CN219505806U - Chassis suspension mechanism, chassis and robot - Google Patents

Abstract

The utility model relates to the technical field of robots, in particular to a chassis suspension mechanism, a chassis and a robot. The chassis suspension mechanism comprises a swing arm assembly, a hinge seat, an adjusting part and a damping assembly, wherein the swing arm assembly comprises a first swing arm and a second swing arm, and the first swing arm is in pivot connection with the second swing arm through the hinge seat and a rotary pin shaft; the adjusting component is arranged on the rotary pin shaft and used for adjusting friction force between the rotary pin shaft and the hinge seat, the adjusting component is abutted with the outer side wall of the hinge seat, and the two opposite outer side walls of the hinge seat are respectively abutted with the buffer component and the rotary pin shaft; one end of the damping component is connected with the first swing arm, and the other end of the damping component is connected with the second swing arm. The adjusting part can meet the use requirement of the damping chassis, and the stability of the chassis on a bumpy road surface and in the start-stop process is improved.

Description

Chassis suspension mechanism, chassis and robot

Technical Field

The utility model relates to the technical field of robots, in particular to a chassis suspension mechanism, a chassis and a robot.

Background

Robots are machine devices that automatically perform work, either by receiving human commands or by running pre-programmed programs, or by acting on principles formulated by artificial intelligence techniques, and whose task is to assist or replace work by humans, such as in the industry, construction, or dangerous work. The walking modes of the mobile robot applied to the land mainly comprise wheels, crawler-type wheels, feet-type wheels and the like.

While the wheeled robot has the advantage of high speed mobility and high operating efficiency. For a wheeled robot, the chassis is an important bearing component of the whole system and is used for installing components such as a battery, a control main board, a transmission system and the like; therefore, the chassis part needs to be ensured to be capable of buffering and absorbing vibration, and has stronger ground adaptability. However, the existing chassis suspension mechanism mostly adopts a multi-link mechanism (such as a four-link mechanism) to realize linkage between the rear wheel and the driving wheel, but the multi-link mechanism can lead to a shorter rear caster link, so that the pressure distribution on the rear wheel generates larger change in the steering process of the robot, and the robot is rocked; in the prior art, the connecting rods are connected through the rotating shaft, the pin shafts are locked through the nuts or the bayonet locks, damping between the connecting rods cannot be adjusted, the linkage performance is poor, and the use requirement of the damping chassis cannot be met.

Therefore, a chassis suspension mechanism, a chassis and a robot are needed to solve the above technical problems.

Disclosure of Invention

The utility model aims to provide a chassis suspension mechanism, a chassis and a robot, which can adjust the rotation resistance according to actual needs and improve the stability of the chassis on bumpy road surfaces and in the start-stop process.

To achieve the purpose, the utility model adopts the following technical scheme:

chassis suspension mechanism includes:

the swing arm assembly comprises a first swing arm and a second swing arm, the first swing arm is in pivot connection with the second swing arm through a hinge seat and a rotating pin shaft, the first swing arm is connected with a first rotating wheel in a mounting manner, and the second swing arm is connected with a second rotating wheel in a mounting manner;

the adjusting component is used for adjusting the rotation resistance of the first swing arm and the second swing arm in the movement process;

and one end of the damping component is connected with the first swing arm, and the other end of the damping component is connected with the second swing arm.

As a preferable technical scheme of the chassis suspension mechanism, the adjusting component is arranged on the rotating pin shaft, two opposite outer side walls of the hinge seat are respectively abutted with the adjusting component and a limiting part of the rotating pin shaft, and two opposite inner side walls of the hinge seat are respectively abutted with the first swing arm and the second swing arm;

the adjusting part comprises a disc spring, the disc spring is sleeved on the rotating pin shaft, a lock nut and a gasket are further arranged on the rotating pin shaft, and the gasket is respectively abutted with the lock nut and the adjusting part.

As a preferable technical scheme of the chassis suspension mechanism, the adjusting component comprises a plurality of disc reeds and a plurality of rubber pads, the disc reeds and the rubber pads are alternately arranged along the axial direction of the rotating pin shaft, a locking nut and a gasket are further arranged on the rotating pin shaft, and the gasket is respectively abutted with the locking nut and the adjusting component.

As a preferable technical scheme of the chassis suspension mechanism, the adjusting component comprises a coil spring, the coil spring is sleeved on the rotating pin shaft, a lock nut and a gasket are further arranged on the rotating pin shaft, and the gasket is respectively abutted with the lock nut and the adjusting component.

As a preferable technical scheme of the chassis suspension mechanism, the gasket is an engineering plastic gasket.

As a preferable technical scheme of the chassis suspension mechanism, the first swing arm and the second swing arm extend into the inner cavity of the hinging seat, the first swing arm and the second swing arm are connected with the hinging seat through the rotating pin shaft, and one of the first swing arm and the second swing arm is fixedly connected with the rotating pin shaft.

As a preferable technical scheme of the chassis suspension mechanism, the second swing arm is fixedly connected with the hinge seat through a locking screw and the rotating pin shaft.

The utility model also provides a chassis, which comprises a chassis body and the chassis suspension mechanism according to any one of the schemes, wherein the chassis suspension mechanisms are symmetrically arranged on two sides of the chassis body.

As a preferable technical scheme of the chassis suspension mechanism, the chassis suspension mechanism further comprises independent supporting wheels, and the supporting wheels are fixedly connected with the chassis body through connecting frames.

The utility model also provides a robot, which comprises a robot cabin and the chassis according to any one of the schemes, wherein the robot cabin is positioned at the top of the chassis.

The utility model has the beneficial effects that:

the adjusting part can be tightly clamped with the whole hinge seat by being matched with the rotating pin shaft, the inner side wall of the hinge seat is tightly attached to the swing arm assembly, friction exists between the hinge seat and the first swing arm and between the hinge seat and the second swing arm, friction can generate friction force, the rotating pin shaft is provided with rotating resistance under the action of friction force, and the rotating pin shaft is fixedly connected with one of the first swing arm and the second swing arm, so that the adjusting part can automatically adjust the rotating resistance of the first swing arm and the second swing arm connected with the rotating pin shaft according to actual needs, the first swing arm and the second swing arm can swing according to actual needs, and therefore the use requirement of the damping chassis can be met, and the stability of the chassis on a bumpy road surface and in the start-stop process is improved.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present utility model, the following description will briefly explain the drawings needed in the description of the embodiments of the present utility model, and it is obvious that the drawings in the following description are only some embodiments of the present utility model, and other drawings may be obtained according to the contents of the embodiments of the present utility model and these drawings without inventive effort for those skilled in the art.

Fig. 1 is a schematic structural view of a chassis suspension mechanism according to an embodiment of the present utility model;

fig. 2 is a bottom view of a positional relationship among a second swing arm, a hinge seat and an adjusting member according to an embodiment of the present utility model;

fig. 3 is a front view of a positional relationship between a second swing arm, a hinge seat and an adjusting member according to an embodiment of the present utility model;

FIG. 4 is a schematic view of the chassis according to the present utility model;

fig. 5 is a front view of the chassis provided by the present utility model.

In the figure:

1. a first swing arm; 2. a second swing arm; 3. rotating the pin shaft; 4. a first rotating wheel; 5. a second rotating wheel; 6. a hinge base; 7. a disc spring; 8. a gasket; 9. a lock nut; 10. a locking screw; 11. a support wheel; 12. a connecting seat; 13. a vibration damping assembly; 131. a first shock absorbing member; 132. a second shock absorbing member; 14. a chassis body.

Detailed Description

The utility model is described in further detail below with reference to the drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the utility model and are not limiting thereof. It should be further noted that, for convenience of description, only some, but not all of the structures related to the present utility model are shown in the drawings.

In the description of the present utility model, unless explicitly stated and limited otherwise, the terms "connected," "connected," and "fixed" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communicated with the inside of two elements or the interaction relationship of the two elements. The specific meaning of the above terms in the present utility model will be understood in specific cases by those of ordinary skill in the art.

In the present utility model, unless expressly stated or limited otherwise, a first feature "above" or "below" a second feature may include both the first and second features being in direct contact, as well as the first and second features not being in direct contact but being in contact with each other through additional features therebetween. Moreover, a first feature being "above," "over" and "on" a second feature includes the first feature being directly above and obliquely above the second feature, or simply indicating that the first feature is higher in level than the second feature. The first feature being "under", "below" and "beneath" the second feature includes the first feature being directly under and obliquely below the second feature, or simply means that the first feature is less level than the second feature.

In the description of the present embodiment, the terms "upper", "lower", "right", etc. orientation or positional relationship are based on the orientation or positional relationship shown in the drawings, and are merely for convenience of description and simplicity of operation, and do not indicate or imply that the apparatus or elements referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as limiting the utility model. Furthermore, the terms "first," "second," and the like, are used merely for distinguishing between descriptions and not for distinguishing between them.

The existing chassis suspension mechanism mostly adopts a four-bar mechanism to realize linkage between the rear wheel and the driving wheel, but the four-bar mechanism can lead to a shorter rear caster wheel connecting rod, and the pressure distribution on the rear wheel generates larger change in the steering process of the robot, so that the robot shakes; in the prior art, the connecting rods are connected through the rotating shaft, the pin shafts are locked through the nuts or the bayonet locks, damping between the connecting rods cannot be adjusted, the linkage performance is poor, and the use requirement of the damping chassis cannot be met.

Therefore, the embodiment of the utility model provides the chassis suspension mechanism which can provide damping with proper size and improve the stability of the chassis on bumpy road surfaces and in the start-stop process.

As shown in fig. 1 and 2, the chassis suspension mechanism comprises a swing arm assembly, a hinge seat 6, an adjusting component and a damping component 13, wherein the swing arm assembly comprises a first swing arm 1 and a second swing arm 2, the first swing arm 1 and the second swing arm 2 are in pivot connection through the hinge seat 6 and a rotary pin shaft 3, the first swing arm 1 is provided with a first rotary wheel 4, and the second swing arm 2 is provided with a second rotary wheel 5; the adjusting part is arranged on the rotary pin shaft 3 and is used for generating the rotary resistance of the first swing arm 1 and the second swing arm 2 in the moving process. Two opposite outer side walls of the hinge seat 6 are respectively abutted with the buffer assembly and the limiting part of the rotary pin shaft 3, and two opposite inner side walls of the hinge seat 6 are respectively abutted with the swing arm; the damping component 13 spans across the two ends of the swing arms, and the two ends of the damping component are respectively connected with the first swing arm 1 and the second swing arm 2.

For example, the rotary pin 3 used in this embodiment includes a pin body and a limiting portion, and the diameter of the limiting portion is larger than that of the pin body. The outer side wall of the hinge seat 6 is mutually abutted with the limiting part, and the pin shaft main body penetrates through the hinge seat 6.

The first swing arm 1 and the second swing arm 2 extend into the inner cavity of the hinge seat 6, and one of the first swing arm 1 and the second swing arm 2 is fixedly connected with the rotary pin shaft 3.

The adjusting part can be matched with the rotary pin shaft 3 to clamp the whole hinge seat 6, so that the inner side wall of the hinge seat 6 is tightly attached to the first swing arm 1 and the second swing arm 2, friction exists between the first swing arm 1 and the second swing arm 2 and the hinge seat 6, friction force can be generated due to friction, the rotary pin shaft 3 is provided with rotary resistance under the action of friction force, the rotary pin shaft 3 is fixedly connected with one of the first swing arm 1 and the second swing arm 2, the first swing arm 1 or the second swing arm 2 connected with the rotary pin shaft 3 is also provided with rotary resistance, the adjusting part can always keep the rotary resistance of the first swing arm 1 and the second swing arm 2 according to actual needs, the first swing arm 1 and the second swing arm 2 can swing according to actual needs, and further the use requirement of a damping chassis can be met, and the stability of the chassis in the bumpy road surface and the start-stop process is improved.

With continued reference to fig. 1, the shock absorbing assembly 13 includes a first shock absorbing member 131 and a second shock absorbing member 132 that are disposed in parallel, the first shock absorbing member 131 and the second shock absorbing member 132 span across two ends of the swing arm assembly, the first shock absorbing member 131 and the second shock absorbing member 132 are respectively a spring and a damper that are disposed in parallel with each other, and the spring and the damper are respectively pivotally connected with the swing arm assembly, wherein the swing arm assembly is provided with a connecting seat 12 to achieve the purpose of pivotally connecting or hinging the spring and the damper with the swing arm assembly respectively. It is understood that the first damper assembly 131 and the second damper assembly 132 are disposed in parallel.

The first swing arm 1 and the second swing arm 2 are respectively provided with a connecting seat 12, and the damping component 13 is connected with the first swing arm 1 and the second swing arm 2 through the connecting seats 12. Wherein the first shock absorbing member 131 and the second shock absorbing member 132 may be one or a combination of two of springs or dampers. It should be noted that, the damper is a mechanism that uses damping characteristics to reduce mechanical vibration and dissipate kinetic energy, so that the damper can reduce the consumption of vibration transmitted from the swing arm assembly to the hinge base 6. In this embodiment, the shock absorbing component 13 is preferably a combination of a spring and a damper, which not only ensures the buffering capacity for uneven road surfaces, but also can fully absorb the vibration energy continuously given to the chassis by the road surfaces, so as to avoid resonance.

That is, the spring and the damper can absorb the vibration transmitted from the swing arm assembly at the same time. The damping component provided by the embodiment not only ensures the buffering capacity to the uneven road surface, but also can fully absorb the vibration energy continuously given to the chassis by the road surface, and avoids the occurrence of resonance. After receiving vibrations, damper 13 and swing arm subassembly pivot connection, damper or spring that damper included like this can absorb and slowly release vibrations, improves chassis and hangs holistic stability of mechanism, makes chassis hang the mechanism and can walk steadily.

Further, the adjusting part is arranged on the rotary pin shaft 3, two opposite outer side walls of the hinge seat 6 are respectively abutted with the adjusting part and the limiting part of the rotary pin shaft 3, and two opposite inner side walls of the hinge seat 6 are respectively abutted with the first swing arm 1 and the second swing arm 2. Specifically, the first swing arm 1 and the second swing arm 2 extend into the inner cavity of the hinge seat 6, so that the occupied area of the hinge seat 6 and the swing arm assembly can be reduced, and the chassis suspension mechanism is more compact. The first swing arm 1 and the second swing arm 2 are connected through the rotary pin shaft 3 and the hinge seat 6, the first swing arm 1 and the second swing arm 2 can rotate relative to the hinge seat 6, and one of the first swing arm 1 and the second swing arm 2 is fixedly connected with the rotary pin shaft 3 so as to ensure that the first swing arm 1 or the second swing arm 2 receives rotary resistance when rotating.

Further, in this embodiment, with continued reference to fig. 2, the adjusting component includes a disc spring 7, the disc spring 7 is sleeved on the rotating pin shaft 3, the rotating pin shaft 3 is further provided with a lock nut 9 and a gasket 8, and the gasket 8 is respectively abutted with the lock nut 9 and the adjusting component.

The disc spring 7 is a disc spring, and the disc spring receives a great load in a small space. Compared with other types of springs, the disc spring has larger deformation energy per unit volume and good shock absorption capacity, and particularly when the laminated combination is adopted, the impact absorption and energy dissipation effects are more remarkable due to the surface friction resistance effect. When the gasket 8 is worn, the disc spring 7 can compensate the change of the extrusion force after the gasket is worn, so that the adjusting part has better durability.

Of course, in other embodiments, the adjusting component includes a plurality of disc reeds and a plurality of rubber pads, the plurality of disc reeds and the plurality of rubber pads are alternately arranged along the axial direction of the rotary pin shaft 3, and the rotary pin shaft 3 is further provided with a lock nut 9 and a gasket 8, and the gasket 8 is respectively abutted with the lock nut 9 and the adjusting component. The disc reeds and the rubber pads are alternately arranged, and the purpose of adjusting the rotation resistance of the first swing arm 1 and the second swing arm 2 can be achieved by adjusting the locking nut 9 according to actual needs.

In other embodiments, the adjusting component may further include a coil spring, where the coil spring is sleeved on the rotating pin 3, and the rotating pin 3 is further provided with a lock nut 9 and a spacer 8, where the spacer 8 abuts against the lock nut 9 and the adjusting component, respectively. The coil spring can limit the rotation of the rotary pin shaft 3, and then the purpose of adjusting the rotation resistance of the first swing arm 1 and the second swing arm 2 according to actual needs can be achieved.

The gasket 8 is illustratively an engineering plastic gasket. The gasket 8 is used for generating friction force due to relative rotation between the rotating pin shaft 3 and the hinging seat 6, and the engineering plastic has the advantages that the engineering plastic is not easy to wear when in friction with metal and has stable friction coefficient after wear; the disc spring 7 can also be used for compensating the extrusion force after the gasket is worn, so that the adjusting part has better durability.

For example, as shown in fig. 2 and 3, the second swing arm 2 is fixedly connected with the rotation pin 3 by a locking screw 10. Specifically, the lock screw 10 abuts against the second swing arm 2 through the hinge seat 6. The position of the rotary pin shaft 3, which is abutted with the locking screw 10, is provided with a groove, and the locking screw 10 sequentially passes through the second swing arm 2 and the hinge seat 6 and then is abutted with the bottom of the groove, and the bottom of the groove is a horizontal groove bottom. The locking screw 10 and the groove can enable the second swing arm 2 and the rotating pin shaft 3 to be fixedly connected, the rotating pin shaft 3 cannot rotate relative to the second swing arm 2 when the second swing arm 2 acts, and therefore the purpose that the second swing arm 2 transmits vibration to the rotating pin shaft 3 and the vibration of the rotating pin shaft 3 is absorbed is achieved.

The utility model also provides a chassis, as shown in fig. 4 and 5, comprising a chassis body 14 and further comprising chassis suspension mechanisms provided in the embodiment of the utility model, wherein the chassis suspension mechanisms are symmetrically arranged at two sides of the chassis body 14.

Specifically, in this embodiment, the chassis body 14 is provided with a first wheel hole and a second wheel hole, where the first rotating wheel 4 is partially disposed in the first wheel hole, the rotating shaft of the first rotating wheel 4 is located above the chassis body 14, the first rotating wheel 4 is connected with the first swing arm 1 in the chassis suspension mechanism through the rotating shaft, the second rotating wheel 5 is located below the chassis body 14, the connecting seat 12 is partially disposed in the second wheel hole, the connecting seat 12 passes through the second wheel hole and is disposed below the chassis body 14 and is connected with the second rotating wheel 5, the hinge seat 6 is fixedly connected with the bottom surface of the chassis body 14, and then the purpose of fixedly connecting the chassis suspension mechanism with the chassis body 14 is achieved.

The chassis further comprises a driving mechanism, the driving mechanism can comprise a motor, an output shaft of the motor is connected with the first rotating wheel 4, and then the first rotating wheel 4 is driven to rotate, so that the purpose of chassis walking is achieved. In addition, the driving mechanism and the rotating wheel can be combined into an integral structure to form the hub motor.

In the running process of the chassis, the driving mechanism drives the first rotating wheel 4 to rotate and walk, and then the second rotating wheel 5 simultaneously walks along with the first rotating wheel 4. After the chassis is jolted by a road surface, the first swing arm 1 or the second swing arm 2 can rotate, and under the action of the adjusting part, the second swing arm 2 or the first swing arm 1 fixedly connected with the rotating pin shaft 3 receives rotating resistance, so that the overall stability of the chassis is ensured. When the rotation resistance received by the first swing arm 1 or the second swing arm 2 can not guarantee the overall stability of the chassis, the adjusting component can act to adjust the resistance received by the first swing arm 1 or the second swing arm 2, so that the overall stability of the chassis is guaranteed.

The chassis according to the embodiment of the present utility model has all the advantages and benefits of the above embodiment, and will not be described here.

The chassis also comprises independent supporting wheels 11, and the supporting wheels 11 are fixedly connected with the chassis body 14 through a connecting frame. The supporting wheel 11 can always keep the ground, so that the chassis can not be separated from the ground, and the overall stability of the chassis is ensured.

The utility model also provides a robot, which comprises a robot cabin and the chassis provided by the embodiment of the utility model.

Optionally, when the robot is a service robot, the robot further includes a function controller providing user operations, an underlying controller for map generation and path planning, and an element controller controlling the mobile unit and the environment detection unit; the element controller controls the travel speed of the first rotating wheel 4.

Optionally, at least two steering lamps are arranged at the bottom of the chassis, and the steering directions of the two steering lamps are different. The element controller controls the traveling speed of the first rotating wheel 4, and at the same time, the element controller also controls the turn signal lamp in the turn signal lamp to be turned on in a preset manner when the robot turns. The component controller determines which turn signal to illuminate based on chassis turn.

In order to enable the pedestrians in front of the robot to avoid the robot and avoid collision between the robot and the pedestrians, the robot optionally further comprises a voice module, wherein the voice module is electrically connected with the element controller; when the robot turns, the element controller controls the voice module to send out voice prompt information. The robot is prevented from colliding with pedestrians in the rotating process.

The robot further comprises a laser radar system which can be arranged at the slotting position of the robot cabin, so that laser signals can be easily sent out to detect surrounding objects.

The robot according to the embodiment of the present utility model has all the advantages and beneficial effects of the above embodiment, and will not be described here.

It should be noted that, when the robot walks, a path needs to be planned in advance, for this purpose, the robot is configured with an acquisition sensor and a modeling processor, and the modeling processor models by the environmental data acquired by the acquisition sensor to construct an environmental map. In this embodiment, the collecting sensor includes a laser radar, an ultrasonic sensor and an infrared sensor, the data of the working area where the robot is located is collected through the laser radar, the ultrasonic sensor and the infrared sensor, the modeling processor uses the data collected by the sensors to create a map, and different map layers, such as a static layer, a dynamic obstacle layer, an ultrasonic layer map, a visual layer and the like, are generated through different sensors in the process of creating the map, and the map layers are fused to obtain a positioning map for positioning and navigation of the robot.

The robot walks according to the planned path, meets the bumpy road surface in the walking process, and then under the action of the adjusting component, can change the rotation damping suffered by the first swing arm or the second swing arm, improves the linkage of the first swing arm and the second swing arm, and meets the use requirement of the damping chassis. The robot encounters an obstacle and can learn through the laser radar system, then the obstacle is avoided through the element controller, the robot can be reminded through the voice module when turning, and the robot is prevented from having a blind area to collide with pedestrians when turning.

Furthermore, the foregoing description of the preferred embodiments and the principles of the utility model is provided herein. It will be understood by those skilled in the art that the present utility model is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the utility model. Therefore, while the utility model has been described in connection with the above embodiments, the utility model is not limited to the embodiments, but may be embodied in many other equivalent forms without departing from the spirit or scope of the utility model, which is set forth in the following claims.

Claims (10)

1. Chassis suspension mechanism, its characterized in that includes:

the swing arm assembly comprises a first swing arm (1) and a second swing arm (2), wherein the first swing arm (1) is in pivot connection with the second swing arm (2) through a hinge seat (6) and a rotating pin shaft (3), the first swing arm (1) is provided with a first rotating wheel (4), and the second swing arm (2) is provided with a second rotating wheel (5);

an adjusting part for adjusting the rotation resistance of the first swing arm (1) and the second swing arm (2) in the movement process;

and one end of the damping component (13) is connected with the first swing arm (1), and the other end of the damping component (13) is connected with the second swing arm (2).

2. Chassis suspension mechanism according to claim 1, characterized in that the adjustment member is arranged on the swivel pin (3), two opposite outer side walls of the hinge base (6) are respectively in abutment with the adjustment member and a limit part of the swivel pin (3), and two opposite inner side walls of the hinge base (6) are respectively in abutment with the first swing arm and the second swing arm;

the adjusting part comprises a disc spring (7), the disc spring (7) is sleeved on the rotating pin shaft (3), a lock nut (9) and a gasket (8) are further arranged on the rotating pin shaft (3), and the gasket (8) is respectively abutted with the lock nut (9) and the adjusting part.

3. Chassis suspension mechanism according to claim 1, characterized in that the adjustment means comprise a plurality of disc springs and a plurality of rubber pads, a plurality of disc springs and a plurality of rubber pads are arranged alternately along the axial direction of the swivel pin (3), a lock nut (9) and a spacer (8) are further arranged on the swivel pin (3), and the spacer (8) is respectively abutted with the lock nut (9) and the adjustment means.

4. Chassis suspension mechanism according to claim 2, characterized in that the adjustment member comprises a coil spring, which is sleeved on the swivel pin (3), and that the swivel pin (3) is further provided with a lock nut (9) and a spacer (8), the spacer (8) being in abutment with the lock nut (9) and the adjustment member, respectively.

5. Chassis suspension according to any of claims 2-4, wherein the gasket (8) is an engineering plastic gasket.

6. Chassis suspension mechanism according to claim 1, characterized in that the first swing arm (1) and the second swing arm (2) extend into the inner cavity of the hinge seat (6), and the first swing arm (1) and the second swing arm (2) are both connected with the hinge seat (6) through the swivel pin (3), and one of the first swing arm (1) and the second swing arm (2) is fixedly connected with the swivel pin (3).

7. Chassis suspension according to claim 1, characterized in that the second swing arm (2) and the hinge seat (6) are fixedly connected with the swivel pin (3) by means of a locking screw (10).

8. Chassis comprising a chassis body (14), characterized in that it further comprises chassis suspension mechanisms according to any one of claims 1-7, said chassis suspension mechanisms being symmetrically arranged on both sides of said chassis body (14).

9. Chassis according to claim 8, characterized in that it further comprises independent supporting wheels (11), said supporting wheels (11) being fixedly connected to said chassis body (14) by means of a connecting frame.

10. Robot comprising a robot cabin and a chassis according to claim 8 or 9, said robot cabin being located on top of said chassis.