plate (404) is provided with two round holes one on one side, and the inside of the two round holes one is connected with a rotating shaft two (415) through a bearing, the outside of the two rotating shaft two (415) is fixedly connected with a triangular stabilizing frame (416), one side of the two triangular stabilizing frames (416) is provided with a round hole two, the inside of the two round holes two is connected with a rotating block (417) through a bearing, and one side of the two rotating blocks (417) is fixedly connected with two guide cylinders (419).

3. The chassis suspension structure of claim 2, wherein, The walking support plate (404) is connected with a U-shaped tool rod (405) on one side through bolts, and the two sides of the U-shaped tool rod (405) are provided with round holes three, the inside of the two round holes three is connected with a rotating tool frame (410) through a bearing, one side of the two rotating tool frames (410) is fixedly connected with a guide limiting seat (411), one side of the two guide limiting seats (411) is provided with a limiting round hole, the guide cylinder (419) is slidably arranged in the limiting round hole, and the opposite side of the guide limiting seat (411) and the rotating block (417) is fixedly connected with two buffer compression springs (418), and the buffer compression spring (418) is located outside the guide cylinder (419).

4. The chassis suspension structure according to claim 3, characterized by The walking support plate (404) is fixedly connected with two lower supporting arms (412) on one side, and the two lower supporting arms (412) are provided with round holes four on one side, the inside of the two round holes four is connected with a rotating shaft one (413) through a bearing, the outside of the rotating shaft one (413) is fixedly connected with a lower swing arm (414), the outside of the rotating shaft two (415) is fixedly connected with an upper swing arm (421), one side of the upper swing arm (414) and the lower swing arm (421) is provided with a same vertical arm (422), the vertical arm (422) is provided with a walking wheel (423), one side of the lower swing arm (414) and the triangular stabilizing frame (416) is provided with a round hole five, the inside of the two round holes five is connected with a rotating shaft three (424) through a bearing, and the outside of the two rotating shaft three (424) is movably connected with a same anti-toppling connecting arm (420).

5. The chassis suspension structure according to claim 4, wherein Two sides of each of the two guide limit seats (411) are fixedly connected with two oil injection rings (407), and the oil injection rings (407) are located outside the guide cylinder (419), the outside of the plurality of oil injection rings (407) is fixedly connected with a metal telescopic pipe (408), one side of the robot body (1) is provided with an oil storage tank (401), the bottom of the robot body (1) is provided with two oil supplement pumps (402), the oil outlet end of the oil supplement pump (402) is fixedly connected with a conveying pipeline (403), the bottom of the robot body (1) is fixedly connected with a plurality of hollow oil drum frames (406), one side of the hollow oil drum frame (406) is fixedly connected with a communication pipe (409), and one end of the communication pipe (409) is fixedly connected with one end of the metal telescopic pipe (408).

6. The chassis suspension structure according to claim 5, wherein The robot body (1) is provided with a walking auxiliary module (5), and the walking auxiliary module (5) comprises a guide rail (501), a screw block (504) is slidably connected inside the guide rail (501), two circular holes six are formed on the two sides of the guide rail (501), the same screw rod (502) is connected inside the two circular holes six through bearings, and one side of the robot body (1) is fixedly connected with a screw rod motor (503). The driving end of the screw rod motor (503) is connected to one end of the screw rod (502) through a shaft coupling.

7. The chassis suspension structure according to claim 6, characterized in that, One side of the screw block (504) is fixedly connected with a cleaning mounting frame (505), and a circular sliding port is equidistantly formed on one side of the cleaning mounting frame (505). A plurality of vibration circular sliding rods (506) are slidably connected inside the plurality of circular sliding ports. One end of the plurality of vibration circular sliding rods (506) is fixedly connected with the same cleaning brush plate (507), the other end of the plurality of vibration circular sliding rods (506) is fixedly connected with the same horizontal vibration plate (509), the opposite side of the cleaning mounting frame (505) is equidistantly fixedly connected with a return spring (508), and the return spring (508) is located outside the vibration circular sliding rod (506).

8. The chassis suspension structure according to claim 7, characterized by The two sides of the cleaning mounting frame (505) are fixedly connected with a support plate (510), and a circular hole seven is formed on one side of each of the two support plates (510). The same rotating circular rod (511) is connected inside the two circular hole sevens through bearings. The rotating circular rod (511) is connected with a roller (512) away from the position of the center thereof through a bearing. One side of one of the support plates (510) is fixedly connected with a driving box (513), and one side of the robot body (1) is provided with a camera sensor (3).

9. The chassis suspension structure of claim 8, wherein, The two sides of the robot body (1) are fixedly connected with two L limit plates (517), and a limit circular port is formed on one side of each of the plurality of L limit plates (517). A circular abutting column (518) is slidably connected inside each of the plurality of limit circular ports. One end of each of the two circular abutting columns (518) located on the same side is fixedly connected with the same anti-collision frame (522). The opposite side of the anti-collision frame (522) and the L limit plate (517) is fixedly connected with two buffer springs two (519), and the buffer springs two (519) are located outside the circular abutting column (518).

10. The chassis suspension structure of claim 9, wherein, Both sides of the robot body (1) are provided with mounting ports, and opposite sides of the two mounting ports are fixedly connected with the same limiting cylinder (514). The outer sides of the two limiting cylinders (514) are slidably connected with two buffer sliding blocks (515). The opposite sides of the two buffer sliding blocks (515) on the same side are fixedly connected with the same buffer spring one (516). One side of the plurality of buffer sliding blocks (515) is fixedly connected with a U-shaped block (520). The interiors of the plurality of U-shaped blocks (520) are connected with a linkage buffer arm (521) through bearings. One end of the linkage buffer arm (521) is movably connected to one end of the circular abutting cylinder (518).

Images