Mobile chassis

Abstract

The embodiment of the invention provides a movable chassis. The movable chassis comprises a first base and a second base. The first base and the second base are connected in an embedded mode through the connecting mechanism, and the second base is embedded into the first base. Wherein the first base comprises a plurality of first moving wheels, and the second base comprises a plurality of second moving wheels; in the moving process of the moving chassis, the second moving wheels are driven through the first moving wheels, and the moving chassis is used for placing different types of loads. The problem that a user needs multiple types of robots due to the fact that a single robot can only complete a single task is solved.

Description

Technical Field

[0001] This application relates to the field of electromechanical engineering, and more particularly to a mobile chassis. Background Technology

[0002] Currently, commonly used delivery robots mainly include those with lurking lifting chassis, split docking chassis, integrated chassis, and towed logistics vehicles. These types of delivery robots can be applied in various scenarios such as factories, buildings, hospitals, and hotels, and each has different design features depending on the specific application requirements. However, using these delivery robots often requires the simultaneous operation of multiple different types of robots, and also necessitates handling multi-machine concurrency and cross-manufacturer collaboration issues, significantly impacting the overall difficulty and effectiveness of use. Summary of the Invention

[0003] This application provides a mobile chassis that is simple in structure and adaptable to different loads.

[0004] This application provides a mobile base, including a first base and a second base, wherein the first base and the second base are embeddedly connected by a connecting mechanism, and the second base is embedded in the first base; wherein the first base includes a plurality of first moving wheels, and the second base includes a plurality of second moving wheels; the mobile base drives the second moving wheels through the first moving wheels during movement, and the mobile base is used to place different types of loads.

[0005] One end of the second base is embedded in the groove at one end of the first base.

[0006] Specifically, the connecting mechanism includes a plurality of inserts arranged along the centerline direction on both sides of the groove in the first base, and a plurality of receiving holes arranged along the centerline direction on the outer side of one end of the second base, which match the inserts.

[0007] Specifically, at least one first sensor is provided at a first preset position near the insert, and at least one second sensor matching the first sensor is provided at a second preset position near the receiving hole; In addition, the first base also includes a control unit, which is configured to: receive signal data from the first sensor and the second sensor and determine the positional relationship between the insert and the matching receiving hole based on the signal data, and insert the insert into the receiving hole based on the positional relationship.

[0008] In addition, the first base also includes a transmission mechanism; wherein the control unit is used to issue a first command to the transmission mechanism according to the positional relationship, so that the transmission mechanism pushes the insert into the receiving hole.

[0009] Specifically, multiple first movable wheels are respectively arranged on both sides of the groove of the first base, and the arrangement of the first movable wheels is closest to the center of the vertical projection of the movable chassis.

[0010] Specifically, the second base also includes a braking mechanism, which is vertically disposed inside one end of the second base and corresponds to the receiving hole of the second base; the braking mechanism includes multiple brake pads, each brake pad including a support rod, the top end of the support rod being movably connected to the inner sidewall of one end of the second base, and the bottom of the support rod being provided with a resistance element that can contact the ground; when the insert is inserted into the receiving hole, the support rod is pushed off the ground by the insert.

[0011] Specifically, the top of the support rod is connected to the inner sidewall via a movable connecting rod, and the lower part of the support rod is connected to the inner sidewall via an elastic device. The insert at the deepest point of the groove pushes the support rod off the ground. In addition, the first base also includes a support tower and a screen; one end of the support tower is connected to the first base, and the other end of the support tower is connected to the screen, and the height of the screen is convenient for operators to operate.

[0012] In addition, the first base also includes a control unit, which is configured to: in response to a first operation by the user, determine an insert to be inserted into a corresponding receiving hole from a plurality of inserts, and generate and issue a second instruction to a transmission mechanism; the transmission mechanism is driven according to the issued second instruction and pushes out the corresponding insert.

[0013] Specifically, the first moving wheel includes a motor, and the first base also includes a control unit. The control unit is configured to: generate a third command for movement in response to a second operation by the user and send it to the motor, thereby driving the first moving wheel to move through the motor.

[0014] In the technical solution disclosed herein, the first base and the second base are embeddedly connected by a connecting mechanism, realizing a simple and low-cost mobile chassis. During movement, the mobile chassis uses the first moving wheel to drive the second moving wheel. The mobile chassis is used to hold different types of loads, solving the problem that a single robot can only perform a single task, leading to the need for multiple types of robots. Furthermore, by adopting a separate design for the first and second bases, different types of loads can be connected, thus enabling various applications such as delivery, inspection, and cleaning. Attached Figure Description

[0015] The accompanying drawings, which are included to provide a further understanding of this application and form part of this application, illustrate exemplary embodiments and are used to explain this application, but do not constitute an undue limitation of this application. In the drawings: Figure 1 This is a schematic diagram of the structure of an exemplary mobile chassis according to this application; Figure 2 This is a schematic diagram of the structure of the first base in another exemplary embodiment of this application; Figure 3 A schematic diagram of the structure of the second base provided in another exemplary embodiment of this application; Figure 4 A schematic diagram of the structure of a braking mechanism provided in yet another exemplary embodiment of this application; Figure 5 A bottom view of a movable base provided as yet another exemplary embodiment of this application; Among them, 100-movable base, 110-first base, 120-second base, 130-first moving wheel, 140-third moving wheel, 150-second moving wheel, 160-support tower, 170-screen, 210-insertion, 220-first sensor, 230-guide port, 240-groove, 310-accepting hole, 320-second sensor, 330-one end, 340-guide angle, 410-support rod, 420-movable connecting rod, 430-resistance component, 440-elastic device, 510-contact block. Detailed Implementation

[0016] To make the objectives, technical solutions, and advantages of this application clearer, the technical solutions of this application will be clearly and completely described below in conjunction with specific embodiments and corresponding drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of them. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0017] As mentioned earlier, using delivery robots often requires the simultaneous operation of multiple different types of robots. However, coordinating the actions of multiple robots within the same physical space and task flow is quite cumbersome and can easily lead to physical conflicts between robots. Moreover, the fact that different types of robots mostly come from different manufacturers further complicates coordination, significantly impacting the overall ease of use and effectiveness of different robot types.

[0018] This disclosure presents a mobile chassis for a delivery robot with a simple structure and low cost, designed to address the aforementioned problems encountered by various types of delivery robots currently on the market. This embodiment, through a modular design, can accommodate different types of loads, thereby enabling various applications such as delivery, inspection, and cleaning.

[0019] The technical solutions provided by the various embodiments of this application are described in detail below with reference to the accompanying drawings.

[0020] Figure 1 This is a schematic diagram of the structure of a mobile chassis provided for an exemplary embodiment of this application. Figure 1 As shown, the mobile chassis 100 includes a first base 110 and a second base 120. The first base 110 and the second base 120 are embeddedly connected by a connecting mechanism, with the second base 120 embedded in the first base 110. The mobile chassis 100 is used to place different types of loads.

[0021] The first base 110 refers to a self-moving base, which may include, but is not limited to, a robot base. The first base 110 can connect to the second base 120 and, through this connection, can carry and transport different types of loads. It can also perform different functions by transporting different types of loads, such as transporting the load itself or performing tasks by transporting auxiliary loads. Different types of loads can be used to perform different tasks or functions. The second base 120 can be used to carry different carriers, including but not limited to delivery compartments, security compartments, robotic arms, and waste recycling compartments. These carriers can be installed on the second base 120 by means such as threaded connections.

[0022] The first base 110 may include a first base body, which may be a rectangular (or square) prism or other regular shape with a groove, such as a U-shaped shape. The first base body can connect to the second base 120 via an embedded connection. For example, a portion of the second base 120 can be embedded into the first base body, so that the two form a single unit within the same space after embedding. The aforementioned connection mechanism refers to the mechanism that enables the embedded connection between the base body and the second base 120. This connection structure may include a threaded-screw hole connection mechanism and a pin-pin hole connection mechanism, etc. The installation method of this connection structure can be manual or automatic.

[0023] It should be noted that the aforementioned second base 120 can also be understood as including a second base body. This second base body and the first base body are mutually matched structures to form an interlocking structure. It can be a cuboid or other regular body with protruding structures or protruding ends, such as a body with a convex shape. According to the method described above, the two bodies are interlocked, which will not be elaborated further.

[0024] Among the different types of delivery robots mentioned above, goods can be moved using a submersible lifting chassis. This type of chassis is widely used in factory workshops, where it submerges under shelves to lift various goods. While this chassis is very flexible and can handle multiple types of goods, its lifting capacity is limited. It cannot handle loads exceeding its lifting capacity, and lifting relies on battery power, resulting in high energy consumption and requiring frequent recharging. This embodiment provides a mobile chassis that can carry different types of loads and has a simple structure, solving the problem of a single robot only being able to perform a single task, leading to the need for multiple types of robots. Furthermore, this embodiment adopts a split connection design, allowing it to connect to the different types of modular upper compartments mentioned above, thus enabling various applications such as delivery, inspection, and cleaning. In addition, because the mobile chassis of this embodiment has a simple structure and is embedded and drag-and-drop, it does not require expending energy for lifting, resulting in low overall power consumption and excellent energy efficiency. This solves the problems of power consumption and limited lifting capacity associated with submersible lifting chassis.

[0025] As described above, the first base 110, through its embedded connection with the second base 120, allows the second base 120 to move autonomously. For example, Figure 1 As shown, the first base 110 includes multiple first moving wheels 130, and the second base 120 includes multiple second moving wheels 150. During movement, the mobile chassis 100 drives the second moving wheels 150 via the first moving wheels 130. The first moving wheels 130 are drive wheels, which can be driven by a motor. The second moving wheels 150 are wheels that slide under the action of external force, such as casters.

[0026] like Figure 1 As shown, one end of the second base 120 can be partially embedded in the groove of one end of the first base 110. This end can be fully embedded in the first base 110, partially embedded in the first base 110, or the second base 120 can be fully embedded in the first base 110. This allows the volume of the mobile chassis or the area of ​​its upper surface to be adjusted according to requirements. For large-volume loads, a partial embedding method can be used to support them, while for small-volume loads, a full embedding method can be used to support them.

[0027] like Figure 2 as well as Figure 3 As shown, the groove 240 of the first base 110 is embedded into the protruding end 330 of the second base 120.

[0028] Among the different types of delivery robots described above, goods can also be transported using an integrated chassis. This type of robot designs the upper compartment and chassis as a single unit, unlike the separate design used in this embodiment. While this integrated design simplifies the structure, it also limits its capabilities due to the lack of additional combination or expansion capabilities. The mobile chassis provided in this embodiment, as mentioned above, can be partially or fully embedded to expand its volume or upper surface, solving the problem of integrated chassis being incompatible with loads of different sizes. Furthermore, different embedding depths can be achieved, allowing for compatibility with loads of varying sizes and demonstrating strong compatibility. Especially in special scenarios, such as uphill transport environments, when one end of the second base is partially embedded in the first base and a large load is being transported, the increased load-bearing area allows the load to be placed a distance from the front of the first base. During uphill transport, optimized torque balance and maximized traction significantly improve the overall stability and safety of the transport.

[0029] To better and more accurately expand and increase the embedding depth between the first and second bases, multiple connectors or multiple sets of connecting mechanisms can be used.

[0030] Specifically, the connecting mechanism includes multiple inserts arranged in a transverse direction along the centerline on both sides of the groove in the first base, and multiple receiving holes arranged in a transverse direction along the centerline on the outer side of one end of the second base, which match the inserts.

[0031] The insert can include screws, bolts, and pins, while the receiving hole can include screw holes, pin holes, and other insertion holes. The insert and the receiving hole are matched and can be connected to each other.

[0032] like Figure 2 As shown, multiple inserts 210, such as pins, are laterally arranged on both side walls within the groove 240 of the first base 110. Figure 3As shown, multiple receiving holes 310, such as pin holes, are laterally provided on the two outer side walls of the protruding end 330 of the second base 120. One end 330 of the second base 120 is embedded into the groove 240 of the first base 110 and connected by matching pins and pin holes. Because there are multiple pins or corresponding pin holes, different depths of embedded connection can be achieved by selecting pins and pin holes at different positions.

[0033] By combining multiple sets of different inserts and receiving holes, varying connection depths can be achieved during insertion and docking to accommodate both large and small loads, thus enabling the installation of loads of various sizes and weights. This method of varying insertion depths allows for adaptation to loads of different sizes and weights, making the mobile chassis provided in this embodiment more flexible in use than ordinary chassis.

[0034] It should be noted that multiple sets of connection mechanisms can also be multiple sets of thread-hole connection mechanisms or multiple sets of pin-hole connection mechanisms, and can be set up in the manner described above, so it will not be elaborated further.

[0035] To facilitate the installation of the above connection structure, in addition to manual installation, an automatic installation method can also be used.

[0036] Specifically, at least one first sensor is provided at a first preset position near the insert, and at least one second sensor matching the first sensor is provided at a second preset position near the receiving hole. The first base also includes a control unit, which is used to: receive signal data from the first and second sensors and determine the positional relationship between the insert and the matching receiving hole based on the signal data, and insert the insert into the receiving hole according to the positional relationship.

[0037] The first preset position can be an upper or lower position corresponding to the location of the insert, such as directly below the pin. The second preset position can be an upper or lower position corresponding to the location of the receiving hole, such as directly below the pin hole. The first and second sensors are positioning sensors, such as infrared laser sensors, and are matched through the matching relationship between the insert and the receiving hole. For example, based on the depth of the groove of the first base, different groups of inserts and receiving holes are set. The deepest insert and receiving hole is the first group, equipped with the first and second sensors of the first group; the second deepest insert and receiving hole is the second group, equipped with the first and second sensors of the second group, and so on. Further details are omitted.

[0038] like Figure 2 As shown, a first sensor 220 is disposed directly below the insert 210. Figure 3 As shown, a second sensor 320 is disposed directly below the receiving hole 310.

[0039] To control and process sensor data and automatically install the insert and receiving hole, a control unit can be set on the first base. This control unit has certain data calculation and processing capabilities, such as a CPU (Central Processing Unit) or MCU (Microcontroller Unit).

[0040] During the embedding process of the first and second bases, the first base can automatically move to the vicinity of the second base and embed itself. After embedding, the control unit periodically or in real time receives positioning data (e.g., angles and distances to specific known objects in the coordinate system) from the first sensor and the second sensor of the first group, or from the first and second sensors of other groups. Based on this data, the control unit determines the position data (e.g., coordinates) and determines whether the embedding is accurate based on whether the similarity or difference between two corresponding positioning data points is less than a threshold. If the similarity or difference is less than the threshold, it is determined to be an accurate embedding, and the control unit controls the corresponding insert to be inserted into the corresponding receiving hole. For example, the insert of the first group is inserted into the receiving hole of the first group.

[0041] It should be understood that, for a sensor, a relative positioning system, or positioning model, or positioning coordinate system is established through the control unit. The coordinates of the current sensor in the positioning system are determined based on the sensor's installation location, and its location (i.e., its coordinates in the positioning system) is determined through the data returned by the sensor, thereby determining the aforementioned position information.

[0042] The control unit can insert the corresponding insert into the corresponding receiving hole through the transmission mechanism.

[0043] Specifically, the first base also includes a transmission mechanism; wherein, the control unit is used to issue a first command to the transmission mechanism according to the positional relationship, so that the transmission mechanism pushes the insert into the receiving hole.

[0044] The transmission mechanism receives commands from the control unit and pushes the insert into the receiving hole. The transmission mechanism includes a power component, a transmission component, and an actuating component. The power component includes a motor. The transmission component includes a gear set, and the actuating component may include an actuating rod, etc. The motor drives the insert according to commands from the control unit, and a pinion drives a large gear, thereby driving a rack or lead screw to perform linear motion to push the insert out. Alternatively, the motor can drive multiple hinged links (in which case the transmission component and the actuating component are the same) to convert rotational motion into linear motion. This transmission mechanism is located in the first base, and the transmission component can be connected to the insert.

[0045] It should be understood that each insert can correspond to a transmission mechanism. Furthermore, the parameters in the commands issued by the control unit can be user-preset or sent via a cloud server. The motor in each transmission mechanism can be driven by a driver; that is, the control unit sends commands to the driver for operation, and these commands can include torque, speed, and position information, etc.

[0046] It should be understood that when the insert exits the receiving hole, the same method is used to retract the insert through the transmission mechanism. However, the drive parameters included in the command are different. They can be set according to the requirements, so they will not be elaborated further.

[0047] Which insert to push can be determined by user triggering or user operation, i.e., the embedding depth of the first and second bases is determined by the user. Specifically, in response to the user's first operation, the insert to be inserted into the corresponding receiving hole is determined from multiple inserts, and a second command is generated and issued to the transmission mechanism. The transmission mechanism is driven according to the issued second command and pushes out the corresponding insert.

[0048] Users can operate the device via the screen on the first base. For example... Figure 1 As shown, the first base 110 also includes a support tower 160 and a screen 170. One end of the support tower 160 is connected to the first base 110, and the other end of the support tower is connected to the screen 170. The aforementioned control unit can be integrated into the screen 170.

[0049] Users can access the settings interface provided on the screen or select the insert to be pushed out, such as the second group of inserts. They can then trigger insertion or installation commands on this interface. These commands include the identifier of the second group of inserts and may also include other transmission parameters as described above (these parameters can be preset or set by the user as described above, and will not be elaborated further). In response to this operation, the control unit generates a trigger command and sends it to the driver in the transmission mechanism. The driver then drives the device according to the command and pushes the corresponding insert into the receiving hole.

[0050] It should be noted that for partially embedded components, especially those protruding from the second base, regardless of the embedding depth (based on the number of inserts inserted into the receiving holes), to securely connect the first and second bases, the first group of inserts must be inserted into the first group of receiving holes. For example, if only one group of inserts is selected for insertion (to a depth corresponding to one number), only the first group of inserts will be inserted into the receiving hole. If two groups are selected for a depth corresponding to two numbers, then both the first and second groups of inserts will be inserted into their respective receiving holes, and so on. Alternatively, only inserts of the corresponding depth can be selected; for example, only the second group of inserts can be inserted into their corresponding receiving holes without inserting the first group of inserts.

[0051] The screen's height is designed for ease of operation, for example, 1.1 meters or more, specifically 1.1 or 1.2 meters. Furthermore, the screen can be equipped with other data acquisition devices, such as cameras and temperature and position sensors on a mobile chassis, for automatic patrolling, monitoring, and temperature measurement.

[0052] As mentioned earlier, because the submersible lifting chassis needs to be embedded in the bottom of the shelf, its overall height is very low. This can easily trip people who are working or operating the equipment when it moves independently, so it needs to work in scenarios where people and machines are separated. At the same time, due to the height limitation, the number of sensors that can be installed on the machine is limited, which restricts its navigation capabilities and its ability to handle complex terrain.

[0053] This embodiment, through its supporting tower and interactive screen, allows the entire mobile chassis to reach a height of over 1.1 meters, or even 1.2 meters, making it easily perceptible to personnel, avoiding human-machine collisions, and providing excellent safety. It solves the problem that ordinary chassis, due to their low height, cannot install screens and various sensors. Furthermore, various sensors, including LiDAR, visual cameras, and microphones and screens for human-machine interaction, can be installed on the supporting tower or screen, which can reach a height of up to 1.2 meters.

[0054] In addition, to better, faster and more accurately embed the first and second bases, the first and second bases can be designed with an outward expansion and inward contraction structure to form a funnel shape for docking, so that they have good tolerance effect when docking.

[0055] like Figure 2 As shown, the opening of the first base is provided with a guide port 230, which is either a flared opening or an inclined guide port. Figure 3As shown, the protruding end of the second base is provided with an inward-facing guide angle 340, which is an inward-facing inclined surface guide angle. The guide opening 230 matches the guide angle 340. When the first base moves towards the second base, the guide opening 230 and the guide angle 340 smoothly insert the second base into the first base. During the insertion process, the relative position of the first base and the second base is corrected to an allowable range, thus achieving the function of insertion calibration.

[0056] Furthermore, the aforementioned first moving wheel can also be driven by a drive mechanism (drive component). The first moving wheel can be a power wheel, such as... Figure 5 As shown, the first moving wheel may include or integrate a power motor. The control unit is used to: in response to a second operation by the user, generate a third command for movement and send it to the motor, thereby driving the first moving wheel to move via the power motor.

[0057] As mentioned above, users can also configure the drive system for the first moving wheel on the screen. Users can set the drive information for the moving wheel, such as speed and torque, according to the interface provided on the screen. This information is then used to generate a command that carries the configured drive speed and torque. The command is sent to the driver of the first moving wheel, causing the drive motor to rotate the moving wheel and thus initiating movement of the entire chassis.

[0058] In addition, the aforementioned commands can also be issued directly through a cloud server (such as commands issued by the user through settings on the screen). For example, as mentioned above, the cloud server issues the aforementioned commands (such as commands to select the corresponding insert for movement or drive) to the first base. The control unit generates corresponding trigger commands to move the first base in front of the second base. The second base cannot move due to the brakes. After the first base is aligned with the aforementioned sensors, it reverses to achieve docking between the two bases. During docking, the aforementioned sensor combination is used to perceive the position. After docking at the set position, the insert is automatically inserted into the receiving hole. After the brakes are released, the entire assembly can move automatically. It should be noted that the cloud server can carry information on the selection of the corresponding insert and the movement parameters of the first base (or the movement parameters after docking into a moving chassis) in a single command, and issue corresponding commands through the control unit. During the movement of the first base to the second base, the current position can be obtained through acquisition units such as cameras on the screen or support rods to determine whether it has moved in front of the second base. Before and after moving to the second base, positioning is performed again using the first and second sensors, and docking is initiated according to the instructions for selecting the corresponding insert. After docking, the chassis continues to move according to the instructions for the aforementioned movement parameters. The timing and circumstances of instructions issued due to user settings are similar to those described above and will not be repeated here.

[0059] In addition, such as Figure 1 As shown, the first base 110 also includes an auxiliary wheel 140, which is located in front of the first moving wheel 130. The auxiliary wheel 140 can be a steering wheel, such as a directional wheel or a swivel wheel. The auxiliary wheel 140 helps the mobile chassis to better control its direction during movement.

[0060] Among the different types of delivery robots mentioned above, towed logistics vehicles move by forming a series of vehicles connected in parallel. However, because they are connected in parallel, they have a large turning radius and require a large operating space, making them unsuitable for use in narrow spaces.

[0061] To solve this problem, in this embodiment, a plurality of first movable wheels are respectively arranged on both sides of the groove of the first base, and the arrangement of the first movable wheels is closest to the center of the vertical projection of the movable chassis.

[0062] like Figure 1 and Figure 5As shown, the first moving wheel 130 is installed at the position closest to the center point of the vertical projection of the entire mobile chassis, thus solving the problem that towed logistics vehicles cannot operate in small spaces. In this embodiment, the first moving wheel of the first base is positioned on the corresponding location of the entire mobile chassis through the embedded connection of the first base and the second base. This not only simplifies the structure of the mobile chassis and reduces costs, but also embeds the first moving wheel into the entire base. This ensures that the first moving wheel of the assembled mobile chassis is at or near the center of the machine's ground projection, with a turning radius almost identical to that of a traditional differential steering chassis. This results in a smaller turning radius, providing excellent flexibility in confined spaces, and making it easy to use and operate. This structure requires only sufficient torque for handling, offering greater load adaptability than ordinary robot chassis, especially lurking lifting chassis, and saving more energy.

[0063] The second base also has a braking mechanism that can keep the second base in place when it is separated from the first base.

[0064] Specifically, the second base also includes a braking mechanism, which is vertically disposed inside one end of the second base and corresponds to the receiving hole of the second base. The braking mechanism includes multiple brake pads, each brake pad including a support rod. The top end of the support rod is movably connected to the inner sidewall of one end of the second base, and the bottom of the support rod is provided with a resistance element that can contact the ground. When the inserter is inserted into the receiving hole, the support rod is pushed off the ground by the inserter.

[0065] The braking mechanism may include at least one set (a set of braking mechanisms includes two opposing brake pads), or it may include multiple brake pads, and the multiple brake pads may be arranged in a set. For example... Figure 4As shown, when the second base is separated from the first base and stationary, at least two brake pads or a set of braking mechanisms are perpendicular to the ground and in contact with it. The brake pads include a support rod 410, with a resistance element 430 at the bottom of the support rod to stop or remain stationary on the ground. This resistance element 430 can be a rubber component with a certain contact area with the ground. The bottom of the resistance element 430 is a convex arc-shaped rubber block, which can have a concave arc shape to increase the contact area with the ground and provide better braking performance. The top of the support rod 410 is located in a movable connecting rod 420, which is connected to the inner arm of the protruding end of the second base. This movable connecting rod 420 allows the support rod 410 to move or be moved by external force under the action of the movable connecting rod 420. The position of the brake pad corresponds to the position of the deepest insertion piece 210 in the groove of the second base (or the position of the first set of insertion pieces 210). As mentioned above, when the insertion piece 210 is inserted into the receiving hole (regardless of how many insertion pieces 210 are inserted into the receiving hole), the insertion piece 210 will push up the brake pad, causing the resistance piece 430 to leave the ground, and the second base can move with the first base.

[0066] When there are multiple sets of brake pads or multiple sets of braking mechanisms, the sets can be connected by connecting rods. For example, brake pads located on the same side wall can be connected by connecting rods. When one set of brake pads is lifted, it will cause the brake pads of the other sets to lift off the ground together.

[0067] In addition, such as Figure 4 as well as Figure 5 As shown, the top of the support rod 410 is connected to the inner wall via a movable connecting rod 420, and the lower part of the support rod 410 is connected to the inner wall via an elastic device 440. A contact block 510 (which can be a cuboid block) is also provided at the position where the support rod 410 contacts the corresponding insert 210. This contact block 510 facilitates the insert 210 in accurately lifting the support rod 410, reducing slippage and rotation caused by the support rod 410 being off the ground. Furthermore, a slot matching the top of the insert 210 can be provided at the corresponding position of the contact block 510. The insert 210 can be more accurately embedded in the contact block 510 to smoothly lift the support rod 410, and can also be disengaged from the slot by a driving force during removal. The elastic device 440 may include a spring. When the first base and the second base are disconnected, the insert 210 leaves the receiving hole, and the support rod 410 is pulled by the return spring, which can pull the brake pad back to contact the ground and realize the braking function.

[0068] Unlike traditional robot chassis, this embodiment does not need to consider the weight of the goods themselves when handling them. It only needs to provide sufficient power torque for handling. It has a larger load adaptability than ordinary robot chassis, especially the lurking lifting chassis, and saves more energy.

[0069] Furthermore, in some of the processes described in the above embodiments and accompanying drawings, multiple operations appear in a specific order. However, it should be clearly understood that these operations may not be executed in the order they appear herein, or they may be executed in parallel. The operation numbers, such as 201, 202, etc., are merely used to distinguish different operations and do not represent any execution order. Additionally, these processes may include more or fewer operations, and these operations may be executed sequentially or in parallel. It should be noted that the descriptions such as "first" and "second" in this document are used to distinguish different messages, devices, modules, etc., and do not represent a sequential order, nor do they limit "first" and "second" to different types.

[0070] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without any creative effort.

[0071] Through the above description of the embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of a necessary general-purpose hardware platform, or by a combination of hardware and software. Based on this understanding, the above technical solutions, in essence or the part that contributes to the prior art, can be embodied in the form of a computer product. The present invention can take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0072] This invention is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable multimedia data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable multimedia data processing apparatus, generate instructions for implementing the flowchart illustrations and / or block diagrams. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0073] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable multimedia data processing device to operate in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0074] These computer program instructions may also be loaded onto a computer or other programmable multimedia data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0075] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0076] Memory may include non-persistent storage in computer-readable media, such as random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM. Memory is an example of computer-readable media.

[0077] Computer-readable media includes both permanent and non-permanent, removable and non-removable media that can store information using any method or technology. Information can be computer-readable instructions, data structures, modules of programs, or other data. Examples of computer storage media include, but are not limited to, phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, CD-ROM, digital versatile optical disc (DVD) or other optical storage, magnetic tape, magnetic magnetic disk storage or other magnetic storage devices, or any other non-transferable medium that can be used to store information accessible by a computing device. As defined herein, computer-readable media does not include transient computer-readable media, such as modulated data signals and carrier waves.

[0078] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A mobile chassis, characterized in that, include: A first base and a second base are embeddedly connected by a connecting mechanism, and the second base is embedded in the first base. The first base includes multiple first moving wheels, and the second base includes multiple second moving wheels. During movement, the mobile chassis drives the second moving wheels through the first moving wheels. The mobile chassis is used to place different types of loads.

2. The chassis according to claim 1, characterized in that, One end of the second base is embedded in the groove at one end of the first base.

3. The chassis according to claim 1 or 2, characterized in that, The connecting mechanism includes a plurality of inserts arranged along the centerline direction on both sides of the groove in the first base, and a plurality of receiving holes arranged along the centerline direction on the outer side of one end of the second base, which match the inserts.

4. The chassis according to claim 3, characterized in that, At least one first sensor is provided at a first preset position near the insert, and at least one second sensor matching the first sensor is provided at a second preset position near the receiving hole; The first base also includes a control unit, which is used for: The system receives signal data from the first sensor and the second sensor, determines the positional relationship between the insert and the matching receiving hole based on the signal data, and inserts the insert into the receiving hole according to the positional relationship.

5. The chassis according to claim 4, characterized in that, The first base also includes a transmission mechanism; The control unit is configured to issue a first command to the transmission mechanism according to the positional relationship, so that the transmission mechanism pushes the insert into the receiving hole.

6. The chassis according to claim 1, characterized in that, Multiple first movable wheels are respectively disposed on both sides of the groove of the first base, and the first movable wheels are disposed at positions closest to the center of the vertical projection of the movable chassis.

7. The chassis according to claim 3, characterized in that, The second base also includes a braking mechanism, which is vertically disposed inside one end of the second base and corresponds to the receiving hole of the second base; The braking mechanism includes multiple brake pads, each brake pad including a support rod. The top end of the support rod is movably connected to the inner side wall of one end of the second base, and the bottom of the support rod is provided with a resistance element that can contact the ground. When the insert is inserted into the receiving hole, the support rod is pushed off the ground by the insert.

8. The chassis according to claim 7, characterized in that, The top of the support rod is connected to the inner sidewall via a movable connecting rod, and the lower part of the support rod is connected to the inner sidewall via an elastic device; The insert at the deepest point of the groove pushes the support rod off the ground.

9. The chassis according to claim 1, characterized in that, The first base also includes a support tower and a screen; one end of the support tower is connected to the first base, and the other end of the support tower is connected to the screen, and the height of the screen is convenient for operators to operate.

10. The chassis according to claim 3, characterized in that, The first base also includes a control unit, which is used for: In response to the user's first operation, the insert to be inserted into the corresponding receiving hole is determined from multiple inserts, and a second instruction is generated and issued to the transmission mechanism; The transmission mechanism is driven according to the second instruction issued and pushes out the corresponding insert.

11. The chassis according to claim 1, characterized in that, The first moving wheel includes a motor, and the first base also includes a control unit, the control unit being configured to: In response to the user's second operation, a third command for movement is generated and sent to the motor, which then drives the first moving wheel to move.

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