Ball wheel assembly, chassis and robot

The utility model relates to the technical field of robots, and provides a ball wheel assembly, a chassis and a robot. The ball wheel assembly provided by the embodiment of the utility model comprises a mounting frame and a ball wheel, a mounting space is formed in the mounting frame, the mounting frame comprises a ball wheel retainer and balls, the ball wheel retainer is provided with ball mounting grooves, and the balls are arranged in the ball mounting grooves; the ball wheel is mounted on the mounting frame and partially extends out of the mounting space; the balls partially extend out of the ball mounting grooves and make contact with the ball wheels. According to the ball wheel assembly provided by the embodiment of the utility model, the mounting frame comprises the ball wheel retainer and the ball, and the ball partially extends out of the ball mounting groove and is in contact with the ball wheel, so that the contact between the ball and the ball wheel is rolling contact, the frictional resistance is greatly reduced, and the abrasion of the ball wheel can be reduced. The balls can roll in multiple directions, so that the ball wheel retainer can adapt to the movement of the ball wheel in different directions. Therefore, the movement of the ball wheel assembly is more flexible, and the ball wheel assembly can adapt to various complex movement tracks.