An adaptive wheeled chassis and robot

Abstract

The embodiment of the application provides an adaptive wheeled chassis and a robot, and relates to the technical field of robots, and aims to improve the technical problem that a wheeled chassis walking device is prone to shaking and tilting when facing indoor micro-terrain undulations due to fixed wheel system layout. The wheeled chassis comprises a driving mechanism and a load mechanism, wherein the driving mechanism comprises a middle shaft assembly and a pair of swing arm type frame assemblies, the middle shaft assembly comprises a first frame and a middle rotating shaft, and the middle rotating shaft is fixed to the first frame; in the embodiment, the pair of swing arm type frame assemblies are rotatably assembled at two ends of the middle rotating shaft, so that the swing arm type frame assemblies can rotate along the axis of the middle rotating shaft, and then when facing terrain undulations, the swing arm type frame can adaptively swing according to the ground undulations, so as to suppress the chassis bumping, and reduce the shaking and tilting of the robot.

Description

Technical Field

[0001] This invention relates to the field of robotics, and more specifically, to an adaptive wheeled chassis and robot. Background Technology

[0002] Wheeled robots are widely used in indoor venues such as hotels, exhibition halls, and commercial complexes, undertaking tasks such as greeting guests, delivering coffee / beverages, and close-range human-computer interaction. Typical operating areas are concentrated in the small spaces around coffee counters and commercial service counters.

[0003] In related technologies, wheeled chassis are mostly general-purpose structures with fixed wheel layouts. As a result, when facing indoor micro-terrain undulations, the wheels are prone to suspension and the chassis to tilt, which in turn aggravates the robot's swaying and tilting. Summary of the Invention

[0004] The present invention aims to provide an adaptive wheeled chassis and robot to improve the technical problem that existing wheeled chassis locomotives are prone to swaying and tilting when facing indoor micro-terrain undulations due to the fixed wheel system layout.

[0005] The embodiments of the present invention can be implemented as follows: In a first aspect, the present invention provides an adaptive wheeled chassis, comprising: A drive mechanism, comprising an intermediate shaft assembly and a pair of swingarm frame assemblies; the intermediate shaft assembly includes a first frame and an intermediate pivot, the intermediate pivot being disposed within the first frame; the pair of swingarm frame assemblies are rotatably mounted at both axial ends of the intermediate pivot, enabling the swingarm frame assemblies to rotate about the axis of the intermediate pivot, and each swingarm frame assembly is provided with a drive wheel; and A load mechanism is movably connected to the drive mechanism, and a support wheel is provided on the load mechanism.

[0006] In an optional implementation, the intermediate shaft assembly further includes a second frame; The second frame is fixedly mounted on the first frame, and the load mechanism is specifically movably connected to the second frame; The second frame defines a receiving cavity for accommodating electronic control components.

[0007] In an optional embodiment, a rotating connector is provided on the second frame; The load mechanism is movably connected to the second frame via the rotating connector.

[0008] In an optional embodiment, the rotating connector is a turntable bearing.

[0009] In an optional embodiment, the swing arm frame assembly includes a swing arm frame body, a drive wheel, and a first support wheel; The swing arm frame body is rotatably connected to the end of the intermediate pivot shaft, and the drive wheel and the first support wheel are respectively located at both ends of the swing arm frame body.

[0010] In an optional embodiment, the load-bearing mechanism includes a load-bearing base, a support frame, and a second support wheel; The supporting base includes a first base plate, a second base plate, a first column, and a second column; the second base plate is specifically and movably connected to the second frame; The first column is supported between the first substrate and the second substrate; One end of the second column is fixedly connected to the first base plate, and the other end of the second column is fixedly connected to the support frame, on which the second support wheel is provided.

[0011] In an optional embodiment, the drive wheel is disposed at one end of the swing arm frame body near the second support wheel, such that the drive wheel is located between the first support wheel and the second support wheel.

[0012] In an optional embodiment, the adaptive wheeled chassis further includes: An elastic reset mechanism, comprising at least one pair of elastic reset members, the elastic reset members being arranged symmetrically with respect to the axial center of the intermediate rotating shaft along the axial direction of the intermediate rotating shaft; One end of the elastic reset member is fixedly connected to the second frame, and the other end of the elastic reset member is fixedly connected to the second substrate.

[0013] In an optional embodiment, the elastic reset element is a spring damper.

[0014] Secondly, the present invention provides a robot, including a robot body and an adaptive wheeled chassis as described in any of the foregoing embodiments; The robot body is mounted on the load mechanism.

[0015] The beneficial effects of the adaptive wheeled chassis and robot provided in the embodiments of the present invention include: The present invention provides an adaptive wheeled chassis, including a drive mechanism and a load mechanism. The drive mechanism drives the load mechanism and provides a corresponding driving force to the load mechanism, and the load mechanism carries the robot body or materials. The drive mechanism includes an intermediate shaft assembly and a pair of swing-arm frame assemblies. The intermediate shaft assembly includes a first frame and an intermediate pivot, and the intermediate pivot is fixed in the first frame. In this embodiment, the pair of swing-arm frame assemblies are rotatably mounted at both ends of the intermediate pivot, so that the swing-arm frame assemblies can rotate along the axis of the intermediate pivot. Thus, when facing terrain undulations, the swing-arm frame can adaptively swing according to the ground undulations to suppress chassis bumps and reduce robot swaying and tilting. Attached Figure Description

[0016] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present invention and should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0017] Figure 1 This is a schematic diagram of the adaptive wheeled chassis provided in this embodiment from a first-view perspective; Figure 2 This is a structural schematic diagram of the adaptive wheeled chassis provided in this embodiment from a second perspective; Figure 3 This is a structural schematic diagram of the adaptive wheeled chassis provided in this embodiment from a third-person perspective; Figure 4 This is a schematic diagram of the drive mechanism in the adaptive wheeled chassis provided in this embodiment; Figure 5 This is a schematic diagram illustrating the working principle of the drive mechanism in the adaptive wheeled chassis provided in this embodiment. Figure 6 This is a structural schematic diagram of the load mechanism in the adaptive wheeled chassis provided in this embodiment; Figure 7 This is a schematic diagram showing the relative motion relationship between the drive mechanism and the load mechanism in the adaptive wheeled chassis provided in this embodiment.

[0018] Icons: 100-Drive mechanism; 110-Intermediate shaft assembly; 111-First frame; 112-Intermediate pivot; 113-Second frame; 1131-Accommodation cavity; 1132-Rotating connector; 120-Swing arm frame assembly; 121-Swing arm frame body; 122-Drive wheel; 123-First support wheel; 200 - Load-bearing mechanism; 210 - Bearing base; 211 - First base plate; 212 - Second base plate; 213 - First column; 214 - Second column; 220 - Support frame; 221 - Second support wheel; 300 - Elastic reset mechanism; 310 - Elastic reset component. Detailed Implementation

[0019] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. The components of the embodiments of the present invention described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0020] Therefore, the following detailed description of the embodiments of the invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the invention without inventive effort are within the scope of protection of the invention.

[0021] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0022] In the description of this invention, it should be noted that if terms such as "upper," "lower," "inner," or "outer" are used to indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship in which the product of this invention is usually placed, they are 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, and therefore should not be construed as a limitation of this invention.

[0023] Furthermore, the terms "first" and "second" are used only to distinguish descriptions and should not be interpreted as indicating or implying relative importance.

[0024] It should be noted that, where there is no conflict, the features in the embodiments of the present invention can be combined with each other.

[0025] Intelligent humanoid robots are currently widely used in indoor venues such as hotels, exhibition halls, and commercial complexes, undertaking tasks such as greeting guests, delivering coffee / beverages, and close-range human-computer interaction. Their typical operating areas are concentrated in the small spaces around coffee counters and commercial service counters. In related technologies, intelligent humanoid robots are equipped with humanoid torsos, robotic arms, and interactive components, and are characterized by a high center of gravity. Their locomotion mechanisms have several unique technical requirements compared to conventional AGVs and ordinary food delivery robots. First, the high center of gravity of the structure requires high resistance to lateral swaying and overturning. Even minor bumps and turning inertia can cause significant shaking of the machine. Second, close human-robot interaction and beverage delivery operations require smooth walking and low impact characteristics. Vibration and shaking can easily cause positioning inaccuracies and beverage spills. Third, frequent small-radius turns in confined spaces require avoiding problems such as strange movements and walking stagnation caused by excessively large relative turning angles. Fourth, indoor floors generally have micro-terrain such as tile joints, anti-slip mats, and temporary cable channels, requiring the wheel system to maintain continuous contact with the ground and avoid any single point of suspension.

[0026] Existing wheeled locomotion mechanisms are mostly general-purpose structures designed for low-center-of-gravity mobile devices. Their wheel system layout is fixed and cannot adapt to indoor micro-terrain undulations. The wheels are prone to suspension and the chassis may tilt, which exacerbates the swaying and tilting of high-center-of-gravity humanoid robots.

[0027] Meanwhile, the load platform and drive system are rigidly connected. During the robot's turning, starting and stopping processes, the lateral inertia generated by the robot body cannot be effectively buffered, resulting in large body sway, which affects the human-computer interaction experience and the stability of beverage delivery.

[0028] Furthermore, in the relevant technologies, the walking mechanism is not equipped with corresponding angle limit and attitude return mechanism. When the walking mechanism frequently turns in a narrow space, the drive module and the load module will generate a continuously increasing relative deflection angle due to inertia. This can easily cause the mechanism to enter a strange motion state, resulting in failure of drive force transmission, a sharp increase in walking resistance, and ultimately, stagnation in movement and failure in steering. Moreover, after the turning is completed, the load platform cannot automatically return to the center, and the straight walking posture is skewed, reducing the accuracy of operation.

[0029] Therefore, this embodiment provides an adaptive wheeled chassis and robot to improve the above-mentioned problems.

[0030] The following detailed description of the overall structure, working principle, and technical effects of the adaptive wheeled chassis and robot provided by the present invention, through embodiments and in conjunction with the accompanying drawings, is a practical example.

[0031] Example Please see Figures 1 to 3This embodiment provides an adaptive wheeled chassis for adapting to robots (e.g., humanoid robots) and enabling stable walking and flexible turning in indoor welcoming and guiding areas, coffee counters, and other work areas. The walking device provided in this embodiment includes a drive mechanism 100 and a load mechanism 200 movably connected to the drive mechanism 100. The drive mechanism 100 drives the load mechanism 200 and provides a corresponding driving force to the load mechanism 200, while the load mechanism 200 carries the robot body or materials.

[0032] Specifically, the drive mechanism 100 includes an intermediate axle assembly 110 and a pair of swing arm frame assemblies 120; wherein, the intermediate axle assembly 110 includes a first frame 111 and an intermediate pivot 112, the intermediate pivot 112 being disposed in the first frame 111; the pair of swing arm frame assemblies 120 are respectively rotatably mounted at both ends of the intermediate pivot 112, so that the swing arm frame assemblies 120 can rotate along the axis of the intermediate pivot 112; the swing arm frame assemblies 120 are provided with drive wheels for providing corresponding driving force.

[0033] For ease of understanding and description, in the following embodiments, the direction of movement along the walking device is defined as forward, and the direction of movement away from the walking device is defined as backward.

[0034] In this embodiment, the drive mechanism 100 is a walking power unit used to traction the load mechanism 200 to move; each set of swing arm frame assemblies 120 has a first support wheel 123 at the front end and a drive wheel 122 at the rear end. The two sets of swing arm frame assemblies 120 are respectively hinged to the two ends of the intermediate shaft 112 of the intermediate shaft assembly 110, and can swing around the intermediate shaft 112 in the front-back direction (i.e., rotate along the axis of the intermediate shaft 112) to achieve adaptive adjustment to the terrain, such as the height difference of indoor floor tiles, anti-slip mats and other micro-terrains, so as to ensure that the first support wheel 123 and / or drive wheel 122 can always be in contact with the ground, thereby suppressing chassis bumps.

[0035] In one specific embodiment, the first frame 111 is a cuboid structure and is used to fix the intermediate pivot 112 to realize the articulated assembly of the swing arm frame assembly 120.

[0036] In this embodiment, the drive mechanism 100 is used to provide walking drive force for the entire walking device, and the symmetrically arranged swing arm frame assembly 120 realizes independent terrain adaptability on the left and right sides, so that the first support wheel 123 and / or drive wheel 122 always remain in a grounded state when the walking device passes through indoor micro-terrain, avoiding chassis tilting and body shaking caused by single-point suspension, so as to adapt to humanoid robots with high center of gravity structures such as humanoid torso, robotic arms and interactive components.

[0037] It is understandable that the drive wheel 122 can adopt a variety of drive methods, and users can choose according to actual work needs; for example, the drive wheel 122 can be a hub motor drive wheel, a wheel set driven by an external motor through a reducer, etc.

[0038] Similarly, users can choose the specific structural form of the swing arm frame assembly 120 according to actual work needs, such as a welded frame structure, an integrated structure or a modular assembly structure, as long as it can achieve the swing freedom around the central pivot 112, without any limitation.

[0039] Please see Figure 1 and Figure 4 In some embodiments, the intermediate shaft assembly 110 further includes a second frame 113; the second frame 113 is fixedly disposed on the upper surface of the first frame 111, the second frame 113 also presents a cuboid structure, and a receiving cavity 1131 is defined within the second frame 113 for receiving electronic control components.

[0040] Specifically, the second frame 113 is stacked on top of the first frame 111, and the second frame 113 forms a closed accommodating cavity 1131 inside.

[0041] It is understood that the aforementioned electronic control components include, but are not limited to, hub motor drivers, lower-level machines, relays, etc.; users can select the specific dimensions and internal layout of the accommodating cavity 1131 according to actual working needs. Simultaneously, users can select the connection method between the second frame 113 and the first frame 111 according to actual working needs, such as bolt connection, welding, or snap-fit ​​connection, etc., without limitation.

[0042] In some embodiments, a rotating connector 1132 is provided on the outer side wall of the second frame 113; the load mechanism 200 is rotatably connected to the drive mechanism 100 through the rotating connector 1132.

[0043] Please see Figure 1 , Figure 4 and Figure 5 Specifically, the rotating connector 1132 is mounted on the upper surface of the second frame 113, and the front end of the load mechanism 200 is relatively rotatably connected to the second frame 113 around the vertical axis through the rotating connector 1132. When the walking device faces turning or starting and stopping, the load mechanism 200 can swing slightly left and right relative to the drive mechanism 100 to flexibly absorb the lateral inertia of turning, thereby reducing the risk of machine shaking and spillage.

[0044] In this embodiment, the rotating connector 1132 is used to replace the traditional rigid connection method, providing the load mechanism 200 with rotational degrees of freedom around the vertical axis, so that the drive mechanism 100 and the load mechanism 200 form a flexible hinge relationship, allowing the two to deflect relative to each other during the turning process, thereby buffering the lateral inertial torque generated by the high center of gravity structure of the humanoid robot during the turning process.

[0045] In one specific embodiment, the rotating connector 1132 can be a slewing bearing. Of course, users can choose other types of rotating connectors or combinations of multiple rotating connectors according to actual working needs, such as thrust ball bearings, angular contact bearings, etc.

[0046] Please see Figure 7 , Figure 7 The diagram shows a structure in which the drive mechanism 100 and the load mechanism 200 are relatively deflected through the rotating connector 1132 during the turning process of the walking device.

[0047] In some embodiments, the swing arm frame assembly 120 includes a swing arm frame body 121, at least one drive wheel 122, and at least one first support wheel 123; the drive wheel 122 and the first support wheel 123 are respectively disposed at both ends of the swing arm frame body 121 along its length direction.

[0048] Specifically, the drive wheel 122 is mounted at the rear end of the swing arm frame body 121, and the first support wheel 123 is mounted at the front end of the swing arm frame body 121. The middle region of the swing arm frame body 121 is rotatably mounted to the end of the intermediate shaft 112 via bearings or bushings, so that the swing arm frame body 121 and the end of the intermediate shaft 112 are rotatably connected, forming a swing structure with the intermediate shaft 112 as the fulcrum.

[0049] In this embodiment, during the movement of the walking device, the swing arm frame assembly 120 adjusts according to the terrain as follows: when the first support wheel 123 at the front end encounters a protrusion or depression in the ground, the swing arm frame body 121 swings around the middle pivot 112, and the rear drive wheel 122 compensates for the displacement in the opposite direction accordingly, so as to ensure that the wheels at both ends are always in contact with the ground, thereby reducing the bumps caused by terrain changes during the walking process.

[0050] For example, the first support wheel 123 may be a universal support wheel.

[0051] Please see Figure 1 and Figure 6In some embodiments, the load mechanism 200 includes a load-bearing base 210, a support frame 220, and a pair of second support wheels 221; the support frame 220 is fixedly connected to the load-bearing base 210, and a pair of second support wheels 221 are provided on the support frame 220. The load-bearing base 210 serves as a load-bearing platform for fixing the intelligent humanoid robot body and the material (such as a beverage) carrying device; the load-bearing base 210 includes a first base plate 211, a second base plate 212 arranged parallel to the first base plate 211, and a first column 213 and a second column 214 respectively disposed between the first base plate 211 and the second base plate 212.

[0052] Specifically, two first pillars 213 are provided, which are disposed between the first substrate 211 and the second substrate 212 and are used to support the first substrate 211 and the second substrate 212. Two second pillars 214 are provided, one end of which is fixedly connected to the lower end face of the first substrate 211, and the other end of which is fixedly connected to the support frame 220. The second pillars 214 are used to connect the first substrate 211 and the support frame 220 and to fix the support frame 220.

[0053] Furthermore, the support frame 220 is fixedly connected to the lower rear end of the bearing base 210, and a pair of second support wheels 221 are symmetrically mounted on the support frame 220. The two first support wheels 123 at the front end of the drive mechanism 100 and the pair of second support wheels 221 at the rear end of the load mechanism 200 together form a three-point support structure (i.e., four-point grounding and three-point mechanical support), which improves the static and dynamic support stability of the high-center-of-gravity humanoid robot.

[0054] In one specific embodiment, the upper surface of the first substrate 211 is provided with mounting holes that match the bottom flange of the humanoid robot body.

[0055] Similar to the first support wheel 123, the pair of second support wheels 221 mentioned above also adopt universal support wheels.

[0056] In some embodiments, the drive wheel 122 is disposed at one end of the swing arm frame body 121 near the second support wheel 221, such that the drive wheel 122 is located between the first support wheel 123 and the second support wheel 221.

[0057] In some embodiments, the drive wheel 122 is located in the middle region between the first support wheel 123 and the second support wheel 221; that is, the drive wheel 122 is located between the first support wheel 123 and the second support wheel 221.

[0058] Understandably, users can fine-tune the mounting position of the drive wheel 122 on the swing arm frame body 121 according to actual work needs to adapt to different center of gravity distributions.

[0059] Of course, users can also choose the number of drive wheels 122 according to actual work needs. For example, one or two drive wheels 122 can be set on each swing arm frame body 121 to meet different traction and redundancy requirements.

[0060] Please see Figure 3 The adaptive wheeled chassis provided in this embodiment also includes an elastic reset mechanism 300. The elastic reset mechanism 300 includes at least a pair of elastic reset members 310. The pair of elastic reset members 310 are symmetrically arranged along the width direction of the bearing base 210. One end of the elastic reset member 310 is fixedly connected to the second frame 113, and the other end of the elastic reset member 310 is fixedly connected to the lower end surface of the second substrate 212.

[0061] Specifically, the elastic reset mechanism 300 is disposed between the drive mechanism 100 and the load mechanism 200, and the drive mechanism 100 and the load mechanism 200 are elastically coupled through the elastic reset member 310. A pair of elastic reset members 310 are symmetrically arranged along the width direction of the bearing base 210, and one end of each elastic reset member 310 is fixed to the first frame 111 of the intermediate shaft assembly 110, and the other end is fixed to the bearing base 210 of the load mechanism 200.

[0062] Understandably, when the load mechanism 200 deflects relative to the drive mechanism 100, one side of the elastic reset member 310 is compressed and the other side is stretched, generating a restoring torque in the opposite direction of deflection.

[0063] In this embodiment, the elastic reset mechanism 300 can achieve at least the following technical effects: First, the maximum relative angle between the load mechanism 200 and the drive mechanism 100 is limited to avoid abnormal movement caused by an excessively large angle, so as to solve the problem of movement jamming in a narrow space. Secondly, the rotating connecting piece 1132 further absorbs vibration and impact, improving the smoothness of the whole machine operation, especially the steering process; Third, relying on the elastic preload to generate a continuous restoring torque, the load mechanism 200 and the drive mechanism 100 are automatically restored to the front-to-back alignment state after the turning is completed, so as to ensure the humanoid robot's orientation is accurate and meet the operational requirements of welcoming interaction and fixed-point delivery.

[0064] In one specific embodiment, the elastic reset member 310 may be a spring damper.

[0065] It is understandable that users can adjust the preload and installation position of the elastic reset component 310 according to actual work needs to obtain different corner limit ranges and return torque characteristics, adapting to the center of gravity height and load conditions of different models of humanoid robots.

[0066] This embodiment also provides a robot, including a robot body and the adaptive wheeled chassis in the above embodiment; wherein the robot body is mounted on a load mechanism 200.

[0067] Specifically, the robot body is a humanoid robot, equipped with a humanoid torso, mechanical arms and interactive components, and is fixedly installed on the load base 210 of the load mechanism 200.

[0068] Understandably, the walking device serves as the robot's mobile chassis, providing the robot with the ability to walk indoors. The entire system is used for tasks such as greeting guests and guiding visitors in indoor venues, serving drinks at coffee stations, and providing table service.

[0069] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in the present invention should be included within the scope of protection of the present invention.

Claims

1. An adaptive wheeled chassis, characterized in that, include: A drive mechanism (100) includes an intermediate shaft assembly (110) and a pair of swingarm frame assemblies (120); the intermediate shaft assembly (110) includes a first frame (111) and an intermediate pivot (112), the intermediate pivot (112) being disposed in the first frame (111); the pair of swingarm frame assemblies (120) are rotatably mounted at both axial ends of the intermediate pivot (112), so that the swingarm frame assemblies (120) can rotate about the axis of the intermediate pivot (112), and drive wheels are provided on the swingarm frame assemblies (120); and A load mechanism (200) is movably connected to the drive mechanism (100), and a support wheel is provided on the load mechanism (200).

2. The adaptive wheeled chassis according to claim 1, characterized in that, The intermediate shaft assembly (110) also includes a second frame (113). The second frame (113) is fixedly mounted on the first frame (111), and the load mechanism (200) is specifically movably connected to the second frame (113); The second frame (113) defines a receiving cavity (1131) for receiving electronic control components.

3. The adaptive wheeled chassis according to claim 2, characterized in that, The second frame (113) is provided with a rotating connector (1132); The load mechanism (200) is movably connected to the second frame (113) via the rotating connector (1132).

4. The adaptive wheeled chassis according to claim 3, characterized in that, The rotating connector (1132) is a turntable bearing.

5. The adaptive wheeled chassis according to claim 2, characterized in that, The swing arm frame assembly (120) includes a swing arm frame body (121), a drive wheel (122), and a first support wheel (123). The swing arm frame body (121) is rotatably connected to the end of the intermediate pivot (112), and the drive wheel (122) and the first support wheel (123) are respectively disposed at both ends of the swing arm frame body (121).

6. The adaptive wheeled chassis according to claim 5, characterized in that, The load mechanism (200) includes a load-bearing base (210), a support frame (220), and a second support wheel (221). The supporting base (210) includes a first base plate (211), a second base plate (212), a first column (213), and a second column (214); the second base plate (212) is specifically movably connected to the second frame (113); The first column (213) is supported between the first substrate (211) and the second substrate (212); One end of the second column (214) is fixedly connected to the first base plate (211), and the other end of the second column (214) is fixedly connected to the support frame (220). The support frame (220) is provided with the second support wheel (221).

7. The adaptive wheeled chassis according to claim 6, characterized in that, The drive wheel (122) is disposed at one end of the swing arm frame body (121) near the second support wheel (221) so that the drive wheel (122) is located between the first support wheel (123) and the second support wheel (221).

8. The adaptive wheeled chassis according to claim 6, characterized in that, The adaptive wheeled chassis also includes: The elastic reset mechanism (300) includes at least one pair of elastic reset members (310), which are arranged symmetrically with respect to the axial center of the intermediate rotating shaft (112) along the axial direction of the intermediate rotating shaft (112). One end of the elastic reset member (310) is fixedly connected to the second frame (113), and the other end of the elastic reset member (310) is fixedly connected to the second substrate (212).

9. The adaptive wheeled chassis according to claim 8, characterized in that, The elastic reset element (310) is a spring damper.

10. A robot, characterized in that, Includes the robot body and the adaptive wheeled chassis as described in any one of claims 1-9; The robot body is mounted on the load mechanism (200).

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