Adaptive floating chassis structure and the dual-mode robot used in this structure

Abstract

Adaptive floating chassis structure, including: - a main load-bearing chassis assembly (1) comprising a main load-bearing base plate (11) and wheel mechanisms (12) positioned on both sides at the rear end of the main load-bearing base plate (11); - a floating chassis assembly (2) comprising a floating base plate (21) and wheel mechanisms (22) positioned on both sides at the front end of the floating base plate (21); - a floating connection system (3), comprising: - a floating shaft system comprising a main load-bearing chassis docking mechanism (311), a floating chassis swivel mechanism (312) and a connecting shaft (313), wherein - the main load-bearing chassis docking mechanism (311) and the floating chassis swivel mechanism (312) are connected via the connecting shaft (313); - the main load-bearing chassis docking mechanism (311) is attached below the main load-bearing base plate (11) at the midpoint of the connection point between the main load-bearing base plate (11) and the floating base plate (21) and is firmly connected to one end of the connecting shaft (313); - the floating chassis swivel mechanism (312) comprises a floating mounting element (3121) and a swivel bearing (3122); - the floating chassis rotating mechanism (312) is attached via the floating mounting element (3121) below the floating base plate (21); - the rotary bearing (3122) is positioned within the floating mounting element (3121); another end of the connecting shaft (313) passes through and is connected to the rotary bearing (3122); - the rotary bearing (3122) rotates around the connecting shaft (313), and the connecting shaft (313) remains stationary when the rotary bearing (3122) rotates; - the pivot bearing (3122) drives the floating chassis assembly (2) to rotate via the floating mounting element (3121); and - floating resistance mechanisms (4) positioned at the junction between the main load-bearing chassis (1) and the floating chassis (2), comprising N sets of telescopic mechanism arrangements (41), wherein - each telescopic mechanism arrangement comprises a telescopic mechanism (411), a mounting arrangement of a main load zone of the telescopic mechanism (412) and a mounting arrangement of a float zone of the telescopic mechanism (413), wherein - one end of the telescopic mechanism (411) is attached to the main load-bearing base plate (11) via the mounting arrangement of the main load zone of the telescopic mechanism (412), and - another end is attached to the floating base plate (21) via the mounting arrangement of the floating zone of the telescopic mechanism (413).

Description

Area of ​​the utility model

[0001] The present utility model relates to the structural design and intelligent control technology of mobile robot chassis, in particular an adaptive floating chassis structure and a dual-mode robot using this structure. Background of the utility model

[0002] Conventional robot chassis have rigid support structures which, due to uneven contact surfaces, can easily cause individual wheels to lose contact, resulting in overpositioning and making them unsuitable for complex, uneven terrain.

[0003] In the prior art, particularly in patent specification CN108482517A concerning an adaptive chassis and a robot, a suspension structure is used. The design of the pivot axes and crossbeams achieves automatic resetting of wheels that lose contact. Although this concept mitigates the problem of over-positioning, this design is complex and requires considerable installation space, resulting in higher weight and greater volume. This increases the requirements for the width and height of the travel paths in the operating environment, reducing the robot's operational flexibility and complicating transport.

[0004] Furthermore, high-precision tasks (such as industrial imaging or maintenance work) require a rigid chassis state to ensure stability and accuracy during positioning and operation. However, the existing design's suspension structure only has a single floating state and therefore cannot meet the requirements of these high-precision tasks. Content of the utility model

[0005] To address the aforementioned problems of the prior art, this utility model proposes an adaptive dual-mode robot and its adaptive floating chassis structure. The simplified design of the floating chassis structure is based on a purely mechanical, floating shaft system, thereby reducing the space required inside the vehicle and decreasing its weight and size. A rotation limiter allows for precise control of the floating amplitude to adapt to road conditions, thus improving maneuverability and stability. An integrated mode-switching mechanism quickly and automatically locks the dual chassis in a coplanar rigid state. By simplifying the structure and enabling on-demand dual-mode switching, the robot's mobility reliability and adaptability to various operating scenarios are significantly enhanced. Technical solution:

[0006] An adaptive floating chassis structure, including: a main load-bearing chassis assembly consisting of a main load-bearing base plate and wheel mechanisms positioned on both sides at the rear end of the main load-bearing base plate; a floating chassis assembly consisting of a floating base plate and wheel mechanisms positioned on both sides at the front end of the floating base plate; a floating connection system, comprising: a floating shaft system: consisting of a main load-bearing chassis docking mechanism, a floating chassis swivel mechanism and a connecting shaft; the main load-bearing chassis docking mechanism and the floating chassis swivel mechanism are connected via the connecting shaft; the main load-bearing chassis docking mechanism is mounted below the main load-bearing base plate at the center point of the connection between the main load-bearing base plate and the floating base plate and is rigidly connected to one end of the connecting shaft; The floating chassis swivel mechanism comprises a floating mounting element and a swivel bearing; the floating chassis swivel mechanism is mounted below the floating base plate via the floating mounting element; the swivel bearing is positioned within the floating mounting element; another end of the connecting shaft passes through and is connected to the swivel bearing; the swivel bearing rotates around the connecting shaft, and the connecting shaft remains stationary as the swivel bearing rotates; and the swivel bearing drives the floating chassis assembly to rotate via the floating mounting element; and Floating resistance mechanisms positioned at the junction between the main load-bearing chassis and the floating chassis, comprising N sets of telescopic mechanism assemblies, each telescopic mechanism assembly comprising a telescopic mechanism, a main load zone mounting assembly of the telescopic mechanism, and a floating zone mounting assembly of the telescopic mechanism, one end of the telescopic mechanism being attached to the main load-bearing base plate via the main load zone mounting assembly of the telescopic mechanism, and another end being attached to the floating base plate via the floating zone mounting assembly of the telescopic mechanism.

[0007] The floating connection system further comprises buffer mechanisms, and each buffer mechanism has a buffer structure, a mounting arrangement of a main load zone of the buffer, and a mounting arrangement of a floating zone of the buffer; the buffer structure is arranged at the connection point between the main load-bearing base plate and the floating base plate, the mounting arrangement of the main load zone of the buffer is arranged on the main load-bearing base plate, the mounting arrangement of the floating zone of the buffer is arranged on the floating base plate, one end of the buffer structure is connected to the mounting arrangement of the main load zone of the buffer, and another end is connected to the mounting arrangement of the floating zone of the buffer.

[0008] The main load-bearing chassis docking mechanism comprises a main load-bearing chassis mounting element and a connecting shaft docking mechanism; the main load-bearing chassis docking mechanism is mounted above the main load-bearing chassis mounting element below the main load-bearing base plate; and the connecting shaft docking mechanism is fixedly mounted below the main load-bearing chassis mounting element.

[0009] The rotary bearing is a deep groove ball bearing, and its outer ring is installed in a bearing mounting space of the floating mounting element with an interference fit.

[0010] A rotation limiting mechanism is provided on the opposite surface of the main load-bearing chassis docking mechanism and the floating chassis rotation mechanism.

[0011] A mechanical limiting structure of the rotation limiting mechanism is as follows: An end face of the main load-bearing chassis mounting element facing the floating mounting element is provided with a limiting groove, and an end face of the floating mounting element facing the main load-bearing chassis mounting element is provided with a limiting block, and the limiting block lies in the limiting groove when the main load-bearing chassis docking mechanism is engaged with the floating chassis rotation mechanism, the dimension of the limiting block along the direction of rotation is smaller than that of the limiting groove, and the limiting block rotates with the floating mounting element.

[0012] A groove surface of the limiting groove is an upwardly open, arc-like structure with a central angle of β°, the limiting block is a downwardly directed arc-like structure with a radius smaller than that of the limiting groove, with a central angle of α°, where β° > α° and β° - α° represents the limiting angle of the rotation path, and the rotation angle of the floating base plate can be controlled by adjusting the size of β° and α°.

[0013] The buffer mechanisms can further be designed such that mounting holes are provided between the main load-bearing base plate and the floating base plate, the buffer structure runs through the mounting holes, one end is attached to a mounting surface of the main load-bearing base plate via the mounting arrangement of the main load zone of the buffer and another end is attached to a corresponding complementary mounting surface of the floating base plate via the mounting arrangement of the floating zone of the buffer.

[0014] The telescopic mechanism arrangements consist of two sets arranged symmetrically on both sides of the connecting shaft at the junction between the main load-bearing base plate and the floating base plate, and two sets of the telescopic mechanisms either remain simultaneously in a non-working state or perform opposing telescopic movements.

[0015] A dual-mode robot utilizing the aforementioned adaptive floating chassis structure, the robot includes a control system and a data storage module, and the robot features a rigid working mode as well as a flexible floating mode: In rigid operating scenarios, the control system controls the robot to switch to rigid working mode and controls the telescopic mechanism, causing the telescopic mechanism to move to a pre-stored mechanical zero point and lock itself; The pre-stored mechanical zero point is determined by the following procedure: the robot is positioned on a horizontal surface, the control system regulates the telescopic mechanism so that the main load-bearing base plate and the floating base plate are completely parallel, and position parameters of the telescopic mechanism are recorded by the data storage module and stored as the mechanical zero point; In scenarios for overcoming obstacles, the control system directs the robot to switch to flexible swimming mode and controls the telescopic mechanism so that it switches to a freely extendable non-working state.

[0016] The present utility model has the following advantageous effects.

[0017] An adaptive floating chassis structure and a dual-mode robot used in this utility model enable a simplified design through a purely mechanical floating shaft system. This reduces the space required inside the vehicle while simultaneously lowering the robot's weight and overall dimensions. The use of a rotation limiter for precise regulation of the floating amplitude effectively improves control accuracy and stability when adapting to uneven terrain. The floating resistance mechanism allows for rapid, automatic locking of the double chassis in a coplanar rigid state, facilitating on-demand dual-mode switching. Ultimately, the structural simplification and the dual-mode synergy significantly enhance the robot's mobility reliability and adaptability to complex environments in various scenarios. Description of the drawings Fig. Figure 1 shows a schematic diagram of the adaptive floating chassis structure according to the present utility model. Fig. Figure 2 shows a schematic representation of the main load-bearing chassis arrangement according to the present utility model. Fig. Figure 3 shows a schematic representation of the floating chassis arrangement according to the present utility model. Fig. Figure 4 shows a schematic representation of the floating connection system and the floating resistance mechanism according to the present utility model. Fig. Figure 5 shows an exploded view of the structure of the floating wave system according to the present utility model. Fig. Figure 6 shows a schematic representation of the structure of the floating wave system according to the present utility model. Fig. Figure 7 shows a schematic representation of the structure of the floating wave system according to the present utility model. Fig. Figure 8 shows a schematic representation of the structure of the floating resistance mechanism according to the present utility model. Fig. Figure 9 shows a schematic representation of the structure of the buffer mechanism according to the present utility model. Detailed embodiments of the utility model: Technical solution of the embodiments of the utility model: Embodiment 1 As in the Fig. 1 and Fig. As shown in Figure 4, the basic structure of the floating chassis mechanism comprises the main load-bearing chassis assembly 1, the floating chassis assembly 2, the floating linkage system 3 and the floating resistance mechanisms 4. As in Fig. As shown in Figure 2, the main body of the main load-bearing chassis assembly 1 consists of a rectangular main load-bearing base plate 11. Two sets of motor-driven electric wheels are symmetrically mounted on both sides of the rear end of this main load-bearing base plate 11, serving as the drive wheelset for the wheel mechanisms 12. As in Fig. As shown in Figure 3, the main body of the floating chassis assembly 2 consists of the floating base plate 21, which is smaller than the main load-bearing base plate 11. Symmetrically arranged on both sides of the front end of the floating base plate 21 are two sets of motor-driven electric wheels, which serve as the driven wheelset of the wheel mechanisms 22. As in Fig. As shown in Figure 4, the floating connection system 3 comprises the floating wave system 31 and the buffer mechanisms 32. As in the Fig. 5 to Fig. As shown in Figure 7, the floating shaft system 31 consists primarily of the main load-bearing chassis docking mechanism 311, the floating chassis rotation mechanism 312, and the connecting shaft 313. The main load-bearing chassis docking mechanism 311 is attached to the underside of the main load-bearing base plate 11 at the connection point between the main load-bearing base plate 11 and the floating base plate 21 and is rigidly connected to the rear end of the connecting shaft 313.

[0018] The floating chassis swivel mechanism 312 consists of the floating mounting element 3121 and the swivel bearing 3122; the floating chassis swivel mechanism 312 is mounted below the floating base plate 21 via the floating mounting element 3121, the floating mounting element 3121 has a bearing receptacle in its center; the swivel bearing 3122 is a deep groove ball bearing, and its outer ring is fitted in the bearing receptacle of the floating mounting element 3121 with an interference fit; one end of the connecting shaft 313 passes through the swivel bearing 3122 with an interference fit and is connected to it; the outer ring of the deep groove ball bearing rotates around the connecting shaft 313. When the outer ring of the deep groove ball bearing rotates, the connecting shaft 313 remains stationary; The rotation of the deep groove ball bearing drives the floating mounting element 3121, which in turn drives the floating chassis assembly 2 to rotate.

[0019] The main load-bearing chassis docking mechanism 311 comprises the main load-bearing chassis mounting element 3111 and the connecting shaft docking mechanism 3112. As shown in Fig. As shown in Figure 5, in this embodiment the main load-bearing chassis mounting element 3111 and the connecting shaft docking mechanism 3112 are integrated into a single mechanism, the main load-bearing chassis docking mechanism 311, which simultaneously performs the functions of mounting and docking. The main load-bearing chassis docking mechanism 311 is mounted in the central position on the lower surface of the main load-bearing base plate 11 within the connection area between the main load-bearing base plate 11 and the floating base plate 21. A through-hole is located in the center of the main load-bearing chassis mounting element 311, which is rigidly connected to the rear end of the connecting shaft 313.

[0020] The floating wave system 31 is axially limited at both ends by the front guide plates 314 and the rear guide plates 315.

[0021] As in Fig. As shown in Figure 6, a specific radial clearance is maintained between the main load-bearing chassis docking mechanism 311 and the floating chassis rotation mechanism 312. A projection-groove rotation limiting device is arranged on their respective opposing faces. The end face of the main load-bearing chassis mounting element 3111, which faces the floating mounting element 3121, has a limiting groove. The end face of the floating mounting element 3121, which faces the main load-bearing chassis mounting element 3111, has a limiting block. When the main load-bearing chassis docking mechanism 311 engages with the floating chassis rotation mechanism 312, the limiting block engages in the limiting groove. The dimensions of the limiting block along the axis of rotation are smaller than those of the limiting groove, so that the limiting block can rotate with the floating mounting element.

[0022] The structural design of the protruding-groove rotation limiting device can include a limiting groove with an upwardly open, arc-shaped groove surface with a central angle of β°. The limiting block has a downwardly directed, arc-shaped structure with a radius smaller than that of the limiting groove and a central angle of α°, where β° > α° and β° - α° represents the limiting angle of the rotation path, and the rotation angle of the floating base plate 21 can be controlled by adjusting the size of β° and α°.

[0023] The contact surfaces at the end positions inside the inner wall of the groove are made of hardened steel.

[0024] As in Fig. As shown in Figure 9, two buffer mechanisms 32 are arranged symmetrically at the junction between the main load-bearing base plate 11 and the floating base plate 21. The buffer structure 321 of the buffer mechanism 32 consists of damping rods. The buffer mechanisms 32 comprise two damping rods, two mounting assemblies for the main load zone of the buffer 322, which are attached to the top of the main load-bearing base plate 11, and two mounting assemblies for the floating zone of the buffer 323, which are attached to the underside of the floating base plate 21. Two mounting holes for damping rods are arranged symmetrically at the junction between the main load-bearing base plate 11 and the floating base plate 21. The two damping rods are guided through these mounting holes and can extend and retract within them.One end of each damping rod is articulated to the mounting assembly of the main load zone of buffer 322, while the other end is articulated to the mounting assembly of the float zone of buffer 323. As the chassis moves, the damping rods compensate for the relative tilt angles between the two chassis by a combined movement of their own sliding action and the rotational pairs at both articulated ends. This serves to mitigate rotational forces and achieve a smooth and gradual rotation.

[0025] As in Fig. 4 and Fig.As shown in Figure 8, the floating resistance mechanisms 4 are positioned symmetrically on both upper surfaces at the center of the connection between the main load-bearing chassis 1 and the floating chassis 2. Each assembly comprises two sets of telescopic mechanism assemblies 41, with each assembly including a telescopic mechanism 411, a mounting assembly for a main load zone of the telescopic mechanism 412, and a mounting assembly for a floating zone of the telescopic mechanism 413. The telescopic mechanism 411 is an electric push rod, one end of which is articulated to the mounting assembly for the main load zone of the telescopic mechanism 412. The mounting assembly for the main load zone of the telescopic mechanism 412 is attached to the upper surface of the main load-bearing base plate 11.The other end of the electric pushrod is articulated to the mounting assembly of the floating zone of the telescopic mechanism 413, which is mounted on the top of the floating base plate 21. During movement of the chassis, the electric pushrod is de-energized and in a non-working state, thus forming a sliding pair. When energized, it enters working mode. In this mode, one pushrod retracts while the other extends, thereby exerting a rotational force on the floating base plate 21 about the connecting shaft 313. This causes the floating base plate 21 to perform a circular motion about the pivot bearing 313. When the left electric pushrod extends and the right pushrod retracts, the floating base plate 21 moves counterclockwise. When the right pushrod extends and the left electric pushrod retracts, the floating base plate 21 moves clockwise.The floating base plate 21 moves clockwise along the pivot bearing 313 to compensate for its tilt angle until it reaches the zero position and locks itself in place. This forces the main load-bearing base plate 11 and the floating base plate 12 into a common plane, forming a rigid platform that ensures the operational stability of the equipment above. Design 2

[0026] The robot includes a control system and a data storage module, and features both a rigid working mode and a flexible swimming mode. The specific control process is as follows: Zero position calibration phase: The robot is positioned on a horizontal surface, the control system regulates the telescopic mechanism 411, which is an electric push rod. When the electric push rod extends to the point where the main load-bearing base plate 11 is completely parallel to the floating base plate 21, the encoder records the position parameters of the push rod at that time and stores them as the mechanical zero point.

[0027] Dual-mode operation: In motion-floating mode: the electric pushrod is deactivated and retracts, entering a non-working state, during which the pushrod cylinder can freely extend or retract. The floating chassis 2 adapts to uneven terrain by rotating ±3° around the floating shaft system 31. The electric pushrod absorbs vibration energy through a combined movement, while the buffer mechanism 32 also absorbs vibration energy through a combined movement. In rigid operating mode: upon receiving the locking command from the control system, the electric pushrod is activated and moves to the preset mechanical zero position.This activates the built-in self-locking mechanism of the worm gear, which forces the main load-bearing chassis 1 and the floating chassis 2 into a coplanar position, thereby forming a rigid platform to ensure the operational stability of the equipment above.

[0028] An adaptive floating chassis structure and a dual-mode robot used in this utility model enable a simplified design through a purely mechanical floating shaft system. This reduces the space required inside the vehicle while simultaneously lowering the robot's weight and overall dimensions. The use of a rotation limiter for precise regulation of the floating amplitude effectively improves control accuracy and stability when adapting to uneven terrain. The floating resistance mechanism allows for rapid, automatic locking of the double chassis in a coplanar rigid state, facilitating on-demand dual-mode switching. Ultimately, the structural simplification and the dual-mode synergy significantly enhance the robot's mobility reliability and adaptability to complex environments in various scenarios.

[0029] As explained above, although the present utility model has been described and illustrated with reference to certain preferred embodiments, this is not to be understood as a limitation of the scope of protection of the present utility model itself. Various modifications to the form and details of the present utility model may be made without departing from the spirit and scope of protection of the accompanying claims. QUOTES INCLUDED IN THE DESCRIPTION

[0000] This list of documents cited by the applicant was automatically generated and is included solely for the reader's convenience. The list is not part of the German patent or utility model application. The DPMA accepts no liability for any errors or omissions. Cited patent literature

[0000] CN 108482517A

[0003]

Claims

[1] Adaptive floating chassis structure, comprising: - a main load-bearing chassis assembly (1) comprising a main load-bearing base plate (11) and wheel mechanisms (12) positioned on both sides at the rear end of the main load-bearing base plate (11); - a floating chassis assembly (2) comprising a floating base plate (21) and wheel mechanisms (22) positioned on both sides at the front end of the floating base plate (21); - a floating connection system (3), comprising: - a floating shaft system comprising a main load-bearing chassis docking mechanism (311), a floating chassis swivel mechanism (312) and a connecting shaft (313), wherein - the main load-bearing chassis docking mechanism (311) and the floating chassis swivel mechanism (312) are connected via the connecting shaft (313); - the main load-bearing chassis docking mechanism (311) is attached below the main load-bearing base plate (11) at the midpoint of the connection point between the main load-bearing base plate (11) and the floating base plate (21) and is firmly connected to one end of the connecting shaft (313); - the floating chassis swivel mechanism (312) comprises a floating mounting element (3121) and a swivel bearing (3122); - the floating chassis rotating mechanism (312) is attached via the floating mounting element (3121) below the floating base plate (21); - the rotary bearing (3122) is positioned within the floating mounting element (3121); another end of the connecting shaft (313) passes through and is connected to the rotary bearing (3122); - the rotary bearing (3122) rotates around the connecting shaft (313), and the connecting shaft (313) remains stationary when the rotary bearing (3122) rotates; - the pivot bearing (3122) drives the floating chassis assembly (2) to rotate via the floating mounting element (3121); and - floating resistance mechanisms (4) positioned at the junction between the main load-bearing chassis (1) and the floating chassis (2), comprising N sets of telescopic mechanism arrangements (41), wherein - each telescopic mechanism arrangement comprises a telescopic mechanism (411), a mounting arrangement of a main load zone of the telescopic mechanism (412) and a mounting arrangement of a float zone of the telescopic mechanism (413), wherein - one end of the telescopic mechanism (411) is attached to the main load-bearing base plate (11) via the mounting arrangement of the main load zone of the telescopic mechanism (412), and - another end is attached to the floating base plate (21) via the mounting arrangement of the floating zone of the telescopic mechanism (413). [2] Adaptive floating chassis structure according to claim 1, wherein the floating connection system (3) further comprises buffer mechanisms (32), wherein - each buffer mechanism (32) comprises a buffer structure (321), a mounting arrangement of a main load zone of the buffer (322) and a mounting arrangement of a float zone of the buffer (323), wherein - the buffer structure (321) is arranged at the connection point between the main load-bearing base plate (11) and the floating base plate (21), - the mounting arrangement of the main load zone of the buffer (322) is arranged on the main load-bearing base plate (11), - the mounting arrangement of the floating zone of the buffer (323), however, is arranged on the floating base plate (21), - one end of the buffer structure (321) is connected to the mounting arrangement of the main load zone of the buffer (322), and - another end is connected to the mounting arrangement of the buffer's floating zone (323). [3] Adaptive floating chassis structure according to claim 1, wherein the main load-bearing chassis docking mechanism (311) comprises a main load-bearing chassis mounting element (3111) and a connecting shaft docking mechanism (3112), wherein - the main load-bearing chassis docking mechanism (311) is attached via the main load-bearing chassis mounting element (3111) below the main load-bearing base plate (11), and - the connecting shaft docking mechanism (3112) is fixedly attached below the main load-bearing chassis mounting element (3111). [4] Adaptive floating chassis structure according to claim 1, wherein the rotary bearing (3122) is a deep groove ball bearing, and its outer ring is installed in a bearing receiving space of the floating mounting element (3121) with an interference fit. [5] Adaptive floating chassis structure according to claim 1, wherein a rotation limiting mechanism is provided on the opposite surface of the main load-bearing chassis docking mechanism (311) and the floating chassis rotation mechanism (312). [6] Adaptive floating chassis structure according to claim 5, wherein the mechanical limiting structure of the rotation limiting mechanism is designed such that: - an end face of the main load-bearing chassis mounting element (3111) facing the floating mounting element (3121) is provided with a limiting groove, and - an end face of the floating mounting element (3121) facing the main load-bearing chassis mounting element (3111) is provided with a limiting block, wherein - the limiting block is in the limiting groove when the main load-bearing chassis docking mechanism (311) is engaged with the floating chassis swiveling mechanism (312), and - the dimension of the limiting block along the direction of rotation is smaller than that of the limiting groove and the limiting block rotates with the floating mounting element. [7] Adaptive floating chassis structure according to claim 6, wherein - a groove surface of the boundary groove is an upwardly open, arc-like structure with a central angle of β°, - the limiting block is a downward-pointing arc-like structure with a radius smaller than that of the limiting groove, with a central angle of α°, where β° > α° and β° - α° represents the limiting angle of the rotation path, and - the rotation angle of the floating base plate (21) can be controlled by adjusting the size of β° and α°. [8] Adaptive floating chassis structure according to claim 2, wherein the buffer mechanisms (32) are further designed such that - mounting holes are provided between the main load-bearing base plate (11) and the floating base plate (21), - the buffer structure (321) runs through the mounting holes, - one end is attached via the mounting arrangement of the main load zone of the buffer (322) to a mounting surface (upper or lower surface) of the main load-bearing base plate (11), and - another end is attached via the mounting arrangement of the floating zone of the buffer (323) to a corresponding complementary mounting surface (upper or lower surface) of the floating base plate (21). [9] Adaptive floating chassis structure according to claim 1, wherein the telescopic mechanism arrangements (41) comprise two sets arranged symmetrically on both sides of the connecting shaft (313) at the connection point between the main load-bearing base plate (11) and the floating base plate (21), and two sets of the telescopic mechanisms (411) either remain in a non-working state simultaneously or perform opposite telescopic movements. [10] Dual-mode robot using an adaptive floating chassis structure according to any one of claims 1 to 9, wherein the robot comprises a control system and a data storage module, and the robot has a rigid working mode and a flexible floating mode, wherein - in rigid operating scenarios, the control system controls the robot to switch to rigid working mode and controls the telescopic mechanism (411), causing the telescopic mechanism (411) to move to a pre-stored mechanical zero point and lock itself; - the pre-stored mechanical zero point is determined by the following procedure: the robot is positioned on a horizontal surface, the control system regulates the telescopic mechanism (411) so that the main load-bearing base plate (11) and the floating base plate (21) are fully aligned parallel, and position parameters of the telescopic mechanism (411) are recorded by the data storage module and stored as the mechanical zero point; - in obstacle-overcoming scenarios, the control system controls the robot to switch to flexible swimming mode and controls the telescopic mechanism (411) to switch to a freely extendable non-working state.

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