Robot chassis walking device

Abstract

The utility model discloses a robot chassis walking device which comprises a supporting frame, a driving mechanism is arranged on the supporting frame, and the driving mechanism comprises a supporting seat, a motor, a linkage mechanism, a driving gear, a driven gear, a transmission shaft, a driving wheel, a braking mechanism and a driven wheel. The brake mechanism comprises a brake disc, mounting blocks, sawtooth grooves, mounting grooves, a fixing block, a pull rod, a brake block, a tension spring and a locking mechanism, the brake disc is fixed to the side wall of the supporting frame, the mounting blocks are fixed to the inner end of the transmission rod, the sawtooth grooves are formed in the inner side of the brake disc, and the mounting grooves are distributed in the outer walls of the mounting blocks; through accurate cooperation of a brake disc, a mounting block, a sawtooth groove, a mounting groove, a fixing block, a pull rod, a brake block and a tension spring and in combination with a locking mechanism composed of a clamping rod, a limiting sleeve, a rotating rod, a clamping block, a clamping groove and the like, braking can be automatically triggered when the robot runs out of control at a high speed, rapid and accurate stopping is achieved, and equipment damage and safety accidents are effectively avoided.

Description

Technical Field

[0001] This utility model relates to the technical field, and more specifically, to a robot chassis walking device. Background Technology

[0002] In modern industrial automation and intelligent service scenarios, the high-speed mobility of robots is a key factor in improving production efficiency and service response speed. However, the currently widely used walking systems often fail to achieve rapid and effective braking when control abnormalities or emergencies occur during high-speed operation. This can not only lead to equipment damage and production line stoppages, but also pose safety hazards to surrounding workers and facilities, especially in confined spaces or human-machine collaborative environments.

[0003] In the process of robots switching between multiple scenarios and adapting to complex environments, existing deceleration devices are slow to react and the braking force is difficult to adjust intelligently according to different road conditions. When robots need to avoid obstacles or deal with emergencies while moving at high speed, traditional braking systems often require a long buffer distance and are difficult to achieve precise fixed-point stopping. Utility Model Content

[0004] (a) Technical problems to be solved

[0005] In view of the problems existing in the prior art, this utility model provides a robot chassis walking device to solve the technical problem of difficulty in achieving fast and effective braking mentioned in the background art.

[0006] (II) Technical Solution

[0007] To achieve the above objectives, this utility model provides the following technical solution: a robot chassis walking device, including a support frame, on which a driving mechanism is provided. The driving mechanism includes a support base, a motor, a linkage mechanism, a main gear, a driven gear, a transmission shaft, a drive wheel, a braking mechanism, and a driven wheel. Two sets of support bases are provided and mounted on the support frame. The motor is mounted on the two sets of support bases. The linkage mechanism is located at the output end of the motor. The main gear is located on the linkage mechanism. The driven gear is rotatably mounted on the support frame and meshes with the main gear. The transmission shaft is located at both ends of the driven gear. The drive wheel is fixed at the outer end of the transmission shaft. The braking mechanism includes a brake disc, a mounting block, a serrated groove, a mounting slot, a fixing block, a pull rod, a brake block, a tension spring, and a locking mechanism. The brake disc is fixed to the side wall of the support frame. The mounting block is fixed to the inner end of the transmission rod. The serrated groove is located inside the brake disc. Multiple sets of mounting slots are distributed on the outer wall of the mounting block. The fixing block is located in multiple sets of mounting slots. The pull rod slides on multiple sets of fixing blocks. The brake block is located at the top of multiple sets of pull rods. Multiple sets of tension springs are provided, with both ends connected to the brake block and the fixing block, respectively.

[0008] The present invention is further configured such that the locking mechanism includes a locking rod, a limiting sleeve, a rotating rod, a locking block, a locking groove, a push block, a sliding sleeve, a side plate, a push spring, and a push plate. The locking rod is fixed to the bottom end of the sliding rod, the limiting sleeve is installed inside the fixing block, the rotating rod is provided with multiple sets of rotating rods mounted on the outer wall of the limiting sleeve, the locking block is provided at the bottom end of multiple sets of rotating rods, the locking groove is provided on the outer wall of the locking rod, the push block is provided at the top end of multiple sets of rotating rods, the sliding sleeve slides on the outer wall of the limiting sleeve, the side plate is provided with multiple sets distributed on the outer wall of the limiting sleeve, the push spring is installed on the inner wall of multiple sets of side plates, and the push plate is installed at the bottom end of multiple sets of push springs.

[0009] The present invention is further configured such that each of the multiple sets of brake blocks has a limiting rod on its bottom surface. The limiting rod is provided in multiple sets and is slidably connected to multiple sets of fixed blocks. Through the sliding cooperation structure between the limiting rod and the fixed block, the brake block maintains a stable trajectory during radial movement, preventing deflection or shaking during braking and improving the accuracy and reliability of braking.

[0010] The present invention is further configured such that a transmission plate is provided on the outer side of the sliding sleeve, a cylinder is installed on the bottom surface of the fixed block, the extension end of the cylinder is fixedly connected to the transmission plate, and an unlocking plate is provided on the top surface of the sliding sleeve. Multiple sets of unlocking plates are provided. Through the power connection between the cylinder and the transmission plate and the synergistic effect of the unlocking plates, precise control of the locked state is achieved, so that the braking system can quickly unlock and restore the walking function when needed.

[0011] The present invention is further configured such that all of the multiple sets of push blocks and push plates are arc-shaped. The arc-shaped design makes the contact between the push blocks and push plates smoother, reduces contact stress, reduces mechanical wear, and improves the stability and reliability of the braking and unlocking process.

[0012] The present invention is further configured such that the linkage mechanism includes a connecting sleeve, a drive rod, a snap-fit ​​block, a snap-fit ​​groove, a sliding hole, a support block, a pressure spring, and a pressure block. The connecting sleeve is fixed inside the main gear. The drive rod is connected to the output end of the motor and rotates inside the connecting sleeve. Multiple sets of snap-fit ​​blocks are provided and slide inside the connecting sleeve. Multiple sets of snap-fit ​​grooves are provided and distributed on the outer wall of the drive rod. Multiple sets of sliding holes are provided and distributed inside the connecting sleeve. The support block is installed at the bottom end of multiple sets of sliding rods. The pressure spring is installed on the top surface of multiple sets of support blocks. The pressure block is connected to the top of multiple sets of pressure springs and slides in connection with the sliding hole and abuts against the outside of multiple sets of snap-fit ​​blocks respectively.

[0013] The present invention is further configured such that guide blocks are provided on the outer side of each of the multiple sets of pressure blocks, and guide grooves are provided on the outer wall of each of the multiple sets of sliding holes. The multiple sets of guide blocks slide in the multiple sets of guide grooves respectively. Through the sliding cooperation of the guide blocks in the guide grooves, the pressure blocks are ensured to move accurately along the predetermined path, thereby improving the stability and transmission accuracy of the linkage mechanism.

[0014] The present invention is further configured such that the bottom ends of the multiple sets of snap-fit ​​blocks and the outer sides of the snap-fit ​​grooves are all arc-shaped. The arc-shaped design allows the snap-fit ​​blocks and snap-fit ​​grooves to form a progressive contact during the engagement and separation process, reducing the impact force, extending the service life of the components, and improving the response sensitivity and reliability of the linkage mechanism.

[0015] (III) Beneficial Effects

[0016] Compared with the prior art, the present invention provides a robot chassis walking device, which has the following beneficial effects:

[0017] 1. By using the drive mechanism set on the support frame, which includes the support base, motor, linkage mechanism, main gear, driven gear, transmission shaft and drive wheel working together, the robot chassis can operate efficiently and stably. At the same time, it provides a reliable foundation for the braking system in emergency situations, greatly improving the robot's adaptability and flexibility in various working environments.

[0018] 2. The braking mechanism installed in the transmission system, through the precise cooperation of the brake disc, mounting block, serrated groove, mounting slot, fixing block, pull rod, brake block and tension spring, combined with the locking mechanism composed of locking rod, limit sleeve, rotating rod, locking block, locking slot, etc., can automatically trigger braking when the robot runs out of control at high speed, achieving a fast and accurate stop, effectively avoiding equipment damage and safety accidents.

[0019] 3. The linkage mechanism, consisting of a connecting sleeve, drive rod, snap-fit ​​block, snap-fit ​​groove, sliding hole, support block, pressure spring, and pressure block, enables intelligent separation of the motor and transmission system during braking system operation, resulting in an idling state. This protects the motor from impact damage and ensures a smooth and controllable braking process, thereby improving the service life and safety performance of the robot chassis walking device. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of the overall structure of a robot chassis walking device according to the present invention;

[0021] Figure 2 This is a schematic diagram of the drive mechanism in this utility model;

[0022] Figure 3 This is a cross-sectional view of the braking mechanism in this utility model;

[0023] Figure 4 This is a cross-sectional view of the locking mechanism in this utility model.

[0024] Figure 5 This is a cross-sectional view of the linkage mechanism in this utility model.

[0025] In the diagram: 1. Support frame; 2. Support base; 3. Motor; 4. Main gear; 5. Driven gear; 6. Transmission shaft; 7. Drive wheel; 8. Driven wheel; 9. Brake disc; 10. Mounting block; 11. Serrated groove; 12. Mounting groove; 13. Fixing block; 14. Pull rod; 15. Brake block; 16. Tension spring; 17. Locking rod; 18. Limiting sleeve; 19. Rotating rod; 20. Locking block; 21. Locking groove; 22. Push block; 23. Sliding sleeve; 24. Side plate; 25. Push spring; 26. Push plate; 27. Limiting rod; 28. Transmission plate; 29. ​​Cylinder; 30. Unlocking plate; 31. Connecting sleeve; 32. Drive rod; 33. Locking block; 34. Locking groove; 35. Sliding hole; 36. Support block; 37. Compression spring; 38. Compression block; 39. Guide block; 40. Guide groove. Detailed Implementation

[0026] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other. The present invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0027] It should be noted that, unless otherwise specified, all technical and scientific terms used in this application have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains.

[0028] In this utility model, unless otherwise stated, the orientations used, such as "up" and "down", usually refer to the direction shown in the accompanying drawings, or to the vertical, perpendicular, or gravitational direction; similarly, for ease of understanding and description, "left" and "right" usually refer to the left and right shown in the accompanying drawings; "inner" and "outer" refer to the inner and outer contours of each component itself, but the above directional terms are not used to limit this utility model.

[0029] Please see Figures 1-5A robot chassis walking device includes a support frame 1, on which a drive mechanism is mounted. The drive mechanism includes a support base 2, a motor 3, a linkage mechanism, a main gear 4, a driven gear 5, a transmission shaft 6, a drive wheel 7, a braking mechanism, and a driven wheel 8. Two sets of support bases 2 are mounted on the support frame 1. The motor 3 is mounted on both sets of support bases 2. The linkage mechanism is located at the output end of the motor 3. The main gear 4 is mounted on the linkage mechanism. The driven gear 5 is rotatably mounted on the support frame 1 and meshes with the main gear 4. The transmission shaft 6 is located at both ends of the driven gear 5. The drive wheel 7 is fixed to the outer end of the transmission shaft 6. A braking mechanism is also included. The mechanism includes a brake disc 9, a mounting block 10, a serrated groove 11, a mounting groove 12, a fixing block 13, a pull rod 14, a brake block 15, a tension spring 16, and a locking mechanism. The brake disc 9 is fixed to the side wall of the support frame 1, the mounting block 10 is fixed to the inner end of the transmission rod, the serrated groove 11 is provided on the inner side of the brake disc 9, multiple sets of mounting grooves 12 are provided on the outer wall of the mounting block 10, the fixing block 13 is provided in multiple sets of mounting grooves 12, the pull rod 14 slides on multiple sets of fixing blocks 13, the brake block 15 is provided at the top of multiple sets of pull rods 14, and multiple sets of tension springs are provided with their two ends connected to the brake block 15 and the fixing block 13 respectively.

[0030] The locking mechanism includes a locking rod 17, a limiting sleeve 18, a rotating rod 19, a locking block 20, a locking groove 21, a push block 22, a sliding sleeve 23, a side plate 24, a push spring 25, and a push plate 26. The locking rod 17 is fixed to the bottom end of the sliding rod. The limiting sleeve 18 is installed inside the fixing block 13. The rotating rod 19 is provided with multiple sets of rotating rods 19 mounted on the outer wall of the limiting sleeve 18. The locking block 20 is located at the bottom end of the multiple sets of rotating rods 19. The locking groove 21 is located on the outer wall of the locking rod 17. The push block 22 is located at the top end of the multiple sets of rotating rods 19. The sliding sleeve 23 slides on the outer wall of the limiting sleeve 18. The side plate 24 is provided with multiple sets distributed on the outer wall of the limiting sleeve 18. The push spring 25 is installed on the inner wall of the multiple sets of side plates 24. The push plate 26 is installed at the bottom end of the multiple sets of push springs 25.

[0031] Each set of brake blocks 15 has a limiting rod 27 on its bottom surface. The limiting rod 27 is provided in multiple sets and is slidably connected to each set of fixed blocks 13. The principle is that the limiting rod 27 and the fixed block 13 form a sliding guide structure to ensure that the brake block 15 maintains a precise trajectory when moving radially and prevents deviation.

[0032] A transmission plate 28 is provided on the outer side of the sliding sleeve 23, and a cylinder 29 is installed on the bottom surface of the fixed block 13. The telescopic end of the cylinder 29 is fixedly connected to the transmission plate 28. An unlocking plate 30 is provided on the top surface of the sliding sleeve 23. Multiple sets of unlocking plates 30 are provided. The principle is that the cylinder 29 drives the sliding sleeve 23 to move through the transmission plate 28, and the multiple sets of unlocking plates 30 push the push block 22 when the locked state is released, forming an efficient pneumatic control unlocking system.

[0033] Multiple sets of push blocks 22 and push plates 26 are all set in an arc shape. The principle is that the arc structure reduces the contact impact force and optimizes the force transmission direction, making the contact and sliding between push blocks 22 and push plates 26 smoother.

[0034] In this embodiment, the starter motor 3 drives the main gear 4 to rotate and meshes with the driven gear 5. The driven gear 5 drives the transmission rod to rotate, and the transmission rod drives the drive wheel 7 to rotate, thereby moving the support frame 1 and multiple sets of driven wheels 8. When the device moves rapidly beyond a preset value, the transmission rod drives the mounting block 10 to rotate rapidly, causing the mounting block 10 to throw the brake block 15 outward and stretch multiple sets of tension springs 16, so that multiple sets of brake blocks 15 are engaged in the serrated groove 11. At the same time, the pull rod 14 pulls the locking rod 17 to insert into the limiting sleeve 18, and the outer wall of the locking rod 17 pushes multiple sets of push blocks 22 to move outward, while driving multiple sets of rotating rods 19 to rotate and push the locking block 20 to engage in the locking groove 21. At the same time, the cylinder 29 is driven to extend. The retracting end pushes the transmission sleeve, causing the sliding sleeve 23 to abut against the outer wall of the multiple sets of locking blocks 20, limiting the multiple sets of locking blocks 20. When the multiple sets of push blocks 22 move outward, they abut against the inner wall of the push plate 26 and squeeze the push spring 25. At this time, the brake block 15 is locked in the sawtooth groove 11 to brake the driven gear 5. When it is necessary to disassemble the locking mechanism, the extension end of the multiple sets of cylinders 29 retracts and pulls the sliding sleeve 23 to slide through the transmission plate 28. The multiple sets of unlocking plates 30 push the push block 22. Through the arc-shaped design of the multiple sets of push blocks 22, the unlocking plate 30 pushes the push block 22 into the limiting sleeve 18 and drives the grab rod to pull the locking block 20 out of the slot 21. The elastic reset of the multiple sets of tension springs 16 pulls the brake block 15 out of the sawtooth groove 11.

[0035] Please see Figure 5 As one embodiment of the linkage mechanism: the linkage mechanism includes a connecting sleeve 31, a drive rod 32, a locking block 33, a locking groove 34, a sliding hole 35, a support block 36, a pressure spring 37, and a pressure block 38. The connecting sleeve 31 is fixed inside the main gear 4. The drive rod 32 is connected to the output end of the motor 3 and rotates inside the connecting sleeve 31. The locking block 33 is provided with multiple sets that slide inside the connecting sleeve 31. The locking groove 34 is provided with multiple sets that are distributed on the outer wall of the drive rod 32. The sliding hole 35 is provided with multiple sets that are distributed inside the connecting sleeve 31. The support block 36 is installed at the bottom end of multiple sets of sliding rods. The pressure spring 37 is installed on the top surface of multiple sets of support blocks 36. The pressure block 38 is connected to the top end of multiple sets of pressure springs 37 and slides in connection with the sliding hole 35 and abuts against the outside of multiple sets of locking blocks 33.

[0036] Each of the multiple sets of pressure blocks 38 has a guide block 39 on its outer side, and each of the multiple sets of sliding holes 35 has a guide groove 40 on its outer wall. The multiple sets of guide blocks 39 slide in the multiple sets of guide grooves 40 respectively. The principle is that the guide block 39 forms a constrained motion trajectory in the guide groove 40 to ensure that the pressure block 38 moves accurately along the predetermined path.

[0037] The bottom of the multiple sets of snap-fit ​​blocks 33 and the outer side of the snap-fit ​​groove 34 are all set in an arc shape. The principle is that the arc shape design realizes gradual contact and separation, reduces mechanical impact and makes the snap-fit ​​process smoother and more stable.

[0038] More specifically, when the gear 5 brakes, the motor 3 continues to rotate. Through the arc design of the bottom of the multiple sets of locking blocks 20 and the slot 21, the multiple sets of locking blocks 20 overcome the preset force of the multiple sets of pressure springs 37, thereby pushing the pressure block 38 to release the contact. At this time, the multiple sets of locking blocks 20 disengage from the slot 21, causing the drive rod 32 and the connecting sleeve 31 to rotate freely, thus completing the rapid stop of the entire device.

[0039] In summary, during the use or operation of the overall equipment: the starting motor 3 drives the main gear 4 to rotate and mesh with the driven gear 5. The driven gear 5 drives the transmission rod to rotate, and the transmission rod drives the drive wheel 7 to rotate, thereby adjusting the support frame 1 and multiple sets of driven wheels 8 to move. When the device moves rapidly beyond a preset value, the transmission rod drives the mounting block 10 to rotate rapidly, causing the mounting block 10 to throw the brake block 15 outward and stretch multiple sets of tension springs 16, so that multiple sets of brake blocks 15 are engaged in the serrated groove 11. At the same time, the pull rod 14 pulls the locking rod 17 to insert into the limiting sleeve 18, and the outer wall of the locking rod 17 pushes multiple sets of push blocks 22 to move outward, while driving multiple sets of rotating rods 19 to rotate and push the locking block 20 to engage in the locking groove 21. At the same time, the cylinder is driven. 29 pushes the transmission sleeve with its telescopic end, causing the sliding sleeve 23 to abut against the outer wall of the multiple sets of locking blocks 20, limiting the multiple sets of locking blocks 20. When the multiple sets of push blocks 22 move outward, they abut against the inner wall of the push plate 26 and squeeze the push spring 25. At this time, the brake block 15 is locked in the sawtooth groove 11 to brake the driven gear 5. When it is necessary to disassemble the locking mechanism, the telescopic end of the multiple sets of cylinders 29 retracts and pulls the sliding sleeve 23 to slide through the transmission plate 28. The multiple sets of unlocking plates 30 push the push block 22. Through the arc-shaped design of the multiple sets of push blocks 22, the unlocking plate 30 pushes the push block 22 into the limiting sleeve 18 and drives the grab rod to pull the locking block 20 out of the slot 21. The elastic reset of the multiple sets of tension springs 16 pulls the brake block 15 out of the sawtooth groove 11.

[0040] When the gear 5 brakes, the motor 3 continues to rotate. Through the arc design of the bottom of the multiple sets of locking blocks 20 and the slot 21, the multiple sets of locking blocks 20 overcome the preset force of the multiple sets of pressure springs 37, thereby pushing the pressure block 38 to release the contact. At this time, the multiple sets of locking blocks 20 disengage from the slot 21, causing the drive rod 32 and the connecting sleeve 31 to rotate freely, completing the rapid stop of the entire device.

[0041] Of all the solutions mentioned above, those involving the connection between two components can be selected according to the actual situation, such as welding, bolt and nut connection, bolt or screw connection, or other known connection methods, which will not be elaborated here. For all the fixed connections mentioned above, welding is preferred. Although embodiments of this utility model have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and variations can be made to these embodiments without departing from the principles and spirit of this utility model. The scope of this utility model is defined by the appended claims and their equivalents.

Claims

1. A robot chassis walking device comprising a support frame (1), characterized in that: The support frame (1) is provided with a driving mechanism, the driving mechanism comprises a support seat (2), a motor (3), a linkage mechanism, a main gear (4), a slave gear (5), a transmission shaft (6), a drive wheel (7), a brake mechanism and a driven wheel (8), the support seat (2) is provided with two groups of installations on the support frame (1), the motor (3) is installed on the two groups of support seats (2), the linkage mechanism is arranged at the output end of the motor (3), the main gear (4) is arranged on the linkage mechanism, the slave gear (5) is rotatably installed on the support frame (1) and is engaged with the main gear (4), the transmission shaft (6) is arranged at the two ends of the slave gear (5), the drive wheel (7) is fixed to the outer end of the transmission shaft (6), the brake mechanism comprises a brake disc (9), a mounting block (10), a sawtooth groove (11), a mounting groove (12), a fixed block (13), a pull rod (14), a brake block (15), a tension spring (16) and a locking mechanism, the brake disc (9) is fixed to the side wall of the support frame (1), the mounting block (10) is fixed to the inner end of the transmission rod, the sawtooth groove (11) is arranged on the inner side of the brake disc (9), the mounting groove (12) is provided with a plurality of groups of distribution on the outer wall of the mounting block (10), the fixed block (13) is arranged in the plurality of mounting grooves (12), the pull rod (14) is slid on the plurality of fixed blocks (13), the brake block (15) is arranged at the top end of the plurality of pull rods (14), and the tension spring is provided with a plurality of groups and the two ends are connected with the brake block (15) and the fixed block (13) respectively.

2. The robotic chassis walking device of claim 1, wherein: The locking mechanism comprises a clamping rod (17), a limiting sleeve (18), a rotating rod (19), a clamping block (20), a clamping groove (21), a push block (22), a sliding sleeve (23), a side plate (24), a push spring (25) and a push plate (26), the clamping rod (17) is fixed to the bottom end of the sliding rod, the limiting sleeve (18) is installed in the fixed block (13), the rotating rod (19) is provided with a plurality of groups of rotating installations on the outer wall of the limiting sleeve (18), the clamping block (20) is arranged at the bottom end of the plurality of rotating rods (19), the clamping groove (21) is arranged on the outer wall of the clamping rod (17), the push block (22) is arranged at the top end of the plurality of rotating rods (19), the sliding sleeve (23) is slid on the outer wall of the limiting sleeve (18), the side plate (24) is provided with a plurality of groups of distribution on the outer wall of the limiting sleeve (18), the push spring (25) is installed on the inner wall of the plurality of side plates (24), and the push plate (26) is installed at the bottom end of the plurality of push springs (25).

3. The robotic chassis walking device of claim 2, wherein the plurality of sets of wheels are arranged in a plurality of groups of wheels. The bottom surface of the brake block (15) is provided with a limiting rod (27), and the limiting rod (27) is provided with a plurality of groups and is slidably connected with the plurality of fixed blocks (13) respectively.

4. The robotic chassis walking device of claim 3, wherein: The outer side of the sliding sleeve (23) is provided with a transmission plate (28), the bottom surface of the fixed block (13) is provided with an air cylinder (29), the telescopic end of the air cylinder (29) is fixedly connected with the transmission plate (28), the top surface of the sliding sleeve (23) is provided with an unlocking plate (30), and the unlocking plate (30) is provided with a plurality of groups.

5. A robot chassis walking device according to claim 4, characterised in that: The plurality of push blocks (22) and push plates (26) are all arranged in an arc shape.

6. A robot chassis walking device according to claim 5, characterised in that: The linkage mechanism comprises a connecting sleeve (31), a driving rod (32), clamping blocks (33), clamping grooves (34), sliding holes (35), supporting blocks (36), pressing springs (37) and pressing blocks (38), the connecting sleeve (31) is fixed inside the main gear (4), the driving rod (32) is connected to the output end of the motor (3) and rotates in the connecting sleeve (31), the clamping blocks (33) are provided with a plurality of groups sliding in the connecting sleeve (31), the clamping grooves (34) are provided with a plurality of groups distributed on the outer wall of the driving rod (32), the sliding holes (35) are provided with a plurality of groups distributed in the connecting sleeve (31), the supporting blocks (36) are installed at the bottom ends of the plurality of groups of sliding rods, the pressing springs (37) are installed on the top surfaces of the plurality of groups of supporting blocks (36), and the pressing blocks (38) are connected to the top ends of the plurality of groups of pressing springs (37) and are in sliding connection with the sliding holes (35) and abut against the outer sides of the plurality of groups of clamping blocks (33) respectively.

7. The robot chassis walking device of claim 6, wherein the plurality of sets of wheels are arranged in a plurality of groups. The outer sides of the pressing blocks (38) are each provided with a guide block (39), the outer walls of the plurality of groups of sliding holes (35) are each provided with a guide groove (40), and the plurality of groups of guide blocks (39) are respectively sliding in the plurality of groups of guide grooves (40).

8. A robot chassis walking device according to claim 7, characterised in that: The bottom ends of the plurality of groups of clamping blocks (33) and the outer sides of the clamping grooves (34) are each provided in an arc shape.

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