Chassis structure and robot
By incorporating auxiliary wheel components and locking elements into the chassis structure, the stability and bumpiness issues of the robot when driving on rough and flat surfaces were resolved, enabling smooth driving under different ground conditions.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- YOUDI ROBOT (WUXI) CO LTD
- Filing Date
- 2025-07-02
- Publication Date
- 2026-06-09
Smart Images
Figure CN224335735U_ABST
Abstract
Description
Technical Field
[0001] This application relates to the field of mobile robot technology, and more particularly to a chassis structure and robot. Background Technology
[0002] A mobile robot is a device that is intelligently controlled to move and perform various tasks. Mobile robots are gradually being applied in the service industry, such as providing delivery services in restaurants, hotels, and office buildings, and delivering packages between buildings.
[0003] Mobile robots move through their propulsion mechanisms, which are typically chassis structures. The chassis structure determines the stability of the robot's movement. In practical applications, when a robot travels on rough terrain, it is prone to bumps and vibrations, which hinders its movement, reduces its lifespan, and generates significant noise.
[0004] In related technologies, shock-absorbing suspension is used to reduce the bumps and vibrations of the robot, but this will cause the robot to become less stable when driving on flat ground, that is, the chassis structure is difficult to adapt to both rough and flat ground at the same time. Utility Model Content
[0005] The embodiments of this application aim to provide a chassis structure and robot, which are designed to enhance the driving performance of the chassis structure, enabling the chassis structure to adapt to both rough and flat terrain.
[0006] In order to solve the above-mentioned technical problems, the embodiments of this application adopt the following technical solutions:
[0007] In a first aspect, embodiments of this application provide a chassis structure, the chassis structure including a base plate, a drive wheel assembly, and an auxiliary wheel assembly. The drive wheel assembly is disposed on the base plate and is used to drive the chassis structure to travel on the ground; the auxiliary wheel assembly includes a first mounting base, a first swing arm, a first auxiliary wheel, and a first elastic member. The first mounting base is disposed on the base plate, a first end of the first swing arm is rotatably connected to the first mounting base, the first auxiliary wheel is rotatably mounted on a second end of the first swing arm, and the first elastic member is used to apply an elastic force to the first swing arm to reset the first swing arm to a first position; wherein, the auxiliary wheel assembly further includes a locking member, the locking member being rotatably connected to the first mounting base, and the locking member being used to lock the first swing arm in the first position.
[0008] In some embodiments, the first mounting base is provided with a first limiting portion, and the elastic force of the first elastic member on the first swing arm drives the first swing arm to abut against the first limiting portion, so that the first swing arm returns to the first position.
[0009] In some embodiments, the first swing arm is provided with a second limiting portion, and the locking member is provided with a third limiting portion. When the locking member rotates relative to the first mounting base to a second position, the third limiting portion abuts against the second limiting portion to lock the first swing arm in the first position. When the locking member rotates relative to the first mounting base to a third position, the third limiting portion moves away from the second limiting portion to unlock the first swing arm.
[0010] In some embodiments, the second limiting part is provided with a first curved surface, the first curved surface being a surface of revolution, and the rotation axis of the first curved surface coincides with the rotation axis of the locking member; the third limiting part is provided with a second curved surface, the second curved surface being a surface of revolution, and the rotation axis of the second curved surface coinciding with the rotation axis of the locking member; the third limiting part and the second limiting part abut against each other through the second curved surface and the first curved surface, respectively.
[0011] In some embodiments, the auxiliary wheel assembly further includes a second elastic element for applying an elastic force to the locking member to reset the locking member to the second position.
[0012] In some embodiments, the locking member includes a second swing arm and at least one roller, a first end of the second swing arm being rotatably connected to the first mounting base, and at least one of the rollers being rotatably disposed at a second end of the second swing arm.
[0013] In some embodiments, the locking element includes at least two rollers, which are spaced apart along the length of the second swing arm.
[0014] In some embodiments, the auxiliary wheel assembly further includes a second mounting base and a first bearing, the second mounting base being disposed on the base plate, the first mounting base being rotatably disposed on the second mounting base via the first bearing, and the rotation axis of the first mounting base relative to the second mounting base being perpendicular to the base plate.
[0015] In some embodiments, when the first auxiliary wheel is supported on a flat surface, the locking member has a ground clearance.
[0016] Secondly, embodiments of this application provide a robot, the robot including a chassis structure as described in any embodiment of the first aspect.
[0017] The chassis structure and robot of this application embodiment lock the first swing arm in a first position by a locking member, so that the first auxiliary wheel does not move up and down relative to the base plate when subjected to ground pressure, so that the chassis structure can drive stably on flat ground; the locking member can unlock the first swing arm, so that the first auxiliary wheel can move relative to the base plate when subjected to the pressure of an obstacle, thereby improving the problem of the chassis structure being prone to bumps and vibrations when driving on rough ground, and enabling the chassis structure to adapt to both rough and flat ground at the same time.
[0018] The above description is merely an overview of the technical solution of this application. In order to better understand the technical means of this application and to implement it in accordance with the contents of the specification, and to make the above and other objects, features and advantages of this application more obvious and understandable, specific embodiments of this application are given below. Attached Figure Description
[0019] One or more embodiments are illustrated by way of example with reference to the accompanying drawings. These illustrations do not constitute a limitation on the embodiments. Elements having the same reference numerals in the drawings are denoted as similar elements. Unless otherwise stated, the figures in the drawings are not to be limited by scale.
[0020] Figure 1 This is a schematic diagram of the chassis structure according to an embodiment of this application;
[0021] Figure 2 yes Figure 1 Schematic diagram of the middle auxiliary wheel assembly;
[0022] Figure 3 yes Figure 1 Cross-sectional view of the middle auxiliary wheel assembly;
[0023] Figure 4 yes Figure 1 Exploded view of the middle auxiliary wheel assembly;
[0024] Figure 5 yes Figure 1 An exploded view of the middle auxiliary wheel assembly from another perspective;
[0025] Figure 6 This is a schematic diagram of the chassis structure passing through an obstacle according to an embodiment of this application.
[0026] The reference numerals in the detailed embodiments are as follows:
[0027] 100. Chassis structure;
[0028] 1. Base plate;
[0029] 2. Drive wheel assembly; 21. Drive wheel; 22. Steering wheel;
[0030] 3. Auxiliary wheel assembly; 31. First mounting base; 311. First limiting part; 312. Fourth limiting part; 32. First swing arm; 321. Second limiting part; 322. First curved surface; 33. First auxiliary wheel; 34. First elastic element; 35. Locking element; 351. Third limiting part; 352. Second curved surface; 353. Second swing arm; 354. Roller; 36. Second elastic element; 37. Second mounting base; 38. First bearing;
[0031] 200. Obstacles. Detailed Implementation
[0032] To facilitate understanding of this application, the following description, in conjunction with the accompanying drawings and specific embodiments, will provide a more detailed account. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application. It should be noted that when an element is described as being "fixed to" another element, it can be directly on the other element, or one or more intermediate elements may exist between them. When an element is described as being "connected to" another element, it can be directly connected to the other element, or one or more intermediate elements may exist between them.
[0033] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains; the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the application; the terms “comprising” and “having”, and any variations thereof, in the specification, claims, and foregoing description of the drawings are intended to cover non-exclusive inclusion.
[0034] In the description of the embodiments of this application, the technical terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing the embodiments of this application and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the embodiments of this application.
[0035] In the description of the embodiments of this application, the terms "first," "second," etc., are used to define components merely for the purpose of distinguishing the corresponding components. Unless otherwise stated, these terms have no special meaning and therefore should not be construed as limiting the scope of protection of this application. In the description of the embodiments of this application, "multiple" means two or more, unless otherwise explicitly defined.
[0036] Unless otherwise defined, all technical and scientific terms used in this specification have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used in this specification is for the purpose of describing particular embodiments only and is not intended to limit the scope of this application. The term "and / or" as used in this specification includes any and all combinations of one or more of the associated listed items.
[0037] Furthermore, the technical features involved in the different embodiments of this application described below can be combined with each other as long as they do not conflict with each other.
[0038] Firstly, please refer to Figure 1 This application provides a chassis structure 100, which includes a base plate 1, a drive wheel assembly 2, and an auxiliary wheel assembly 3. Both the drive wheel assembly 2 and the auxiliary wheel assembly 3 are disposed on the base plate 1. The drive wheel assembly 2 is used to drive the chassis structure 100 to travel on the ground, and the auxiliary wheel assembly 3 is used to assist in supporting the base plate 1 and enhance the driving performance of the chassis structure 100.
[0039] For the aforementioned base plate 1, please refer to Figure 1 The base plate 1 is flat, such as round or square. The base plate 1 is used to install the robot's functional structures, such as express delivery boxes, storage boxes, robotic arms, and takeout boxes.
[0040] For the aforementioned drive wheel assembly 2, please refer to Figure 1 The drive wheel assembly 2 includes a drive wheel 21 rotatably connected to the base plate 1. The drive wheel 21 is used to rotate relative to the base plate 1 to provide driving force, thereby driving the structure of the base plate 1 to travel. Optionally, there are two drive wheels 21, located on the left and right sides of the base plate 1 respectively. Optionally, the drive wheel 21 includes a hub motor.
[0041] In some embodiments, please refer to Figure 1 The drive wheel assembly 2 also includes a steering wheel 22, which is mounted on the base plate 1 and is a swivel wheel. The steering wheel 22 and the two drive wheels 21 form a three-point support, stably supporting the base plate 1. Optionally, the steering wheel 22 is located on the rear side of the base plate 1.
[0042] For the auxiliary wheel assembly 3 mentioned above, please refer to Figures 2 to 5 The auxiliary wheel assembly 3 includes a first mounting base 31, a first swing arm 32, a first auxiliary wheel 33, and a first elastic element 34. The first mounting base 31 is disposed on the base plate 1. The first end of the first swing arm 32 is rotatably connected to the first mounting base 31. The first auxiliary wheel 33 is rotatably mounted on the second end of the first swing arm 32. The first elastic element 34 is used to apply an elastic force to the first swing arm 32 to reset the first swing arm 32 to the first position. Please refer to [link to relevant documentation]. Figure 6The first auxiliary wheel 33 presses down on the ground through the elastic force of the first elastic element 34. When the first auxiliary wheel 33 is impacted by an obstacle 200 on a rough road surface, the first elastic element 34 absorbs the impact force, and the first auxiliary wheel 33 moves relative to the base plate 1 to avoid the obstacle 200, thereby reducing the bumps and vibrations of the chassis structure 100 and enabling the chassis structure 100 to adapt to rough terrain. Optionally, the first elastic element 34 is a torsion spring.
[0043] In some embodiments, please refer to Figures 2 to 5 There are two first swing arms 32, spaced apart, with their first ends connected to each other. That is, the two first swing arms 32 are connected in a "U" shape, so that the first auxiliary wheel 33 can be installed between the two first swing arms 32, enhancing the connection stability.
[0044] In some embodiments, the rotation axis of the first swing arm 32 is perpendicular to the front-rear direction of the base plate 1. When the first auxiliary wheel 33 moves upward relative to the base plate 1 to avoid the obstacle 200, it moves backward at the same time to reduce the impact force between the first auxiliary wheel 33 and the obstacle 200, further reducing the bumps and vibrations of the chassis structure 100.
[0045] In some embodiments, please refer to Figure 1 The first auxiliary wheel 33 is located on the front side of the base plate 1. That is, the first auxiliary wheel 33 and the steering wheel 22 are located on the front and rear sides of the two drive wheels 21, respectively, forming a four-point support. In this embodiment, along the front-rear direction of the base plate 1, the drive wheels 21 may be located in the middle of the base plate 1. In some other embodiments, the first auxiliary wheel 33 is located on the rear side of the base plate 1, and the steering wheel 22 is located on the front side of the base plate 1.
[0046] In some embodiments, please refer to Figures 2 to 5 The auxiliary wheel assembly 3 also includes a locking member 35, which is rotatably connected to the first mounting base 31. The locking member 35 is used to lock the first swing arm 32 in a first position. By locking the first swing arm 32 in the first position by the locking member 35, the first auxiliary wheel 33 does not move up and down relative to the base plate 1 when subjected to ground pressure, so that the chassis structure 100 can travel stably on flat ground. The locking member 35 can unlock the first swing arm 32, so that the first auxiliary wheel 33 can move relative to the base plate 1 when subjected to the pressure of the obstacle 200, so that the chassis structure 100 can adapt to both rough and flat ground at the same time.
[0047] In some embodiments, please refer to Figure 3 and Figure 4The first mounting base 31 is provided with a first limiting part 311. The elastic force of the first elastic member 34 on the first swing arm 32 drives the first swing arm 32 to abut against the first limiting part 311, so that the first swing arm 32 returns to the first position. Exemplarily, the first limiting part 311 is at least partially located on the rotation trajectory of the first swing arm 32, thereby preventing the first swing arm 32 from continuing to rotate when it contacts the first limiting part 311; and when the first swing arm 32 is in the first position, the first elastic member 34 still applies an elastic force to the first swing arm 32, so that the first elastic member 34 cooperates with the first limiting part 311 to limit the first swing arm 32 to the first position. By providing the first limiting part 311, it is ensured that the first elastic member 34 returns the first swing arm 32 to the first position, making it easy for the locking member 35 to lock the first swing arm 32 in the first position.
[0048] In some embodiments, please refer to Figure 2 , Figure 4 and Figure 5 The first swing arm 32 is provided with a second limiting part 321, and the locking member 35 is provided with a third limiting part 351. When the locking member 35 rotates relative to the first mounting base 31 to the second position, the third limiting part 351 abuts against the second limiting part 321 to lock the first swing arm 32 in the first position; when the locking member 35 rotates relative to the first mounting base 31 to the third position, the third limiting part 351 moves away from the second limiting part 321 to unlock the first swing arm 32. For example, when the locking member 35 is in the second position, the third limiting part 351 is at least partially located on the rotation trajectory of the second limiting part 321, so that when the third limiting part 351 contacts the second limiting part 321, it prevents the first swing arm 32 from continuing to rotate; and, along the rotation direction of the first swing arm 32, the third limiting part 351 and the first limiting part 311 are located on opposite sides of the swing arm, so that the first limiting part 311 and the third limiting part 351 cooperate to lock the first swing arm 32 in the first position, thereby realizing the locking member 35 locking the first swing arm 32; and when the locking member 35 is in the third position, the third limiting part 351 leaves the rotation trajectory of the second limiting part 321, so that the first swing arm 32 is limited to the first position only by the cooperation of the first elastic member 34 and the first limiting part 311, thereby realizing the locking member 35 unlocking the first swing arm 32.
[0049] In some embodiments, please refer to Figure 2 , Figure 4 and Figure 5The second limiting part 321 has a first curved surface 322, which is a surface of revolution. The axis of rotation of the first curved surface 322 coincides with the axis of rotation of the locking member 35. The third limiting part 351 has a second curved surface 352, which is also a surface of revolution. The axis of rotation of the second curved surface 352 coincides with the axis of rotation of the locking member 35. The third limiting part 351 and the second limiting part 321 abut against each other through the second curved surface 352 and the first curved surface 322, respectively. A surface of revolution is a curved surface formed by rotating a line segment around an axis. When the locking member 35 locks the first swing arm 32 in the first position, the direction of the force exerted by the second limiting part 321 on the third limiting part 351 is directed towards the rotation axis of the locking member 35. Therefore, the force exerted by the first swing arm 32 on the locking member 35 will not generate torque on the locking member 35, i.e., it will not drive the locking member 35 to rotate. This improves the problem of the locking member 35 accidentally unlocking the first swing arm 32 due to the force exerted by the first swing arm 32 on the locking member 35, and improves the reliability of the locking member 35 in locking the first swing arm 32 in the first position. Furthermore, the rotation axes of the first curved surface 322 and the second curved surface 352 both coincide with the rotation axis of the locking member 35. Therefore, when the locking member 35 locks the first swing arm 32 in the first position, the first curved surface 322 and the second curved surface 352 are in contact, increasing the contact area between the second limiting part 321 and the third limiting part 351, and improving the problem that the second limiting part 321 and the third limiting part 351 are easily damaged due to large forces. Optionally, the first surface 322 and the second surface 352 are curved surfaces.
[0050] It is understood that the locking member 35 can be manually rotated to lock and unlock the first swing arm 32. In some other embodiments, the locking member 35 can also automatically lock and unlock the first swing arm 32. For example, please refer to... Figures 3 to 5 The auxiliary wheel assembly 3 also includes a second elastic element 36, which applies an elastic force to the locking element 35 to reset the locking element 35 to the second position. When the first swing arm 32 is in the first position, the elastic force of the second elastic element 36 drives the locking element 35 to lock the first swing arm 32, thereby achieving automatic locking of the first swing arm 32.
[0051] Please see Figure 6 When the locking member 35 rotates to the third position under the force of the obstacle 200, the first swing arm 32 is automatically unlocked. It can be understood that the locking member 35 rotates towards the rear of the base plate 1 under the action of the obstacle 200, that is, the third position is located behind the second position, and the rotation axis of the locking member 35 is perpendicular to the front-rear direction of the base plate 1. The locking member 35 is located in front of the first auxiliary wheel 33, so that the locking member 35 unlocks the first swing arm 32 before the first auxiliary wheel 33 contacts the obstacle 200. Optionally, the second elastic member 36 is a torsion spring.
[0052] Regarding the locking element 35 described above, please refer to [link / reference] in some embodiments. Figures 2 to 5 The locking member 35 includes a second swing arm 353 and at least one roller 354. The first end of the second swing arm 353 is rotatably connected to the first mounting base 31, and the at least one roller 354 is rotatably disposed at the second end of the second swing arm 353. By providing the roller 354 at the end of the second swing arm 353, the locking member 35 can roll on the surface of the obstacle 200 when it contacts the obstacle 200, thereby improving the wear problem of the locking member 35 and extending the service life of the locking member 35.
[0053] In some embodiments, please refer to Figures 2 to 5 The locking member 35 includes at least two rollers 354, which are spaced apart along the length of the second swing arm 353. By arranging multiple rollers 354 along the length of the second swing arm 353, the wear problem of the locking member 35 is further improved, and the service life of the locking member 35 is extended.
[0054] And, please see Figure 6 During the movement of the chassis structure 100, the locking member 35 is located at the foremost position in the direction of travel. When encountering uneven road sections or raised obstacles 200, the roller 354 first contacts the raised obstacle 200. The raised obstacle 200 applies pressure to the roller 354, causing the locking member 35 to rotate from the second position to the third position, thereby unlocking the first swing arm 32. During this process, the roller 354 rotates backward and lifts upward. The second elastic member 36 is used to absorb the shock of the raised obstacle 200 and provide a downward grip force to the roller 354 to enhance the obstacle-crossing ability. Furthermore, when the raised obstacle 200 encounters the first auxiliary wheel 33, the first auxiliary wheel 33 rotates backward and lifts upward. The first elastic member 34 is used to absorb the shock of the raised obstacle 200 and provide a downward grip force to the first auxiliary wheel 33 to enhance the obstacle-crossing ability.
[0055] In some embodiments, the first mounting base 31 is rotatably disposed on the base plate 1, and the axis of rotation of the first mounting base 31 is perpendicular to the base plate 1. For example, please refer to... Figure 3 and Figure 4 The auxiliary wheel assembly 3 also includes a second mounting base 37 and a first bearing 38. The second mounting base 37 is disposed on the base plate 1, and the first mounting base 31 is rotatably disposed on the second mounting base 37 via the first bearing 38. The axis of rotation of the first mounting base 31 relative to the second mounting base 37 is perpendicular to the base plate 1. The first mounting base 31 can rotate relative to the base plate 1. When the chassis structure 100 turns, the first auxiliary wheel 33 can rotate around the vertical axis, improving the problem of the first auxiliary wheel 33 affecting the turning of the chassis structure 100. Optionally, the first bearing 38 is a ball bearing.
[0056] In some embodiments, when the first auxiliary wheel 33 is supported on a flat surface, the locking member 35 has a ground clearance. Ground clearance refers to the distance between the locking member 35 and the flat surface when the chassis structure 100 is stably supported on the flat surface by the drive wheel 21 and the first auxiliary wheel 33. Those skilled in the art can set the distance of the ground clearance according to actual needs; this application does not limit this. Please refer to... Figure 3 The locking member 35 and the first auxiliary wheel 33 are located on opposite sides of the rotation axis of the first mounting base 31. When the chassis structure 100 moves, the friction of the ground on the first auxiliary wheel 33 drives the first mounting base 31 to rotate, so that the first auxiliary wheel 33 is always located behind the locking member 35 along the direction of travel of the chassis structure 100. Before the first auxiliary wheel 33 contacts the obstacle 200, the obstacle 200 first touches the roller 354, thereby driving the locking member 35 to rotate from the second position to the third position to unlock the first swing arm 32.
[0057] In some embodiments, please refer to Figures 2 to 5 There are two locking elements 35, spaced apart, with their first ends connected to each other. That is, the two locking elements 35 are connected in a "U" shape. In this way, the two locking elements 35 can be respectively set on the left and right sides of the first auxiliary wheel 33, which improves the problem of interference between the locking elements 35 and the first auxiliary wheel 33 when the locking elements 35 are rotated to the third position.
[0058] In some embodiments, please refer to Figure 3 and Figure 4 The first mounting base 31 is provided with a fourth limiting part 312. The elastic force of the second elastic member 36 on the locking member 35 drives the locking member 35 to abut against the fourth limiting part 312, so that the locking member 35 returns to the second position. Exemplarily, the fourth limiting part 312 is at least partially located on the rotation trajectory of the locking member 35, thereby preventing the locking member 35 from continuing to rotate when it contacts the fourth limiting part 312; and when the locking member 35 is in the second position, the second elastic member 36 still applies an elastic force to the locking member 35, so that the second elastic member 36 cooperates with the fourth limiting part 312 to limit the locking member 35 to the second position. By providing the fourth limiting part 312, it is ensured that the locking member 35 returns to the second position and does not continue to rotate after reaching the second position, thus improving the reliability of the locking member 35 unlocking the first swing arm 32 under the action of the obstacle 200.
[0059] Secondly, embodiments of this application provide a robot (not shown), which includes a chassis structure 100 as described in any embodiment of the first aspect. The robot can be a delivery robot, a food delivery robot, a cleaning robot, a transport robot, etc. The robot possesses the structural features and beneficial effects of the chassis structure 100, which will not be elaborated further here.
[0060] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and not to limit them; under the concept of this application, the technical features of the above embodiments or different embodiments can also be combined, the steps can be implemented in any order, and there are many other variations of different aspects of this application as described above, which are not provided in detail for the sake of brevity; although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the foregoing embodiments, or make equivalent substitutions for some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this application.
Claims
1. A chassis structure, characterized in that, include: Base plate; A drive wheel assembly is disposed on the base plate, and the drive wheel assembly is used to drive the chassis structure to travel on the ground. The auxiliary wheel assembly includes a first mounting base, a first swing arm, a first auxiliary wheel, and a first elastic element. The first mounting base is disposed on the base plate. The first end of the first swing arm is rotatably connected to the first mounting base. The first auxiliary wheel is rotatably mounted on the second end of the first swing arm. The first elastic element is used to apply an elastic force to the first swing arm to reset the first swing arm to a first position. The auxiliary wheel assembly further includes a locking member, which is rotatably connected to the first mounting base and is used to lock the first swing arm in the first position.
2. The chassis structure according to claim 1, characterized in that, The first mounting base is provided with a first limiting part, and the elastic force of the first elastic member on the first swing arm drives the first swing arm to abut against the first limiting part, so that the first swing arm returns to the first position.
3. The chassis structure according to claim 1, characterized in that, The first swing arm is provided with a second limiting part, and the locking member is provided with a third limiting part. When the locking member rotates relative to the first mounting base to a second position, the third limiting part abuts against the second limiting part to lock the first swing arm in the first position. When the locking member rotates relative to the first mounting base to a third position, the third limiting part moves away from the second limiting part to unlock the first swing arm.
4. The chassis structure according to claim 3, characterized in that, The second limiting part is provided with a first curved surface, which is a rotational surface, and the rotation axis of the first curved surface coincides with the rotation axis of the locking member; The third limiting part is provided with a second curved surface, which is a rotational surface. The rotation axis of the second curved surface coincides with the rotation axis of the locking member. The third limiting part and the second limiting part abut against each other through the second curved surface and the first curved surface, respectively.
5. The chassis structure according to claim 3, characterized in that, The auxiliary wheel assembly further includes a second elastic element, which is used to apply an elastic force to the locking element to reset the locking element to the second position.
6. The chassis structure according to claim 1, characterized in that, The locking element includes a second swing arm and at least one roller. The first end of the second swing arm is rotatably connected to the first mounting base, and the at least one roller is rotatably disposed at the second end of the second swing arm.
7. The chassis structure according to claim 6, characterized in that, The locking element includes at least two rollers, which are spaced apart along the length of the second swing arm.
8. The chassis structure according to claim 1, characterized in that, The auxiliary wheel assembly further includes a second mounting base and a first bearing. The second mounting base is disposed on the base plate, and the first mounting base is rotatably disposed on the second mounting base via the first bearing. The rotation axis of the first mounting base relative to the second mounting base is perpendicular to the base plate.
9. The chassis structure according to any one of claims 1 to 8, characterized in that, When the first auxiliary wheel is supported on a flat ground, the locking member has a ground clearance.
10. A robot, characterized in that, Includes the chassis structure as described in any one of claims 1 to 9.