Upright column assembly and wheel arm robot

Abstract

The invention discloses a stand column assembly and a wheel arm robot, and belongs to the technical field of robots. The stand column assembly comprises a stand column mounting seat, a stand column mechanism, a stand column shell, a synchronous belt mechanism and a stand column connecting piece; the stand column mechanism is fixedly connected to a base of the chassis assembly through a stand column installation base. The stand column shell is connected outside the stand column mechanism. The synchronous belt mechanism is used for achieving vertical movement of the mechanical arm on the stand column assembly. The stand column connecting piece is used for connecting the stand column mechanism and a shell of the chassis assembly. The stand column mounting base and the stand column connecting piece achieve double constraint of the stand column mechanism and the chassis assembly. According to the stand column assembly and the wheel arm robot, the problems that in the prior art, a stand column assembly of a wheel arm robot is low in rigidity, light weight cannot be considered, and the application scene of the wheel arm robot is limited can be effectively solved.

Description

Technical Field

[0001] This invention belongs to the field of robotics technology. Specifically, it relates to a column assembly and a wheeled robot. Background Technology

[0002] The column assembly is the core load-bearing and connecting component of a wheelb robot, undertaking the crucial functions of supporting the robotic arm and adjusting its working posture, directly affecting the robot's operational stability and accuracy. Existing wheelb robot column assemblies often suffer from insufficient structural rigidity, making them prone to deformation under heavy loads or complex working conditions. Furthermore, some column assemblies lack adjustment flexibility, limiting their adaptability to different operational scenarios. These shortcomings restrict the operational efficiency of wheelb robots, necessitating a column assembly structure with high structural rigidity and flexible adjustment. Summary of the Invention

[0003] The purpose of this invention is to provide a column assembly and a wheeled robot to address the aforementioned shortcomings, thereby solving the problems of low rigidity in the column assembly of existing wheeled robots, which prevents them from achieving lightweight design and limits their application scenarios. To achieve the above objective, this invention provides the following technical solution: A column assembly includes a column mounting base, a column mechanism, a column housing, a timing belt mechanism, and a column connector. The column mechanism is fixedly connected to the base of a chassis assembly via the column mounting base. The column housing is connected to the outside of the column mechanism. The timing belt mechanism enables the vertical movement of a robotic arm within the column assembly. The column connector connects the column mechanism to the housing of the chassis assembly. The column mounting base and the column connector provide dual constraints for the column mechanism and the chassis assembly.

[0004] Furthermore, the column mounting base includes a left mounting base and a right mounting base; the left mounting base includes a first horizontal portion and a first vertical portion fixedly disposed on the base and perpendicularly connected to each other; the right mounting base includes a second horizontal portion fixedly disposed on the base, a second vertical portion perpendicular to the second horizontal portion, and a third horizontal portion parallel to the second horizontal portion; the third horizontal portion and the second horizontal portion are respectively fixed at the upper and lower ends of the second vertical portion and face the same side; the first vertical portion, the second horizontal portion, the second vertical portion, and the third horizontal portion form a rectangular receiving cavity.

[0005] Furthermore, the left mounting base also includes a first reinforcing portion; the first reinforcing portion is perpendicular to the first horizontal portion and the first vertical portion respectively; the first reinforcing portion is provided with an opening to reduce the weight of the left mounting base.

[0006] Furthermore, the right mounting base also includes a second reinforcing portion; the second reinforcing portion is perpendicular to the second horizontal portion and the second vertical portion respectively; the second reinforcing portion is provided with an opening to reduce the weight of the right mounting base.

[0007] Furthermore, the synchronous belt mechanism includes a drive motor, a synchronous belt drive pulley, a synchronous belt, a drive pulley shaft, and a drive motor output gear; the synchronous belt drive pulley, the drive pulley shaft, and the drive motor output gear are located in the rectangular receiving cavity; the first vertical portion and the second vertical portion are respectively provided with a first through hole and a second through hole; the two ends of the drive pulley shaft are respectively rotatably connected to the first through hole and the second through hole; the synchronous belt drive pulley is coaxially fixed on the drive pulley shaft; a third through hole is provided on the second vertical portion adjacent to the second through hole; the drive motor is fixedly mounted on the second vertical portion, and its output end passes through the third through hole and is fixedly connected to the drive motor output gear; a gear is coaxially mounted on the drive pulley shaft and meshes with the drive motor output gear for transmission; the synchronous belt driven pulley is rotatably connected to the column mechanism; the synchronous belt is respectively configured to cooperate with the synchronous belt drive pulley and the synchronous belt driven pulley; the drive motor is used to drive the synchronous belt to rotate around the synchronous belt drive pulley and the synchronous belt driven pulley.

[0008] Furthermore, the column mechanism includes a column body, a lifting slide rail, a lifting slider, and a driven wheel mounting base; the column body is rectangular in shape, and a first groove and a second groove are formed on two adjacent side walls along the length of the cuboid; a fourth through hole and a fifth through hole are provided on the third horizontal part; the two sides of the synchronous belt pass through the fourth through hole and the fifth through hole respectively, and are disposed in the first groove; a synchronous belt clamp is provided on the synchronous belt; the second groove is used to set the lifting slide rail; the lifting slider is fitted on the lifting slide rail and is fixedly connected to one side of the synchronous belt; the driven wheel mounting base is fixed to the upper end of the column body; the driven wheel of the synchronous belt is rotatably mounted on the driven wheel mounting base; the synchronous belt is used to drive the lifting slider to move along the lifting slide rail.

[0009] Furthermore, the column connector is a column clamp, including a clamp connecting seat and a clamp body; the clamp connecting seat and the clamp body form a rectangular opening to accommodate the column body passing through; the end of the clamp connecting seat away from the clamp body is fixedly connected to the outer shell of the chassis assembly.

[0010] Furthermore, the column housing includes a first housing and a second housing; the first housing and the second housing are fixedly connected to the periphery of the column body; the upper end of the column body is provided with an upper support; the upper ends of the first housing and the second housing are fixedly connected to the upper support, and the lower ends are fixedly connected to the housing of the chassis assembly; the column housing is provided with a slot for the lifting slider to slide up and down.

[0011] Furthermore, a rubber buffer pad is provided at the connection between the clamp body and the column body.

[0012] A wheeled robot, comprising the aforementioned column assembly.

[0013] The beneficial effects of this invention are: The column body of the column assembly in this application is connected to the base of the chassis assembly by setting a column mounting seat. With the help of column clamps, the column body is fixedly connected to the outer shell of the chassis assembly, which ensures the structural rigidity of the column assembly. The first and second reinforcing parts set on the left and right mounting seats of the column mounting seat further enhance the structural rigidity. The synchronous belt mechanism of the column assembly can drive the lifting slider to slide stably along the length of the column body. The slider is used to connect to the mounting seat of the robotic arm, thereby driving the stable lifting and lowering of the robotic arm to adapt to different operation scenarios. Attached Figure Description

[0014] Figure 1 This is a schematic diagram of the structure of the column assembly and the base of the present invention. Figure 2 This is a schematic diagram of the column assembly of the present invention without a column housing; Figure 3 This is a schematic diagram of the synchronous belt mechanism of the present invention; Figure 4 yes Figure 3 A stereoscopic view from another perspective; Figure 5 This is a schematic diagram of the column mechanism of the present invention; Figure 6 yes Figure 5 A stereoscopic view from another perspective; Figure 7 This is a schematic diagram of the structure of the column body of the present invention; Figure 8 This is a schematic diagram of the structure of the column clamp of the present invention; Figure 9 This is a schematic diagram of the structure of the connection between the column assembly and the base of the present invention; Figure 10 This is a schematic diagram of the structure of the right mounting base of the present invention; Figure 11 This is a schematic diagram of the structure of the left mounting base of the present invention; In the attached diagram: 1. Column mounting base; 11. Left mounting base; 111. First vertical part; 1111. First through hole; 112. First horizontal part; 113. First reinforcing part; 12. Right mounting base; 121. Second horizontal part; 122. Second vertical part; 1221. Second through hole; 1222. Third through hole; 123. Third horizontal part; 1231. Fourth through hole; 1232. Fifth through hole; 124. Second reinforcing part; 2. Column mechanism; 21. Column body; 211. First groove; 212. Second groove; 213. First through channel; 214. Second through channel; 22. Lifting slide rail; 23. Lifting slider; 24. Column support; 25. Driven wheel mounting seat; 3. Column clamp; 31. Clamp connecting seat; 32. Clamp body; 4. Synchronous belt mechanism; 41. Synchronous belt; 42. Synchronous belt drive wheel; 43. Synchronous belt driven wheel; 45. Synchronous belt clamp; 46. Drive wheel shaft; 47. Drive motor output gear; 48. Drive motor; 5. Column housing; 51. First housing; 52. Second housing; 6. Base. Detailed Implementation

[0015] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments, but the present invention is not limited to the following embodiments.

[0016] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0017] In the description of this invention, "first feature" and "second feature" may include one or more of the features.

[0018] In the description of this invention, "a plurality of" means two or more.

[0019] In the description of this invention, the first feature being "above" or "below" the second feature may include the first and second features being in direct contact, or it may include the first and second features not being in direct contact but being in contact through another feature between them.

[0020] In the description of this invention, the terms "above," "over," and "on top" for the first feature and the second feature include the first feature being directly above or diagonally above the second feature, or simply indicating that the first feature is at a higher horizontal level than the second feature.

[0021] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," and "some examples" indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0022] Example 1 See attached Figures 1-11 This embodiment discloses a column assembly, which serves as the core load-bearing component of a wheeled robot. It connects the chassis assembly to the upper robotic arm and enables the arm's vertical lifting and lowering movement. Specifically, the column assembly includes a column mounting base 1, a column mechanism 2, a column connector, a synchronous belt mechanism 4, and a column housing 5. The column mechanism 2, acting as the main supporting frame, is fixedly connected at its lower end to the base 6 of the chassis assembly via the column mounting base 1, achieving a rigid connection. The column connector securely connects the column mechanism 2 to the housing of the chassis assembly, forming a second constraint on the column mechanism 2 and enhancing the overall structural stability. The synchronous belt mechanism 4 is partially housed within the column mounting base 1 and the column mechanism 2, driving the robotic arm to lift and lower along the column mechanism 2. The column housing 5 covers the outside of the column mechanism 2, providing protection and aesthetic appeal.

[0023] In this embodiment, the column mounting base 1 includes a left mounting base 11 and a right mounting base 12. Specifically, the left mounting base 11 includes a first horizontal portion 112 and a first vertical portion 111. The first horizontal portion 112 is horizontally arranged and used to be fixedly mounted on the base 6 of the chassis assembly by bolts or other fasteners. The first vertical portion 111 is perpendicular to the first horizontal portion 112 and extends upward. To enhance the structural strength of the left mounting base 11, a first reinforcing portion 113 is also provided. The first reinforcing portion 113 is vertically fixedly connected to both the first horizontal portion 112 and the first vertical portion 111, forming a triangular support structure, which effectively improves the torsional and bending resistance. At the same time, the first reinforcing portion 113 has an opening, which can reduce the overall weight of the left mounting base 11 while ensuring structural strength, achieving a lightweight design. The right mounting base 12 includes a second horizontal portion 121, a second vertical portion 122, and a third horizontal portion 123. The second horizontal portion 121 is horizontally arranged and fixedly mounted on the base 6. The second vertical portion 122 is vertically fixed to the second horizontal portion 121. The third horizontal portion 123 is parallel to the second horizontal portion 121, and one end of it is fixedly connected to the upper end of the second vertical portion 122, so that the second horizontal portion 121, the second vertical portion 122, and the third horizontal portion 123 form an opening facing the first vertical portion 111. Similarly, to enhance strength and reduce weight, a second reinforcing portion 124 is provided. The second reinforcing portion 124 is vertically fixedly connected to both the second horizontal portion 121 and the second vertical portion 122, and has an opening thereon. When assembling the left mounting base 11 and the right mounting base 12, the upper and lower end faces of the first vertical portion 111 of the left mounting base 11 abut against the left end face of the third horizontal portion 123 and the left end face of the second horizontal portion 121 of the right mounting base 12, respectively, and are fixedly connected by bolts. At this point, the first vertical portion 111, the second horizontal portion 121, the second vertical portion 122, and the third horizontal portion 123 together enclose a semi-enclosed rectangular cavity. This cavity provides installation space for some of the transmission components of the synchronous belt mechanism 4.

[0024] In this embodiment, the synchronous belt mechanism 4 includes a synchronous belt 41, a synchronous belt drive pulley 42, a synchronous belt driven pulley 43, a synchronous belt clamp 45, a drive pulley shaft 46, a drive motor output gear 47, and a drive motor 48. A first through hole 1111 is provided on the first vertical portion 111, and a second through hole 1221 and a third through hole 1222 are provided on the second vertical portion 122. The drive pulley shaft 46 is horizontally arranged, with one end rotatably mounted in the first through hole 1111 of the left mounting base 11 via a bearing structure, and the other end rotatably mounted in the second through hole 1221 of the right mounting base 12 via a bearing structure. The synchronous belt drive pulley 42 is coaxially fixedly mounted on the drive pulley shaft 46 located within a rectangular receiving cavity. The drive motor 48 is fixedly mounted on the outside of the second vertical portion 122 of the right mounting base 12, with its output shaft extending into the rectangular receiving cavity through the third through hole 1222 and fixedly connected to the drive motor output gear 47. The drive wheel shaft 46 is also equipped with a gear, which meshes with the drive motor output gear 47 within a rectangular cavity. When the drive motor 48 operates, it drives the drive wheel shaft 46 and its synchronous belt drive wheel 42 to rotate through the gear meshing transmission.

[0025] In this embodiment, the column mechanism 2 includes a column body 21, a lifting slide rail 22, a lifting slider 23, and a driven wheel mounting base 25. The column body 21 is generally rectangular in shape, and a first groove 211 and a second groove 212 are respectively formed on two adjacent side walls along its length. A fourth through hole 1231 and a fifth through hole 1232 are provided on the third horizontal part 123. The first groove 211 extends along the length of the column body 21 and is used to accommodate and install the timing belt 41. A first through channel 213 is also provided along the length of the column body 21 for another part of the timing belt 41 to pass through, and the first through channel 213 is opposite to the first groove 211. The second groove 212 also extends along the length and is used to fix and install the lifting slide rail 22. The lifting slider 23 is slidably engaged with the lifting slide rail 22 and is used to fix and connect with the rotary joint connecting seat of the robotic arm, thereby driving the robotic arm to rise and fall. The driven pulley mounting base 25 is fixedly mounted on the upper end of the column body 21, and the synchronous belt driven pulley 43 is rotatably mounted on it. The lower end of the column body 21 is fixedly connected to the upper surface of the third horizontal part 123 of the column mounting base 1. The synchronous belt 41 is led out from the rectangular receiving cavity, and its two sides pass through the fourth through hole 1231 and the fifth through hole 1232 respectively provided on the third horizontal part 123, and enter the first groove 211 of the column body 21. The upper end of the synchronous belt 41 passes around the synchronous belt driven pulley 43 and enters the first through channel 213 to form a closed loop. The synchronous belt clamp 45 is fixedly clamped on the synchronous belt 41 to clamp the synchronous belt 41 to prevent it from loosening or slipping during transmission. A connecting block is also fixedly provided on the synchronous belt 41, and the connecting block is fixedly connected to the lifting slider 23 by fasteners such as screws. Therefore, when the synchronous belt drive wheel 42 rotates, it drives the synchronous belt 41 to rotate. The synchronous belt 41 transmits the motion to the lifting slider 23 through the connecting block, thereby driving the lifting slider 23 to make precise vertical reciprocating motion along the lifting slide rail 22. In addition, a second through channel 214 can be provided on the column body 21. The second through channel 214 is arranged opposite to the second groove 212. By providing the second through channel 214, the weight of the column body 21 can be reduced.

[0026] In this embodiment, the column clamp 3 includes a clamp connecting seat 31 and a clamp body 32. The clamp connecting seat 31 and the clamp body 32 together form a rectangular opening, the size of which matches the cross-sectional dimensions of the column body 21, allowing the column clamp 3 to be tightly fitted onto the column body 21. The end of the clamp connecting seat 31 away from the clamp body 32 has a mounting surface for fixing to the chassis assembly housing via bolts or other fastening methods. This structure achieves a rigid connection between the column mechanism 2 and the chassis housing, working together with the column mounting seat 1 to form a double-layered fixing constraint, greatly improving the stability of the column assembly under lateral forces and overturning moments. Preferably, a rubber buffer pad is also provided between the contact surfaces of the clamp body 32 and the column body 21 to absorb vibration, reduce noise, and provide some flexibility compensation.

[0027] In this embodiment, the column housing 5 includes a first housing 51 and a second housing 52. The first housing 51 and the second housing 52 cooperate with each other and cover the periphery of the column mechanism 2 to form a closed protective cover. The lower ends of the first housing 51 and the second housing 52 are fixedly connected to the outer shell of the chassis assembly. An upper support 24 is provided at the upper end of the column body 21, and the upper ends of the first housing 51 and the second housing 52 are fixedly connected to the upper support 24, thereby completely enclosing the column mechanism 2. In addition, the column housing 5 has longitudinal slots corresponding to the movement trajectory of the lifting slider 23, so that the robotic arm rotary joint connecting seat connected to the lifting slider 23 can extend out of the housing and slide freely up and down, while also serving to prevent dust and protect the internal precision components. When the wheeled robot needs to adjust the working height of the robotic arm, the drive motor 48 can be started through the control system of the chassis assembly. The drive motor 48 drives the gear on the drive wheel shaft 46 to rotate through the drive motor output gear 47, thereby driving the synchronous belt drive wheel 42 to rotate. The synchronous belt drive pulley 42 drives the closed synchronous belt 41 to circulate between the synchronous belt drive pulley 42 and the synchronous belt driven pulley 43. Since the synchronous belt 41 is fixedly connected to the lifting slider 23 through the connecting block, the operation of the synchronous belt 41 will drive the lifting slider 23 to move stably up and down along the lifting slide rail 22 on the column body 21. Finally, the robotic arm assembly connected to the lifting slider 23 can achieve precise vertical lifting motion. To further prevent the lifting slider 23 from colliding and interfering with the synchronous belt drive pulley 42 or the synchronous belt driven pulley 43 during its lifting motion, limit blocks are set on the upper and lower sides of the column body 21 to limit the stroke of the connecting block, thereby limiting the stroke of the lifting slider 23. Correspondingly, in the control system's control of the drive motor 48, the rotation stroke of the drive motor 48 is set synchronously, so that the lifting slider 23 performs reciprocating lifting motion within a safe range.

[0028] Example 2 This embodiment discloses a wheeled robot, which includes the column assembly of Embodiment 1. Due to the adoption of the aforementioned high-strength, high-stability column assembly, this wheeled robot can support a heavier robotic arm, operates more stably under complex working conditions, achieves higher operational accuracy, and is applicable to a wider range of scenarios.

[0029] The above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit it. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of the present invention without departing from the spirit and scope of the present invention, and all such modifications and substitutions should be covered within the scope of the claims of the present invention. Technical aspects, shapes, and structures not described in detail in this invention are all well-known technologies.

Claims

1. A column assembly, characterized in that: The system includes a column mounting base (1), a column mechanism (2), a column housing (5), a timing belt mechanism (4), and a column connector. The column mechanism (2) is fixedly connected to the base (6) of the chassis assembly via the column mounting base (1). The column housing (5) is connected to the outside of the column mechanism (2). The timing belt mechanism (4) is used to realize the vertical movement of the robotic arm in the column assembly. The column connector is used to connect the column mechanism (2) to the housing of the chassis assembly. The column mounting base (1) and the column connector realize the dual constraint between the column mechanism (2) and the chassis assembly.

2. The column assembly according to claim 1, characterized in that: The column mounting base (1) includes a left mounting base (11) and a right mounting base (12); the left mounting base (11) includes a first horizontal part (112) and a first vertical part (111) fixedly mounted on the base (6) and connected perpendicularly to each other; the right mounting base (12) includes a second horizontal part (121) fixedly mounted on the base (6), a second vertical part (122) perpendicular to the second horizontal part (121) and a third horizontal part (123) parallel to the second horizontal part (121); the third horizontal part (123) and the second horizontal part (121) are respectively fixed at the upper and lower ends of the second vertical part (122) and face the same side; the first vertical part (111), the second horizontal part (121), the second vertical part (122) and the third horizontal part (123) form a rectangular receiving cavity.

3. The column assembly according to claim 2, characterized in that: The left mounting base (11) further includes a first reinforcing part (113); the first reinforcing part (113) is perpendicular to the first horizontal part (112) and the first vertical part (111) respectively; the first reinforcing part (113) is provided with an opening to reduce the weight of the left mounting base (11).

4. The column assembly according to claim 2, characterized in that: The right mounting base (12) further includes a second reinforcing part (124); the second reinforcing part (124) is perpendicular to the second horizontal part (121) and the second vertical part (122) respectively; the second reinforcing part (124) is provided with an opening to reduce the weight of the right mounting base (12).

5. The column assembly according to claim 2, characterized in that: The synchronous belt mechanism (4) includes a drive motor (48), a synchronous belt drive wheel (42), a synchronous belt driven wheel (43), a synchronous belt (41), a drive wheel shaft (46), and a drive motor output gear (47); the synchronous belt drive wheel (42), the drive wheel shaft (46), and the drive motor output gear (47) are located in the rectangular receiving cavity; the first vertical part (111) and the second vertical part (122) are respectively provided with a first through hole (1111) and a second through hole (1221); the two ends of the drive wheel shaft (46) are rotatably connected to the first through hole (1111) and the second through hole (1221); the synchronous belt drive wheel (42) is coaxially fixed on the drive wheel shaft (46); the second vertical part ( A third through hole (1222) is provided at the position adjacent to the second through hole (1221) on 122); the drive motor (48) is fixedly installed on the second vertical part (122), and its output end passes through the third through hole (1222) and is fixedly connected to the output gear (47) of the drive motor; a gear is coaxially provided on the drive wheel shaft (46) and meshes with the output gear (47) of the drive motor for transmission; the driven pulley (43) of the synchronous belt is rotatably connected to the column mechanism (2); the synchronous belt (41) is respectively configured to cooperate with the synchronous belt drive wheel (42) and the synchronous belt driven pulley (43); the drive motor (48) is used to drive the synchronous belt (41) to drive the synchronous belt (41) around the synchronous belt drive wheel (42) and the synchronous belt driven pulley (43) for transmission.

6. The column assembly according to claim 5, characterized in that: The column mechanism (2) includes a column body (21), a lifting slide rail (22), a lifting slider (23), and a driven wheel mounting base (25); the column body (21) is rectangular in shape, and a first groove (211) and a second groove (212) are provided on two adjacent side walls along the length of the rectangular prism; a fourth through hole (1231) and a fifth through hole (1232) are provided on the third horizontal part (123); the two sides of the synchronous belt (41) pass through the fourth through hole (1231) and the fifth through hole (1232) respectively, and are disposed on the first The groove (211) is provided with a timing belt clip (45) on the timing belt (41); the second groove (212) is used to set the lifting slide rail (22); the lifting slider (23) is fitted on the lifting slide rail (22) and fixedly connected to one side of the timing belt (41); the driven wheel mounting seat (25) is fixed on the upper end of the column body (21); the timing belt driven wheel (43) is rotatably mounted on the driven wheel mounting seat (25); the timing belt (41) is used to drive the lifting slider (23) to move along the lifting slide rail (22).

7. The column assembly according to claim 6, characterized in that: The column connector is a column clamp (3), including a clamp connecting seat (31) and a clamp body (32); the clamp connecting seat (31) and the clamp body (32) form a rectangular opening to accommodate the column body (21) passing through; the end of the clamp connecting seat (31) away from the clamp body (32) is fixedly connected to the outer shell of the chassis assembly.

8. The column assembly according to claim 6, characterized in that: The column housing (5) includes a first housing (51) and a second housing (52); the first housing (51) and the second housing (52) are fixedly connected to the periphery of the column body (21); the upper end of the column body (21) is provided with an upper support (24); the upper ends of the first housing (51) and the second housing (52) are fixedly set with the upper support (24), and the lower ends are fixedly connected with the housing of the chassis assembly; the column housing (5) is provided with a slot for the lifting slider (23) to slide up and down.

9. The column assembly according to claim 7, characterized in that: A rubber buffer pad is provided at the connection between the clamp body (32) and the column body (21).

10. A wheeled robot, characterized in that: The column assembly includes any one of claims 1 to 9.

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