Chassis structure for robot

Abstract

The utility model discloses a chassis structure for a robot, which comprises a chassis body, a mounting plate, a first roller, a second roller, a first universal wheel, a second universal wheel, a third universal wheel and a fourth universal wheel, the chassis body is provided with a containing cavity, a first open hole, a second open hole, a third open hole, a fourth open hole, a fifth open hole and a sixth open hole, the first open hole, the second open hole, the third open hole, the fourth open hole, the fifth open hole and the sixth open hole are communicated with the containing cavity, the mounting plate is arranged in the containing cavity, and the first roller is located in the first open hole, the second roller is located in the second open hole and the first universal wheel is located in the third open hole. The first universal wheel is located in the first opening, the second universal wheel is located in the fourth opening, the third universal wheel is located in the fifth opening, the fourth universal wheel is located in the sixth opening, the first idler wheel is connected with the first universal wheel through a first buffering piece, and the second idler wheel is connected with the second universal wheel through a second buffering piece. According to the chassis structure, the universal wheels and the idler wheels are combined together through the buffering pieces, so that the chassis structure has a strong anti-seismic effect.

Description

Technical Field

[0001] This utility model relates to the field of robot technology, specifically to a chassis structure for robots. Background Technology

[0002] With the development of technology, robots are appearing in the public eye more and more frequently. Due to the immaturity of robot mobility technology, most robots today move quickly by using wheels on their bottoms.

[0003] However, due to the need to control the cost of robots, the chassis structure used for robot wheels today generally does not have accessories such as suspension to provide shock absorption. This makes the robot's chassis relatively poor in shock absorption, and it is easy for the robot to sway when passing through rough and uneven roads, which may cause the robot to fall over. Utility Model Content

[0004] (a) Technical problems to be solved

[0005] To address the shortcomings of existing technologies, this invention provides a chassis structure for robots that can solve the aforementioned technical problems.

[0006] (II) Technical Solution

[0007] To solve the above-mentioned technical problems, this utility model provides the following technical solution: a chassis structure for a robot, characterized in that it includes: a chassis body, wherein the top of the chassis body is provided with a receiving cavity, and the bottom of the chassis body is provided with a first opening, a second opening, a third opening, a fifth opening, and a sixth opening that communicate with the receiving cavity; a mounting plate disposed in the receiving cavity; a first roller disposed in the first opening; a second roller disposed in the second opening; a first universal wheel disposed in the third opening; a second universal wheel disposed in the fourth opening; a third universal wheel disposed in the fifth opening; and a fourth universal wheel disposed in the sixth opening; wherein the first roller is connected to the first universal wheel through a first buffer member, the second roller is connected to the second universal wheel through a second buffer member, and the first buffer member and the second buffer member are disposed in the mounting plate.

[0008] Preferably, the receiving cavity is circular in shape, the first opening and the second opening are symmetrically arranged, the third opening and the fourth opening are symmetrically arranged, and the fifth opening and the sixth opening are symmetrically arranged.

[0009] Preferably, the bottom surfaces of the first roller, the second roller, the first omnidirectional wheel, the second omnidirectional wheel, the third omnidirectional wheel, and the fourth omnidirectional wheel are all set on the same horizontal plane.

[0010] Preferably, the mounting plate has a first receiving groove and a second receiving groove symmetrically arranged on both sides, wherein the first roller is located in the first receiving groove and the second roller is located in the second receiving groove. The mounting plate has a first through hole and a second through hole on both sides of one end, and the mounting plate also has a third through hole communicating with the first receiving groove and a fourth through hole communicating with the second receiving groove on both sides.

[0011] Preferably, the first buffer includes: a first connecting seat disposed on one side of the bottom surface of the mounting plate; a first bearing portion, one end of which is rotatably connected to the first connecting seat, and the bottom surface of the other end of which is connected to the first universal wheel; a first support column, one end of which is disposed on the top surface of the other end of the first bearing portion, and the other end of which passes through the first through hole and is located on the top surface of the mounting plate; a second bearing portion, one end of which is rotatably connected to the first connecting seat, and the other end of which is connected to the first roller via a first rotating rod; a second support column, one end of which is disposed on the top surface of the other end of the second bearing portion, and the other end of which passes through the third through hole and is located on the top surface of the mounting plate; and a first spring, one end of which is rotatably connected to the top end of the first support column, and the other end of which is rotatably connected to the top end of the second support column.

[0012] Preferably, the second buffer includes: a second connecting seat disposed on the other side of the bottom surface of the mounting plate; a third bearing portion, one end of which is rotatably connected to the second connecting seat, and the bottom surface of the other end of which is connected to the second universal wheel; a third support column, one end of which is disposed on the top surface of the other end of the third bearing portion, and the other end of which passes through the second through hole and is located on the top surface of the mounting plate; a fourth bearing portion, one end of which is rotatably connected to the second connecting seat, and the other end of which is connected to the second roller via a second rotating rod; a fourth support column, one end of which is disposed on the top surface of the other end of the fourth bearing portion, and the other end of which passes through the fourth through hole and is located on the top surface of the mounting plate; and a second spring, one end of which is rotatably connected to the top end of the third support column, and the other end of which is rotatably connected to the top end of the fourth support column.

[0013] Preferably, the bottom surface of the other end of the first bearing portion is connected to the first universal wheel via a first connecting block, and the bottom surface of the other end of the third bearing portion is connected to the second universal wheel via a second connecting block. The bottom surface of the other end of the mounting plate is symmetrically provided with a third connecting block and a fourth connecting block on both sides, and the third universal wheel is disposed on the bottom surface of the third connecting block, and the fourth universal wheel is disposed on the bottom surface of the fourth connecting block.

[0014] Preferably, the first connecting seat includes a first base plate, a first side plate vertically disposed on one side of the first base plate, and a second side plate vertically disposed on the other side of the first base plate. The top ends of the first side plate and the second side plate are disposed on the bottom surface of the mounting plate. The first base plate, the first side plate, the mounting plate, and the second side plate form a first receiving hole. One end of the first bearing part is rotatably connected to one end of the first receiving hole via a third rotating rod, and one end of the second bearing part is rotatably connected to the other end of the first receiving hole via a fourth rotating rod.

[0015] Preferably, the second connecting seat includes a second base plate, a third side plate vertically disposed on one side of the second base plate, and a fourth side plate vertically disposed on the other side of the second base plate. The top ends of the third side plate and the fourth side plate are disposed on the bottom surface of the mounting plate. The second base plate, the third side plate, the mounting plate, and the fourth side plate form a second receiving hole. One end of the third bearing part is rotatably connected to one end of the second receiving hole via a fifth rotating rod, and one end of the fourth bearing part is rotatably connected to the other end of the second receiving hole via a sixth rotating rod.

[0016] (III) Beneficial Effects

[0017] Compared with the prior art, the present invention provides a chassis structure for robots, which has the following beneficial effects: The chassis structure disclosed in the present invention connects the first roller and the first omnidirectional wheel through the first buffer member, and connects the second roller and the second omnidirectional wheel through the second buffer member, so that the chassis structure has a better shock resistance effect. When the chassis structure encounters extreme road sections, the vibration force on the main wheels (that is, the first roller and the second roller) will be diluted by the springs on the connected buffer members. The omnidirectional wheel connected to the main wheel can also play a supporting role in stabilizing the robot's body when the robot is subjected to vibration, thanks to the omnidirectional wheel's ability to adapt to various environments. Attached Figure Description

[0018] Figure 1 A three-dimensional structural diagram of the chassis structure used in the robot of this utility model;

[0019] Figure 2 for Figure 1 A partial structural diagram of the mid-chassis structure;

[0020] Figure 3 for Figure 1 A schematic diagram of the second partial structure of the mid-chassis structure;

[0021] Figure 4 for Figure 1 Schematic diagram of the mid-chassis body;

[0022] Figure 5 for Figure 1 A schematic diagram of the third section of the mid-chassis structure;

[0023] Figure 6 for Figure 1 A schematic diagram of the fourth partial structure of the mid-chassis structure;

[0024] Figure 7 for Figure 1 A schematic diagram of the fifth partial structure of the mid-chassis;

[0025] Figure 8 for Figure 1 Schematic diagram of the top structure of the mounting plate;

[0026] Figure 9 for Figure 1 Schematic diagram of the middle buffer component;

[0027] Figure 10 for Figure 9 A schematic diagram of the first partial structure of the buffer component;

[0028] Figure 11 for Figure 9 Schematic diagram of the middle connector;

[0029] Figure 12 for Figure 9 A schematic diagram of the second partial structure of the buffer component. Detailed Implementation

[0030] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0031] like Figure 1-12 As shown, this utility model discloses a chassis structure for a robot, including a chassis body 1, a mounting plate 2, a first roller 3, a second roller 4, a first omnidirectional wheel 5, a second omnidirectional wheel 6, a third omnidirectional wheel 7, a fourth omnidirectional wheel 8, a first buffer 9, and a second buffer 10.

[0032] The top of the chassis body 1 is provided with a receiving cavity 11, and the bottom of the chassis body 1 is provided with a first opening 12, a second opening 13, a third opening 14, a fourth opening 15, a fifth opening 16 and a sixth opening 17 that communicate with the receiving cavity 11.

[0033] Mounting plate 2 is disposed in receiving cavity 11.

[0034] The first roller 3 is located in the first opening 12.

[0035] The second roller 4 is located in the second opening 13.

[0036] The first universal wheel 5 is located in the third opening 14.

[0037] The second universal wheel 6 is located in the fourth opening 15.

[0038] The third universal wheel 7 is located in the fifth opening 16.

[0039] The fourth universal wheel 8 is located in the sixth opening 17.

[0040] The first roller 3 is connected to the first universal wheel 5 via the first buffer 9, and the second roller 4 is connected to the second universal wheel 6 via the second buffer 10, wherein the first buffer 9 and the second buffer 10 are disposed in the mounting plate 2.

[0041] It is understandable that the first roller 3 and the second roller 4 play a major role in the robot's movement, while the first omnidirectional wheel 5 assists the first roller 3 in movement, and the second omnidirectional wheel 6 assists the second roller 4 in movement. The first buffer 9 can reduce the vibration and impact on the first roller 3 and the first omnidirectional wheel 5, thereby reducing the vibration caused by the first roller 3 and / or the first omnidirectional wheel 5 to the robot's chassis. The second buffer 10 can reduce the vibration and impact on the second roller 4 and the second omnidirectional wheel 6, thereby reducing the vibration caused by the second roller 4 and / or the second omnidirectional wheel 6 to the robot's chassis. The third omnidirectional wheel 7 and the fourth omnidirectional wheel 8 can provide support for the chassis when the robot shakes.

[0042] In this embodiment, the receiving cavity 11 is circular in shape, the first opening 12 and the second opening 13 are symmetrically arranged, the third opening 14 and the fourth opening 15 are symmetrically arranged, and the fifth opening 16 and the sixth opening 17 are symmetrically arranged.

[0043] Preferably, the bottom surfaces of the first roller 3, the second roller 4, the first caster wheel 5, the second caster wheel 6, the third caster wheel 7, and the fourth caster wheel 8 are all arranged on the same horizontal plane. It should be understood that the first roller 3 and the second roller 4 have the same shape and size, the first caster wheel 5, the second caster wheel 6, the third caster wheel 7, and the fourth caster wheel 8 have the same shape and size, and the outer diameter of the first roller 3 is larger than the outer diameter of the first caster wheel 5.

[0044] In this embodiment, the mounting plate 2 has a first receiving groove 21 and a second receiving groove 22 symmetrically arranged on both sides, wherein the first roller 3 is located in the first receiving groove 21 and the second roller 4 is located in the second receiving groove 22. Furthermore, the mounting plate 2 has a first through hole 23 and a second through hole 24 on both sides of one end, and the mounting plate 2 also has a third through hole 25 communicating with the first receiving groove 21 and a fourth through hole 26 communicating with the second receiving groove 22 on both sides.

[0045] Furthermore, the first buffer 9 includes a first connecting seat 91, a first bearing portion 92, a first support column 93, a second bearing portion 94, a second support column 95, and a first spring 96.

[0046] The first connecting seat 91 is located on one side of the bottom surface of the mounting plate 2, and is connected by a threaded connection.

[0047] One end of the first bearing part 92 is rotatably connected to the first connecting seat 91, and the bottom surface of the other end of the first bearing part 92 is connected to the first universal wheel 5.

[0048] One end of the first support column 93 is located on the top surface of the other end of the first bearing part 92, and the other end of the first support column 93 passes through the first through hole 23 and is located on the top surface of the mounting plate 2.

[0049] One end of the second bearing part 94 is rotatably connected to the first connecting seat 91, and the other end of the second bearing part 94 is connected to the first roller 3 through the first rotating rod 941.

[0050] It is understood that the first universal wheel 5 is connected to the first bearing part 92, the first roller 3 is connected to the second bearing part 94, and the first connecting seat 91 connects the first bearing part 92 and the second bearing part 94 together, so that the first universal wheel 5 can play an auxiliary role to the first roller 3.

[0051] One end of the second support column 95 is located on the top surface of the other end of the second bearing part 94, and the other end of the second support column 95 passes through the third through hole 25 and is located on the top surface of the mounting plate 2.

[0052] One end of the first spring 96 is rotatably connected to the top of the first support column 93, and the other end of the first spring 96 is rotatably connected to the top of the second support column 95, so that the impact force received by the first support column 93 and / or the second support column 95 can be buffered by the first spring 96.

[0053] Preferably, both ends of the first spring 96 are provided with rotating rods 961, which are rotatably connected to the top ends of the first support column 93 and the second support column 95, respectively.

[0054] It is understandable that, since the diameter of the first roller 3 is larger than that of the first omnidirectional wheel 5, the first roller 3 is more susceptible to vibrations caused by uneven ground. When the first roller 3 is subjected to vibration, the vibration is transmitted to the first spring 96 and diluted by the first spring 96. When the first roller 3 is shaken by vibration, the first omnidirectional wheel 5 will still be in contact with the ground, allowing the robot to move stably. When encountering terrain with large undulations, since the two ends of the first spring 96 are rotatably connected to the two ends of the first support column 93 and the second support column 95, the first roller 3 and the first omnidirectional wheel 5 can always be in contact with the ground, making the movement more stable.

[0055] Furthermore, the second buffer 10 includes a second connecting seat 101, a third bearing portion 102, a third support column 103, a fourth bearing portion 104, a fourth support column 105, and a second spring 106.

[0056] The second connecting seat 101 is located on the other side of the bottom surface of the mounting plate 2.

[0057] One end of the third bearing part 102 is rotatably connected to the second connecting seat 101, and the bottom surface of the other end of the third bearing part 102 is connected to the second universal wheel 6.

[0058] One end of the third support column 103 is located on the top surface of the other end of the third bearing part 102, and the other end of the third support column 103 passes through the second through hole 24 and is located on the top surface of the mounting plate 2.

[0059] One end of the fourth bearing part 104 is rotatably connected to the second connecting seat 101, and the other end of the fourth bearing part 104 is connected to the second roller 4 through the second rotating rod 1041.

[0060] It is understood that the second universal wheel 6 is connected to the third support part 102, the second roller 4 is connected to the fourth support part 104, and the second connecting seat 101 connects the third support part 102 and the fourth support part 104 together, so that the second universal wheel 6 can play an auxiliary role for the second roller 4.

[0061] One end of the fourth support column 105 is located on the top surface of the other end of the fourth bearing part 104, and the other end of the fourth support column 105 passes through the fourth through hole 26 and is located on the top surface of the mounting plate 2.

[0062] One end of the second spring 106 is rotatably connected to the top end of the third support column 103, and the other end of the second spring 106 is rotatably connected to the top end of the fourth support column 105, so that the impact force received by the third support column 103 and / or the fourth support column 105 can be buffered by the second spring 106.

[0063] Preferably, the second spring 106 has rotating rods 1061 at both ends, and the rotating rods 1061 are rotatably connected to the top ends of the third support column 103 and the fourth support column 105, respectively.

[0064] It should be understood that because the diameter of the second roller 4 is larger than that of the second omnidirectional wheel 6, the second roller 4 is more susceptible to vibrations caused by uneven ground. When the second roller 4 is subjected to vibration, the vibration is transmitted to the second spring 106 and diluted by the second spring 106. When the second roller 4 is shaken by vibration, the second omnidirectional wheel 6 will still be in contact with the ground, allowing the robot to move stably. When encountering terrain with large undulations, because the two ends of the second spring 106 are rotatably connected to the two ends of the third support column 103 and the fourth support column 105, the second roller 4 and the second omnidirectional wheel 6 can always be in contact with the ground, making the movement more stable.

[0065] In this embodiment, the bottom surface of the other end of the first bearing part 92 is connected to the first universal wheel 5 through the first connecting block 921, and the bottom surface of the other end of the third bearing part 102 is connected to the second universal wheel 6 through the second connecting block 1021. The bottom surface of the other end of the mounting plate 2 is symmetrically provided with a third connecting block 27 and a fourth connecting block 28 on both sides, and the third universal wheel 7 is provided on the bottom surface of the third connecting block 27, and the fourth universal wheel 8 is provided on the bottom surface of the fourth connecting block 28.

[0066] Furthermore, the first connecting seat 91 includes a first base plate 911, a first side plate 912 vertically disposed on one side of the first base plate 911, and a second side plate 913 vertically disposed on the other side of the first base plate 911. The top ends of the first side plate 912 and the second side plate 913 are disposed (e.g., threadedly connected) on the bottom surface of the mounting plate 2. The first base plate 911, the first side plate 912, the mounting plate 2, and the second side plate 913 form a first receiving hole. One end of the first bearing part 92 is rotatably connected to one end of the first receiving hole via a third rotating rod 914, and one end of the second bearing part 94 is rotatably connected to the other end of the first receiving hole via a fourth rotating rod 915. It should be understood that when encountering uneven road sections, the first connecting seat 91 can provide rotation space for the first omnidirectional wheel 5 connected to the first bearing part 92, and the first connecting seat 91 can provide rotation space for the first roller 3 connected to the second bearing part 94. This allows the wheel to have room for movement in the vertical direction, thereby enabling the wheel to make stable contact with the ground.

[0067] Furthermore, the second connecting seat 101 includes a second base plate 1011, a third side plate 1012 vertically disposed on one side of the second base plate 1011, and a fourth side plate 1013 vertically disposed on the other side of the second base plate 1011. The top ends of the third side plate 1012 and the fourth side plate 1013 are disposed (e.g., threadedly connected) on the bottom surface of the mounting plate 2. The second base plate 1011, the third side plate 1012, the mounting plate 2, and the fourth side plate 1013 form a second receiving hole. One end of the third bearing part 102 is rotatably connected to one end of the second receiving hole via a fifth rotating rod 1014, and one end of the fourth bearing part 104 is rotatably connected to the other end of the second receiving hole via a sixth rotating rod 1015. It should be understood that when encountering uneven road sections, the second connecting seat 101 can provide rotation space for the second universal wheel 6 connected to the third bearing part 102, and the second connecting seat 101 can provide rotation space for the second roller 4 connected to the fourth bearing part 104. This allows the wheel to have room to move in the vertical direction, so that the wheel can continuously and stably contact the ground, making the chassis structure more stable.

[0068] Specific working principle:

[0069] When the robot encounters steep sections of road during its journey, the first wheel 3 and the second wheel 4, which play the main role in driving, will receive vibrations from the ground bumps on the chassis. These vibrations will be transmitted and absorbed and diluted by the springs on the first buffer 9 and the second buffer 10. At the same time, the first omnidirectional wheel 5 will assist the first roller 3, and the second omnidirectional wheel 6 will assist the second roller 4, thus making the chassis structure more stable. Moreover, the first connecting seat 91 on the first buffer 9 provides rotation space for the first roller 3 and the first omnidirectional wheel 5 (the same applies to the second connecting seat 101 of the second buffer 10). This allows the wheels on the chassis to rotate as needed when traversing uneven road conditions, ensuring that multiple wheels can contact the ground, providing the chassis structure with more support, improving its balance, enhancing its shock resistance, and thus meeting the needs of various terrains.

[0070] It should be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

Claims

1. A chassis structure for a robot, characterized by, The application relates to a bottom plate body, a mounting plate, a first roller, a second roller, a first universal wheel, a second universal wheel, a third universal wheel and a fourth universal wheel. The bottom plate body comprises a top end provided with a receiving cavity and a bottom end provided with a first opening, a second opening, a third opening, a fourth opening, a fifth opening and a sixth opening which are in communication with the receiving cavity; The mounting plate is arranged in the receiving cavity; The first roller is arranged in the first opening; The second roller is arranged in the second opening; The first universal wheel is arranged in the third opening; The second universal wheel is arranged in the fourth opening; The third universal wheel is arranged in the fifth opening; The fourth universal wheel is arranged in the sixth opening; The first roller is connected with the first universal wheel through a first buffer, the second roller is connected with the second universal wheel through a second buffer, and the first buffer and the second buffer are arranged in the mounting plate.

2. The chassis structure for a robot according to claim 1, characterized by The receiving cavity is circular, the first opening and the second opening are symmetrically arranged, the third opening and the fourth opening are symmetrically arranged, and the fifth opening and the sixth opening are symmetrically arranged.

3. The chassis structure for a robot according to claim 1, characterized by The bottom surfaces of the first roller, the second roller, the first universal wheel, the second universal wheel, the third universal wheel and the fourth universal wheel are arranged in the same horizontal plane.

4. The chassis structure for a robot according to Claim 1, characterized by The mounting plate is symmetrically provided with a first receiving groove and a second receiving groove on two sides, the first roller is arranged in the first receiving groove, the second roller is arranged in the second receiving groove, a first through hole and a second through hole are arranged on two sides of one end of the mounting plate, and a third through hole in communication with the first receiving groove and a fourth through hole in communication with the second receiving groove are further arranged on two sides of the mounting plate.

5. The chassis structure for a robot according to claim 4, characterized by The first buffer comprises: A first connecting seat arranged on one side of the bottom surface of the mounting plate; A first bearing part rotationally connected with the first connecting seat at one end and connected with the first universal wheel at the bottom surface of the other end; A first supporting column arranged at the top surface of the other end of the first bearing part at one end and arranged at the top surface of the mounting plate through the first through hole at the other end; A second bearing part rotationally connected with the first connecting seat at one end and connected with the first roller through a first rotating rod at the other end; A second supporting column arranged at the top surface of the other end of the second bearing part at one end and arranged at the top surface of the mounting plate through the third through hole at the other end; A first spring rotationally connected with the top end of the first supporting column at one end and rotationally connected with the top end of the second supporting column at the other end.

6. The chassis structure for a robot according to claim 5, characterized by The second buffer comprises: A second connecting seat arranged on the other side of the bottom surface of the mounting plate; A third bearing part rotationally connected with the second connecting seat at one end and connected with the second universal wheel at the bottom surface of the other end; A third supporting column arranged at the top surface of the other end of the third bearing part at one end and arranged at the top surface of the mounting plate through the second through hole at the other end; A fourth bearing part rotationally connected with the second connecting seat at one end and connected with the second roller through a second rotating rod at the other end; A fourth supporting column arranged at the top surface of the other end of the fourth bearing part at one end and arranged at the top surface of the mounting plate through the fourth through hole at the other end; A second spring has one end rotatably connected to the top end of the third supporting column and the other end rotatably connected to the top end of the fourth supporting column.

7. The chassis structure for a robot according to claim 6, characterized by The bottom surface of the other end of the first bearing part is connected to the first universal wheel through a first connecting block, and the bottom surface of the other end of the third bearing part is connected to the second universal wheel through a second connecting block, wherein the bottom surface of the other end of the mounting plate is symmetrically provided with a third connecting block and a fourth connecting block on both sides, respectively, the third universal wheel is arranged on the bottom surface of the third connecting block, and the fourth universal wheel is arranged on the bottom surface of the fourth connecting block.

8. The chassis structure for a robot according to claim 6, characterized by The first connecting seat comprises a first bottom plate, a first side plate vertically arranged at one side end of the first bottom plate, and a second side plate vertically arranged at the other side end of the first bottom plate, the top end of the first side plate and the top end of the second side plate are arranged on the bottom surface of the mounting plate, and the first bottom plate, the first side plate, the mounting plate and the second side plate form a first receiving hole, wherein one end of the first bearing part is rotatably connected in one end of the first receiving hole through a third rotating rod, and one end of the second bearing part is rotatably connected in the other end of the first receiving hole through a fourth rotating rod.

9. The chassis structure for a robot according to claim 8, characterized by The second connecting seat comprises a second bottom plate, a third side plate vertically arranged at one side end of the second bottom plate, and a fourth side plate vertically arranged at the other side end of the second bottom plate, the top end of the third side plate and the top end of the fourth side plate are arranged on the bottom surface of the mounting plate, and the second bottom plate, the third side plate, the mounting plate and the fourth side plate form a second receiving hole, wherein one end of the third bearing part is rotatably connected in one end of the second receiving hole through a fifth rotating rod, and one end of the fourth bearing part is rotatably connected in the other end of the second receiving hole through a sixth rotating rod.

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