A six-wheel bionic chassis comprising a chassis frame, a controller, a sensor, and front wheel suspension assemblies are pivotally connected to both sides of a front end of the chassis frame toward the horizontal plane, middle wheel suspension assemblies are pivotally connected to middle two sides of the chassis frame, and rear wheel suspension assemblies are pivotally connected to both sides of a rear end of the chassis frame, the controller and the sensor are electrically connected to the front wheel suspension assemblies, the middle wheel suspension assemblies and the rear wheel suspension assemblies, comprises:
- each of the front wheel suspension assemblies, comprises:
- a front wheel auxiliary wheel-lifting supporting frame, one end of the front wheel auxiliary wheel-lifting supporting frame is hinged to the front end of the chassis frame;
- a front wheel upper supporting arm set composed by a first front wheel upper supporting arm and a pair of second front wheel upper supporting arms, the first front wheel upper supporting arm is arranged above the pair of second front wheel upper supporting arms, one end of the first front wheel upper supporting arm is hinged to the other end of the front wheel auxiliary wheel-lifting supporting frame and the other end of the first front wheel upper supporting arm is hinged to a front wheel steering supporting frame, one end of each of the second front wheel upper supporting arms is hinged to the other end of the front wheel auxiliary wheel-lifting supporting frame and the other end of each of the second front wheel upper supporting arms is hinged to the front wheel steering supporting frame;
- a front wheel suspension spring assembly, both ends of the first wheel suspension spring assembly are hinged to the both ends of the front wheel upper supporting arm set respectively;
- and
- the front wheel steering supporting frame, one end of the front wheel steering supporting frame is fixedly connected to a front wheel steering mechanism, one end of the front wheel steering mechanism faced to a horizontal plane direction of the is pivotally connected to a front wheel set, the front wheel set is pivotally connected to a front wheel hub motor, so the front wheel upper supporting arm set, the front wheel auxiliary wheel-lifting supporting frame and the front wheel steering supporting frame of the front steering assembly constitute a front wheel linkage mechanism to control a movement trajectory of the front wheel set when the front wheel set encounters a vertical obstacle;
- each of the middle wheel suspension assemblies, comprises:
- a middle wheel upper supporting arm set composed by a first middle wheel upper supporting arm and a pair of second middle upper supporting arms, the first middle upper supporting arm is arranged above the pair of second middle wheel upper supporting arm, one end of the middle wheel upper supporting arm is hinged to the chassis frame, the other end of the first middle upper supporting arm is hinged to a middle wheel steering supporting frame, one end of each of the second middle upper supporting arms is hinged to the chassis frame respectively, and the other end of each of the second middle upper supporting arms is hinged to the middle wheel steering supporting frame respectively;
- a middle wheel suspension spring assembly, both ends of the middle wheel suspension spring assembly are hinged to the middle wheel upper supporting arm set respectively;
- and
- the middle wheel steering supporting frame, one end of the middle wheel steering supporting frame is fixedly connected to the middle wheel steering mechanism and one end faced to a horizontal plane direction of the middle wheel steering mechanism is hinged to a middle wheel set, the middle wheel set is pivotally connected to a middle wheel hub motor, so the middle wheel upper supporting arm set and the middle wheel steering supporting frame of the middle wheel steering assembly constitute a middle wheel linkage mechanism to control a movement trajectory of the middle wheel set when the middle wheel set encounters a vertical obstacle;
- and
- each of the rear wheel suspension assemblies, comprises:
- a rear wheel upper supporting arm set composed by a first rear wheel upper supporting arm and a pair of second rear wheel upper supporting arms, the first rear wheel upper supporting arm is arranged above the pair of second rear wheel upper supporting arm, one end of the first rear wheel upper supporting arm is hinged to a rear end of the chassis frame, the other end of the first rear wheel upper supporting arm is hinged to a rear wheel steering supporting frame, one ends of each of the second rear wheel upper supporting arms is hinged to the rear end of the chassis frame respectively, and other ends of each of the second rear wheel upper supporting arms is hinged to the rear wheel steering supporting frame respectively;
- a rear wheel suspension spring assembly, both ends of the rear wheel suspension spring assembly are hinged to the rear wheel upper supporting arm respectively;
- and
- the rear wheel steering supporting frame, one end of the rear wheel steering supporting frame is fixedly connected to a rear wheel steering mechanism and one end faced to a horizontal plane direction of the rear wheel steering mechanism is pivotally connected to a rear wheel set, and the rear wheel set is pivotally connected to a rear wheel hub motor, so the rear wheel upper supporting arm set and the rear wheel steering supporting frame of the rear wheel steering assembly constitute a rear wheel linkage mechanism to control a movement trajectory of the rear wheel set when the rear wheel set encounters a vertical obstacle.