Mobile chassis, lifting telescopic composite device thereof and mobile robot

Abstract

The utility model discloses a movable chassis, a lifting telescopic composite device thereof and a movable robot, and relates to the technical field of carrying. The movable chassis comprises a chassis main body and a plurality of wheels arranged at the bottom of the chassis main body; the plurality of wheels comprise at least one moving shaft wheel; the movable chassis further comprises a supporting piece and a rotating connecting piece. The supporting piece is arranged on the chassis main body; the rotary connecting piece is provided with a fulcrum part and a connecting end, and the rotary connecting piece is rotationally connected with the supporting piece through the fulcrum part; the connecting end corresponds to the movable shaft wheel; the movable shaft wheel is rotatably mounted on the connecting end of the rotary connecting piece, so that the movable shaft wheel can rotate around the fulcrum part along with the connecting end under the condition that the movable shaft wheel is subjected to a force facing or deviating from the direction of the chassis main body; the mobile chassis not only can operate stably, but also can keep stable under the condition of heavy load.

Description

Technical Field

[0001] The utility model relates to the technical field of handling, in particular to a mobile chassis, a lifting and telescopic composite device thereof, and a mobile robot. Background Art

[0002] In current handling equipment, the wheel system equipped on the mobile chassis usually includes a driving wheel and a driven wheel, and these two types of wheels are connected to the chassis through different structural forms.

[0003] A common structure is that both the driving wheel and the driven wheel are fixedly connected to the mobile chassis. In this configuration, the distance between the wheel axle and the chassis remains unchanged. When the equipment travels on an uneven road surface, since it cannot adapt to terrain changes, the chassis may shake accordingly, which may cause the vehicle to deviate from the predetermined trajectory. In extreme cases, it may even cause the center of gravity to become unstable due to excessive shaking, resulting in the collapse of the goods.

[0004] Another structure is that one of the driving wheel and the driven wheel is fixedly connected, and the other is floatingly connected. The so-called floating connection means that the wheel axle and the mobile chassis are indirectly connected through a flexible or movable connection component. This design allows the distance between the wheel axle and the chassis to be adjusted according to the road surface conditions during travel, thereby effectively buffering the vibration of the chassis. However, this floating connection also has problems when bearing heavy loads. For example, when carrying heavy goods, the interval between the wheel axle and the chassis may shrink, thereby reducing the ground clearance of the chassis. When facing an uneven road surface, this may cause the chassis to scrape against ground obstacles, increasing the risk of the goods tipping over.

[0005] In view of the above problems, those skilled in the art need to develop a mobile chassis that can not only run smoothly but also maintain stability under heavy load conditions. Summary of the Utility Model

[0006] The utility model aims to solve one of the technical problems in the related art to a certain extent. For this purpose, the utility model provides a mobile chassis, a lifting and telescopic composite device thereof, and a mobile robot, which can not only run smoothly but also maintain stability under heavy load conditions.

[0007] To achieve the above object, the present utility model adopts the following technical solutions: A mobile chassis includes a chassis main body and a plurality of wheels arranged at the bottom of the chassis main body; the plurality of wheels include at least one moving axle wheel; the mobile chassis further includes a support member and a rotating connecting member; the support member is provided on the chassis main body; the rotating connecting member has a fulcrum portion and a connecting end, and the rotating connecting member is rotatably connected to the support member through the fulcrum portion; the connecting end corresponds to the moving axle wheel; the moving axle wheel is rotatably installed on the connecting end of the rotating connecting member, so that the moving axle wheel can rotate around the fulcrum portion with the connecting end when a force in the direction towards or away from the chassis main body is applied.

[0008] Optionally, the fulcrum portion of the rotating connecting member is hinged to the support member, and the rotating connecting member has two opposite connecting ends, and the two opposite connecting ends can rotate relative to each other with the fulcrum portion as the center.

[0009] Optionally, the fulcrum portion includes a shaft hole provided in the middle of the rotating connecting member, and at least part of the support member is disposed in the shaft hole; the rotating connecting member is hinged to the support member through the shaft hole, so that the rotating connecting member can pivot around the axis of the shaft hole.

[0010] Optionally, the plurality of wheels include two opposite moving axle wheels; the rotating connecting member includes a connecting shaft, and the fulcrum portion is located in the middle of the connecting shaft; both ends of the connecting shaft respectively form connecting ends corresponding to the moving axle wheels.

[0011] Optionally, two opposite receiving ports are provided at the bottom of the chassis main body, and the receiving ports are used for installing the moving axle wheels, and there is a clearance between the moving axle wheels and the peripheries of the receiving ports.

[0012] Optionally, a mounting seat is provided at the bottom of the chassis main body between the two receiving ports; the support member includes a transverse shaft; both ends of the transverse shaft are mounted on the mounting seat, and the transverse shaft penetrates through the connecting shaft passing through the mounting seat, and the connecting shaft is rotatably connected to the transverse shaft.

[0013] Optionally, the fulcrum portion of the rotating connecting member is ball-jointed to the support member.

[0014] Optionally, a limiting structure is further included; the limiting structure is provided between one of the chassis main body and the support member and the rotating connecting member, and the limiting structure can limit the adjustment range of the distance between the moving axle wheels located on different connecting ends and the chassis main body.

[0015] Optionally, the limiting structure includes two spaced-apart retaining bars; the retaining bars are fixed to the chassis main body; the support member is located between the two retaining bars; wherein, two opposite connection ends on the rotating connector respectively pass through the corresponding retaining bars and there are movable gaps between the two ends of the rotating connector and the corresponding retaining bars, and the two movable gaps can limit the rotation range of the rotating connector.

[0016] Optionally, the plurality of wheels further includes a fixed-axis wheel, and the axle of the fixed-axis wheel is fixedly connected to the chassis main body; the fixed-axis wheel and the movable-axis wheel are respectively arranged on opposite sides of the chassis main body.

[0017] Optionally, the plurality of wheels includes at most two fixed-axis wheels.

[0018] Optionally, a driving device mounted on the chassis main body and drivingly connected to at least one of the wheels is further included.

[0019] Optionally, the driving device is drivingly connected to one of the fixed-axis wheel and the movable-axis wheel.

[0020] In the mobile chassis provided in this embodiment, at least two wheels provide at least three support points for the chassis main body. Each relatively narrow fixed-axis wheel is in direct contact with the ground, which is equivalent to providing one support point for the chassis main body; each relatively wide fixed-axis wheel provides two support points because of its larger contact surface with the ground; regardless of the width of the movable-axis wheel, since the distance between its axle and the chassis main body is variable, it is mainly connected to the support member on the chassis main body through the fulcrum part of the rotating connector. Therefore, one fulcrum part is equivalent to providing one support point for the chassis main body.

[0021] Compared with the traditional mobile chassis, when the number and width of the wheels are the same, by adopting the way of rotatably connecting the movable-axis wheel and the chassis main body through the rotating connector and the support member, such as hinge and ball hinge, four or more contact points between the wheel and the ground are converted into three support points for the chassis main body. Therefore, the force of the chassis main body can be relatively evenly distributed to the three support points, and the pressure distributed to the fulcrum part will be further distributed to the movable-axis wheels at each connection end through the rotating connector. And this structure can make the movable-axis wheels on each rotating connector be stressed more evenly, and there will be no situation where a certain fixed-axis wheel is locally stressed too much and is prone to wear. Therefore, the service life of the mobile chassis can be effectively extended. At the same time, the fulcrum part is located between multiple movable-axis wheels. When the distance between the movable-axis wheel and the chassis main body changes, the distance between the fulcrum part and the chassis main body is hardly affected. Therefore, when the mobile chassis travels on an uneven ground under heavy load, the change in the distance between the chassis main body and the ground can be effectively reduced, thereby avoiding the contact between the chassis main body and the ground, and further improving the stability.

[0022] In addition, the present utility model further provides a lifting and telescopic composite device, which includes a scissor lifting mechanism and the aforementioned mobile chassis. The scissor lifting mechanism is arranged on the chassis main body, and a plurality of the wheels are arranged on the periphery of the scissor lifting mechanism.

[0023] Meanwhile, the present utility model also provides a mobile robot, which includes a mobile robot chassis and the aforementioned lifting and telescopic composite device. A receiving groove is provided on the mobile robot chassis, and the receiving groove penetrates through the top and bottom of the mobile robot chassis. One end of the receiving groove extends to the periphery of the mobile robot chassis and forms an opening on the periphery for the lifting and telescopic composite device to enter and exit; the lifting and telescopic composite device is movably arranged in the receiving groove.

[0024] The beneficial effects of the lifting and telescopic composite device and the mobile robot provided by the present utility model are similar to the reasoning process of the aforementioned mobile chassis, and will not be elaborated here.

[0025] These features and advantages of the present utility model will be disclosed in detail in the following specific embodiments and the accompanying drawings. The best embodiments or means of the present utility model will be elaborated in combination with the accompanying drawings, but it is not a limitation to the technical solution of the present utility model. In addition, these features, elements and components appear in multiple in each of the following texts and drawings, and are marked with different symbols or numbers for convenience of representation, but all represent components with the same or similar structures or functions. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] The present utility model will be further described below with reference to the accompanying drawings:

[0027] Figure 1 It is a schematic structural diagram of a mobile chassis applied to a handling device in some embodiments.

[0028] Figure 2 It is a partial structural schematic diagram of the mobile chassis at the driving axle wheel in some embodiments.

[0029] Figure 3 It is a schematic cross-sectional structural diagram of the mobile chassis in the axial direction along the connecting shaft in some embodiments.

[0030] Figure 4 It is a cross-sectional view of the mobile chassis in the axial direction along the connecting shaft in some embodiments.

[0031] Figure 5 It is a schematic structural diagram of the driving axle wheel of the mobile chassis adopting wide wheels in some embodiments.

[0032] Figure 6It is a schematic structural diagram of the chassis main body in some embodiments, showing the accommodation opening therein.

[0033] Figure 7 It is a schematic structural diagram of the rotating connecting member of the mobile chassis in some embodiments, which adopts an X-shaped connecting member, showing its connection mode with the spherical hinge of the support member.

[0034] Figure 8 It is a schematic structural diagram of the rotating connecting member in some embodiments, where one connecting end is connected to a wide moving axle wheel.

[0035] Figure 9 It is a schematic structural diagram of the lifting and telescopic composite device and the mobile robot in some embodiments, where the lifting and telescopic composite device adopts the mobile chassis.

[0036] Among them, 100, chassis main body; 110, accommodation opening; 130, driving device; 200, fixed axle wheel; 300, moving axle wheel; 400, support member; 500, rotating connecting member; 510, fulcrum part; 520, connecting shaft; 530, connecting arm; 600, mounting seat; 610, retaining strip; 70, scissor lifting mechanism; 80, mobile robot chassis; 81, accommodation groove. Detailed implementation manners

[0037] The embodiments of the present invention will be described in detail below. The examples of the embodiments are shown in the drawings, where the same or similar reference numerals represent the same or similar elements or elements with the same or similar functions from beginning to end. Based on the embodiments in the implementation manners, it is intended to explain the present invention and should not be construed as a limitation to the present invention.

[0038] In the description of the present invention, it should be understood that the orientation or positional relationships indicated by the terms "longitudinal", "lateral", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. are based on the orientation or positional relationships shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation to the present invention.

[0039] In the description of the present utility model, it should be noted that unless otherwise clearly specified and defined, the terms "installation", "connection", and "coupling" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, and it can be the communication inside two components. For those of ordinary skill in the art, the specific meanings of the above terms in the present utility model can be understood according to specific situations.

[0040] In the description of the present utility model, unless otherwise specified, the meaning of "a plurality of" is two or more.

[0041] As used herein, the terms "one embodiment", "example", or "instance" mean that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the present disclosure. The appearances of the phrase "in one embodiment" in various places in the specification do not necessarily refer to the same embodiment.

[0042] Embodiment:

[0043] As a first aspect of the present utility model, there is provided a mobile chassis that can not only operate smoothly but also remain stable under heavy load conditions. As Figure 1 , Figure 2 and Figure 3 shown, the mobile chassis is applied to a handling device and includes a chassis main body 100 and a plurality of wheels. These wheels can be configured as a self-driven or non-driven design according to application requirements. When configured as a self-driven vehicle, the chassis is at least equipped with a driving device 130 that is in transmission connection with the wheels, enabling it to move by its own power. In the case where self-driving is not required, the chassis can be designed without a driving device 130, and at this time, it can be towed and moved by an externally powered vehicle.

[0044] The arrangement of the wheels is one of the key parts of the chassis main body 100. These wheels not only undertake the important task of supporting the chassis main body 100 but also enable the chassis to have the ability to move through contact with the ground. The wheels are reasonably arranged on the bottom surface of the chassis main body 100 and at least partially protrude from the bottom surface. Such a layout ensures that there is a certain gap between the bottom surface of the chassis main body 100 and the ground. This structure makes the distance between the bottom surface of the chassis main body 100 and the ground greater than the radius of the wheels, thereby providing sufficient space for the chassis main body 100 to adapt to various complex terrain conditions. In this way, the applicability and mobility of the chassis in different environments have been significantly improved, and at the same time, its adaptability to different ground conditions has been enhanced.

[0045] In the configuration of the wheels, according to the different widths of the wheels, flexible and diverse embodiments are provided. In some embodiments, the chassis main body 100 may be configured with at least three narrow wheels, or more than three. Taking three as an example, these three narrow wheels are evenly distributed around the chassis main body 100, providing three support points for the chassis main body 100. This layout ensures that the center of gravity of the chassis main body 100 is located within the triangular area defined by the three support points, thus achieving balanced support. The three support points are the minimum structure for providing support to the chassis main body 100.

[0046] In other embodiments, the chassis main body 100 may also use one wide wheel to replace two juxtaposed narrow wheels. For example, two wide wheels may be configured at the bottom of the chassis main body 100, where the axial length of one wide wheel is equivalent to the total axial length of two juxtaposed narrow wheels. For the wide wheel structure, reference can be made to Figure 5 . This structure can not only replace two narrow wheels with one wide wheel, thereby reducing the total number of wheels, but also, due to the larger contact area between the wide wheel and the ground, it can carry more heavy loads. It should be noted that when the chassis main body 100 uses wide wheels, due to its wider line contact with the ground, this is equivalent to a wide wheel providing a support point for the chassis main body 100 at both ends of its axial direction. Such a design enhances the stability and load-bearing capacity of the chassis main body 100, enabling it to adapt to a wider range of transportation and load requirements.

[0047] The drive device 130, as a key component in the present utility model, may use an electric motor as the power source. The electric motor is installed on the chassis main body 100 and is connected to the wheels through a precise transmission mechanism. This layout enables the electric motor to directly drive the wheels to rotate, thereby driving the entire chassis main body 100 to move smoothly. In this configuration, the wheels directly connected to the drive device 130 play the role of driving wheels, which are responsible for providing the driving force for the forward movement of the chassis main body 100. At the same time, those wheels not directly connected to the drive device 130 act as driven wheels, which mainly play a supporting role during the movement of the chassis main body 100 and reduce the resistance during the overall movement through rolling friction.

[0048] To further optimize space utilization and enhance the compactness of the design, the drive device can also be integrated with the wheels. A typical example is the use of in-wheel motor technology. In this design, each wheel consists of a relatively rotatable axle, a wheel hub, and an outer tire. The in-wheel motor is ingeniously placed inside the wheel hub. Its stator part is fixed on the axle and can be fixedly connected to the main body of the chassis or connected in a floating manner. The rotor part of the in-wheel motor is installed on the wheel hub and is rotationally connected to the axle through bearings. When the in-wheel motor starts to work, the rotation of the rotor directly drives the wheel hub and the tire wrapped around it to rotate, thereby driving the entire main body of the chassis forward. This integrated design not only saves space in the main body of the chassis but also improves the drive efficiency and mobility, making the mobile chassis of the present utility model applicable to a wider range of application scenarios.

[0049] In some embodiments, the wheels include at most two fixed-axis wheels 200 (the number of fixed-axis wheels can be zero) and at least one movable-axis wheel 300. This configuration can have various forms. For example, one wider fixed-axis wheel 200 and one wider movable-axis wheel 300 can be used, or two narrower fixed-axis wheels 200 and two narrower movable-axis wheels 300, or two narrower fixed-axis wheels 200 in combination with one wider movable-axis wheel 300, or even four narrower movable-axis wheels 300 can be selected. In all these configurations, the axle of the fixed-axis wheel 200 is fixedly connected to the main body 100 of the chassis, which means the distance between the axle of the fixed-axis wheel 200 and the bottom surface of the main body 100 of the chassis is constant. The distance between the axle of the movable-axis wheel 300 and the bottom surface of the main body 100 of the chassis is adjustable. Refer to Figure 3 and Figure 4 , in Figure 4 where L1 > L2 > L3, this design makes the movable-axis wheel 300 also known as a floating wheel.

[0050] In this embodiment, the specific implementation of the movable-axis wheel 300 is also introduced in detail. Refer to Figure 2 、 Figure 3 、 Figure 4 、 Figure 5 and Figure 6 , the mobile chassis further includes a support member 400 and a rotating connecting member 500. The rotating connecting member 500 usually has multiple connecting ends, such as two, three, or four. Usually, the number of movable-axis wheels 300 corresponds to the number of connecting ends of the rotating connecting member 500 one by one. Each movable-axis wheel 300 is rotatably mounted on the corresponding connecting end of the rotating connecting member 500 so that the movable-axis wheel can rotate with the connecting end around the fulcrum when subjected to a force towards or away from the chassis main body. For example, a narrower movable-axis wheel 300 can be mounted on one connecting end of the rotating connecting member 500.

[0051] In addition, in some alternative embodiments, as Figure 5 shown, the rotating connecting member 500 is composed of a connecting shaft 520 and connecting arms 530 respectively located at both ends of the connecting shaft. The connecting shaft 520 is arranged along the width direction of the chassis main body 100, while the connecting arms 530 are perpendicular to the connecting shaft 520 and are vertically arranged. The upper end thereof is connected to the connecting shaft, and the lower end is a free end, forming the connecting end of the rotating connecting member 500. In this layout, the free ends of the two connecting arms are arranged opposite to each other, and a relatively wide moving axle wheel 300 is installed between them. That is to say, the two connecting ends of the rotating connecting member 500 are respectively rotatably connected to both ends of the axle of the same relatively wide moving axle wheel 300. Such a configuration can also achieve similar functions and effects to those of two narrow moving axle wheels 300.

[0052] It should be noted that, in some embodiments, as Figure 8 shown, the rotating connecting member 500 may only have one connecting end, and this connecting end is connected to one side of a wide moving axle wheel, that is, the connecting end on the opposite side is omitted.

[0053] The support member 400 is arranged on the chassis main body 100, and the rotating connecting member 500 is rotatably connected to the support member 400 through a fulcrum portion 510 located between its multiple connecting ends. This design enables the distance between the moving axle wheels 300 on different connecting ends and the chassis main body 100 to be adjusted. Through this structural arrangement, the chassis can better adapt to different terrain conditions, improving its stability and mobility in different environments.

[0054] The fulcrum portion 510 is located at the center of the multiple connecting ends of the rotating connecting member 500. This layout enables the moving axle wheels 300 on each connecting end to rotate at corresponding angles around the fulcrum portion 510 according to the different heights of the ground when the moving chassis moves on an uneven ground. Such rotation helps the chassis adapt to the height difference caused by the uneven ground, ensuring the continuity and smoothness of the moving process. During this process, the rotation center of the moving axle wheel 300 is exactly located at the fulcrum portion 510, and the distance between the fulcrum portion 510 and the chassis main body 100 is relatively fixed. This means that although the chassis is connected to multiple fixed axle wheels 200 through the support member 400 and the rotating connecting member 500, the interaction between these wheels and the ground at multiple contact points is ultimately achieved through the single-point contact between the fulcrum portion 510 and the support member 400, thereby significantly enhancing the adaptability and stability of the chassis.

[0055] In some preferred embodiments, the fulcrum portion 510 is designed to be located at the center of a plurality of connection ends, ensuring that the distances from the fulcrum portion 510 to each connection end are almost equal. This balanced design ensures that even when the rotating connector 500 rotates, the pressures borne by the driving axle wheels 300 on each connection end are almost equal. This not only helps to maintain little difference in the wear degrees of each driving axle wheel 300 during long-term driving, but also avoids the situation where a certain wheel is prematurely scrapped due to uneven local stress, thereby increasing the service life of the entire mobile chassis.

[0056] In addition, since the fulcrum portion 510 is located at the center of a plurality of connection ends, the contact points of the fixed axle wheels 200 with the ground are evenly distributed around the fulcrum portion 510. Even when the rotating connector 500 rotates, the rotating directions of the fixed axle wheels 200 on two opposite connection ends are opposite, which ensures that the overall height of the support member 400 connected to the fulcrum portion 510 does not decrease, thereby maintaining the distance between the chassis main body 100 and the ground. Such a design reduces the situation where the bottom surface of the chassis main body 100 may come into contact with the ground when the floating wheels move on uneven ground, ensuring the smooth operation and long-term durability of the chassis.

[0057] In some embodiments, the fulcrum portion 510 of the rotating connector 500 is connected to the support member 400 in an articulated manner. Such a design enables the opposite connection ends on the rotating connector 500 to rotate relative to each other with the fulcrum portion 510 as the center. At the same time, the rotation direction of the connection ends of the rotating connector 500 with the fulcrum portion 510 as the center intersects with the self-rotation direction of the driving axle wheels 300 on the connection ends. For example, in the attached Figure 2 figure shows a rotating connector 500 having two opposite connection ends, which includes a connecting shaft. Two driving axle wheels 300 are respectively rotatably connected to both ends of the connecting shaft through bearings. The rotation directions of the driving axle wheels 300 are indicated by arrows A in the figure and can rotate bidirectionally. A radial shaft hole is provided in the middle of the connecting shaft, forming the fulcrum portion 510, and the support member 400 passes through the shaft hole in the middle of the connecting shaft. The rotation direction of the connecting shaft is indicated by arrow B in the figure and can rotate bidirectionally. It can be seen from the attached figure that the plane where arrow A is located and the plane where arrow B is located are both vertical planes, and these two planes are perpendicular to each other.

[0058] In some alternative embodiments, radial short shafts are respectively provided in two opposite directions in the middle of the connecting shaft. These two short shafts are concentrically arranged, forming the fulcrum portion 510. Correspondingly, the support member 400 is two opposite shaft seats provided on the chassis main body 100. The short shafts correspond to and cooperate with the shaft seats, enabling the connecting shaft to rotate in the shaft seats through the short shafts. This structural design improves the stability of the rotating connector 500.

[0059] In some embodiments, such asFigure 6 As shown, a total of four receiving ports 110 are provided at the bottom of the chassis main body 100 along the front-rear direction (i.e., the length direction), and each receiving port 110 can be installed with a wheel. Among these receiving ports 110, two are located on the front side, and the other two are located on the rear side, and the two receiving ports 110 on the front side and the two receiving ports 110 on the rear side are opposed to each other in the width direction. Among them, driving axle wheels 300 are respectively installed in two opposed receiving ports 110, and these two driving axle wheels 300 are also connected to two opposed connection ends of the same rotating connection member 500. For example, the rotating connection member 500 is composed of a connecting shaft, and the end portions of both ends thereof respectively form connection ends corresponding to the driving axle wheels 300, and the fulcrum portion 510 is located at the middle position of the connecting shaft so as to be hinged to the intersecting support member 400. In addition, in order to ensure that the driving axle wheels 300 can freely rotate in the up-down direction along with the rotating connection member 500 and avoid contacting the periphery of the receiving port 110, thereby affecting the driving performance of the mobile chassis, a certain clearance is specially left between the driving axle wheels 300 and the periphery of the corresponding receiving port 110.

[0060] As Figure 2 As shown, at the bottom of the chassis main body 100, at the portion between two receiving ports 110, a mounting seat 600 is also specially provided. This mounting seat 600 includes two high platforms, and the bottoms of these two high platforms are integrally connected by a connecting plate. Such a design makes the dimension between the two high platforms match the length of the support member 400, so that the thread fasteners can be quickly positioned and conveniently installed during the installation process. The two high platforms are arranged one in front of the other along the length direction of the chassis main body 100.

[0061] The support member 400 includes a horizontal shaft, and its axial direction is consistent with the length direction of the chassis main body 100. Both ends of the horizontal shaft are mounted on the mounting seat 600. Specifically, both ends of the horizontal shaft are respectively fixed on the high platforms by thread fasteners, so that the horizontal shaft is suspended above the portion of the chassis main body 100 between two receiving ports 110. The connecting shaft is arranged along the width direction of the chassis main body 100 and passes through between the two high platforms of the mounting seat 600, and its two ends respectively extend into the receiving ports 110 and are connected to the driving axle wheels 300. In such a configuration, the horizontal shaft penetrates the connecting shaft passing through the mounting seat 600, realizing the rotational connection between the connecting shaft and the horizontal shaft.

[0062] Specifically, the fulcrum portion 510 includes a circular shaft hole provided in the middle of the connecting shaft, and the support member 400 just passes through this shaft hole, and the connecting shaft can be hinged to the horizontal shaft through the shaft hole so that the connecting shaft can pivot around the axis of the shaft hole. This design not only ensures the stability and flexibility of the rotating connection member 500, but also enhances the structural integrity and use reliability of the entire mobile chassis through precise fitting and installation.

[0063] In some alternative embodiments, the fulcrum portion 510 of the rotating connector 500 and the support member 400 may also be connected by a ball joint. Specifically, the fulcrum portion 510 is designed as a sphere located in the middle of the connecting shaft, and a spherical shell is formed at the corresponding middle position of the support member 400. This spherical shell has an inner cavity with a diameter adapted to that of the sphere to accommodate the sphere. To allow both ends of the connecting shaft to extend, two opposite openings are provided in the spherical shell. Both ends of the spherical shell are connected to the high platform through the protruding support arms, and these high platforms are fixed to the chassis main body 100 by fasteners such as bolts, so that the support member 400 is firmly connected to the chassis main body 100 through the high platform of the mounting seat 600.

[0064] In addition, in the rotating connector 500 using a ball joint, Y-shaped or X-shaped connectors can also be used. These connectors provide three and four connection ends respectively to connect three or four driving axle wheels 300. Correspondingly, openings corresponding to the number of connection ends are provided in the spherical shell to ensure the integrity and functionality of the structure. In particular, the X-shaped connector is equivalent to two rotating connectors 500 arranged crosswise and combined together, and the two fulcrum portions 510 are jointly connected to the same support member 400. See Figure 7 .

[0065] In some embodiments, the mobile chassis further includes a limiting structure. This structure is provided between one of the chassis main body 100 and the support member 400 and the rotating connector 500, and its main function is to limit the range of distance adjustment between the driving axle wheels 300 located on different connection ends and the chassis main body 100.

[0066] Specifically, the limiting structure consists of two spaced-apart stop bars 610, and these two stop bars 610 are fixedly connected to the chassis main body 100. The support member 400 is located between these two stop bars 610, and both ends of the rotating connector 500 pass through the corresponding stop bars 610 respectively, and there are movable gaps between both ends of the rotating connector 500 and the corresponding stop bars 610. The function of these two movable gaps is to limit the rotation angles of the rotating connector 500 in two opposite directions.

[0067] Specifically, as shown in the figure, in the width direction of the chassis body 100, two baffles 610 are respectively arranged on both sides of the mounting seat 600 and are integrally connected to the mounting seat 600, and the baffles integrally connected to the high platform of the mounting seat at both ends replace the function of the connecting plate. The baffle 610 is located in the part between the two high platforms and is below the connecting shaft. More specifically, in the axial direction, the two baffles 610 are respectively located at both ends of the connecting shaft at the fulcrum portion 510. When the connecting shaft rotates to one side, the active gap between it and the baffle 610 on that side will become smaller, while the active gap between it and the baffle 610 on the other side will become larger, so that the connecting shaft will eventually contact the baffle 610 on that side, thereby limiting the rotation angle of the connecting shaft on that side. Similarly, when the connecting shaft rotates to the other side, the same is true. In order to facilitate the placement of the support member and the rotating connecting member, a raised positioning portion is provided at both ends of the two baffles, and the height of the positioning portion is higher than the boss. Through the four positioning portions, the support member and the rotating connecting member can be quickly placed between the positioning portions during installation.

[0068] In some embodiments, the fixed axle wheels 200 and the moving axle wheels 300 are respectively arranged on opposite sides of the chassis body 100. The area between the fixed axle wheels 200 and the moving axle wheels 300 can be used to place goods or install a mechanism for taking goods, such as a scissor lift mechanism.

[0069] In addition, in some embodiments, the driving device 130 is drivingly connected to one of the fixed-axle wheel 200 and the moving-axle wheel 300. Those skilled in the art can flexibly select according to actual needs, and no specific limitation is made here. Such a design enables the mobile chassis to adapt to different usage scenarios and requirements, and improves its applicability and flexibility.

[0070] In addition, the utility model also provides a lifting and telescopic composite device, which is mainly used in the fields of warehousing and transportation. Figure 9 As shown, the lifting and telescopic composite device is a fork leg on a latent fork-picking robot. The lifting and telescopic composite device includes a scissor-type lifting mechanism 70 and a mobile chassis as described above, wherein the scissor-type lifting mechanism 70 is arranged on the chassis body 100. The scissor-type lifting mechanism 70 can lift goods, and is usually composed of two sets of parallel scissor-type arms, a screw mechanism and a driving motor. The lower ends of the two sets of scissor-type arms are arranged on the chassis body, and the upper ends thereof can lift goods when extended. The screw mechanism and the motor are arranged on the chassis body, and the motor drives the screw to rotate through the screw nut matched therewith, thereby driving the scissor-type arms to move and achieve extension. The plurality of wheels are arranged on the peripheral side of the scissor-type lifting mechanism so that the center of gravity is located in the middle of the plurality of wheels, thereby improving stability.

[0071] In a configuration using wider wheels, to ensure the stable operation of the device, the width of the wheels should be no less than 80% of the distance between two sets of scissor arms. This design effectively improves the stability and safety of the handling device during operation, especially when carrying heavy goods.

[0072] Since this lifting and telescoping composite device uses the aforementioned mobile chassis, and the benefits it brings are similar to those of the mobile chassis, they will not be repeated in detail here.

[0073] Meanwhile, as Figure 9 shown, the present utility model also provides a mobile robot, specifically a latent forklift robot. The mobile robot includes a mobile robot chassis 80 and the aforementioned lifting and telescoping composite device. An accommodation groove 81 is provided on the mobile robot chassis 80. The accommodation groove 81 penetrates the top and bottom of the mobile robot chassis 80 to form a bottomless through groove. When the scissor lifting mechanism 70 of the lifting and telescoping composite device rises, its upper end can lift the goods from the top of the mobile robot chassis 80. And the wheels of the lifting and telescoping composite device can travel to the bottom of the mobile robot chassis 80 (inside the accommodation groove 81).

[0074] The accommodation groove 81 has a specific width and length. Its width is slightly larger than the width of the lifting and telescoping composite device so that the lifting and telescoping composite device can drive in. In the length direction, one end of the accommodation groove 81 extends along the upper and lower surfaces of the mobile robot chassis 80 to the periphery of the mobile robot chassis 80, and an opening for the lifting and telescoping composite device to enter and exit is formed on a side wall of the periphery. The width of the opening is equal to that of the accommodation groove 81. The length of the accommodation groove 81 can be less than, equal to, or greater than the length of the lifting and telescoping composite device. When the length of the accommodation groove 81 is less than the length of the lifting and telescoping composite device, one end of the lifting and telescoping composite device is accommodated in the accommodation groove 81, and the other end part is exposed from the opening on the periphery of the mobile robot chassis 80. When the length of the accommodation groove 81 is greater than or equal to the length of the lifting and telescoping composite device, the accommodation groove 81 can completely accommodate the lifting and telescoping composite device.

[0075] The lifting and telescoping composite device is movably arranged in the accommodation groove 81 and can flexibly drive out or into the opening on the side wall of the periphery of the mobile chassis according to the need of handling goods. The lifting and telescoping composite device and the mobile robot chassis 80 can be connected through flexible components such as cables to achieve communication and power supply. In addition, a telescopic rod component or a multi-joint connection structure can also be used for connection.

[0076] In some alternative embodiments, the lifting and telescopic composite device includes a power source that can supply power to the drive wheels and the motors of the drive components through its own power source. In this case, the lifting and telescopic composite device can be completely separated from the mobile robot chassis 80, with no physical connection between the two, and control and information transmission are carried out through wireless communication.

[0077] It should be noted that in this embodiment, the mobile chassis described can be used not only on the fork legs of the latent forklift robot, but also on the mobile robot chassis of the latent forklift robot and the mobile robot chassis of other types of handling equipment. Those skilled in the art can set it flexibly according to the situation, and will not be elaborated here one by one.

[0078] The above is only the specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Those skilled in the art should understand that the present invention includes but is not limited to the content described in the drawings and the above specific embodiments. Any modification that does not deviate from the functional and structural principles of the present invention will be included in the scope of the claims.

Claims

1. A mobile chassis, comprising a chassis body and a plurality of wheels arranged at the bottom of the chassis body; the plurality of wheels including at least one driving axle wheel; characterized in that: The mobile chassis also includes a support member and a rotating connection member; the support member is arranged on the chassis body; the rotating connection member has a fulcrum portion and a connecting end, and the rotating connection member is rotatably connected to the support member via the fulcrum portion; the connecting end corresponds to the moving axle wheel; the moving axle wheel is rotatably mounted on the connecting end of the rotating connection member, so that the moving axle wheel can rotate around the fulcrum portion along with the connecting end when the moving axle wheel is subjected to a force toward or away from the chassis body.

2. The mobile chassis according to claim 1, characterized in that: The fulcrum portion of the rotating connection member is hinged to the support member, and the rotating connection member has two opposite connection ends, and the two opposite connection ends can rotate relatively with the fulcrum portion as the center.

3. The mobile chassis according to claim 2, characterized in that: The fulcrum portion includes an axial hole arranged in the middle of the rotating connection member, and the support member is at least partially arranged in the axial hole; the rotating connection member is hinged to the support member through the axial hole so that the rotating connection member can pivot around the axis of the axial hole.

4. The mobile chassis according to claim 1, characterized in that: The multiple wheels include two opposite driving axle wheels; the rotating connecting member includes a connecting shaft, and the fulcrum portion is located in the middle of the connecting shaft; both ends of the connecting shaft respectively form connecting ends corresponding to the driving axle wheels.

5. The mobile chassis according to claim 4, characterized in that: The bottom of the chassis body is provided with two opposite accommodating openings, the accommodating openings are used to install the driving axle wheels, and a movable space is reserved between the driving axle wheels and the peripheries of the accommodating openings.

6. The mobile chassis according to claim 5, characterized in that: The bottom of the chassis body is provided with a mounting seat at the part located between the two receiving openings; the support member includes a transverse axis; the two ends of the transverse axis are mounted on the mounting seat, and the transverse axis passes through a connecting shaft passing through the mounting seat, and the connecting shaft is rotatably connected to the transverse axis.

7. The mobile chassis according to claim 1, characterized in that: The fulcrum of the rotating connecting member is connected to the supporting member by a ball joint.

8. The mobile chassis according to any one of claims 1 to 7, characterized in that: It also includes a limiting structure; the limiting structure is arranged between the chassis body and one of the supporting members and the rotating connecting member, and the limiting structure can limit the adjustment range of the distance between the driving axle wheels located at different connecting ends and the chassis body.

9. The mobile chassis according to claim 8, characterized in that: The limiting structure includes two baffles arranged at intervals; the baffles are fixed to the chassis body; the support member is located between the two baffles; wherein the two opposite connecting ends on the rotating connecting member pass through the corresponding baffles respectively and there is a movable gap between the two ends of the rotating connecting member and the corresponding baffles, and the two movable gaps can limit the rotation range of the rotating connecting member.

10. The mobile chassis according to any one of claims 1 to 7, characterized in that: The plurality of wheels further include a fixed-axle wheel, the wheel axle of which is fixedly connected to the chassis body; the fixed-axle wheel and the moving-axle wheel are respectively arranged on two opposite sides of the chassis body.

11. The mobile chassis according to claim 10, characterized in that: The plurality of wheels includes at most two fixed-axle wheels.

12. The mobile chassis according to any one of claims 1 to 7, characterized in that: The chassis also includes a driving device mounted on the chassis body and drivingly connected to at least one of the wheels.

13. A lifting and telescopic composite device, comprising a scissor lift mechanism and a mobile chassis as claimed in any one of claims 1 to 12, characterized in that: The scissor lift mechanism is provided on the chassis body and the plurality of wheels are arranged on a peripheral side of the scissor lift mechanism.

14. A mobile robot, comprising a mobile robot chassis and the lifting and telescoping composite device as claimed in claim 13, characterized in that: The mobile robot chassis is provided with a receiving groove, which runs through the top and bottom of the mobile robot chassis. One end of the receiving groove extends to the peripheral side of the mobile robot chassis and forms an opening on the peripheral side for the lifting and telescopic compound device to enter and exit; the lifting and telescopic compound device is movably arranged in the receiving groove.

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