Motion chassis and storage robot

Abstract

The utility model relates to a moving chassis and a storage robot, and belongs to the technical field of intelligent storage. The moving chassis comprises a bearing main body, a driving wheel set and driven wheels, the driving wheel set is arranged on the bearing main body and comprises two driving wheels, each driving wheel is provided with a driving motor, and the driving motors are used for driving the corresponding driving wheels to rotate so that the bearing main body can be switched between straight movement and steering; the at least two driven wheels and the driving wheel set are used for supporting the bearing body. According to the motion chassis, the driving wheel set is arranged on the bearing main body to provide driving force for movement of the bearing main body. Each driving wheel is provided with a driving motor, and when the moving chassis needs to go straight, the two driving wheels rotate in the same direction at the same speed; when the moving chassis needs to steer, the two driving wheels are respectively driven by the driving motor to rotate reversely, so that the moving chassis rotates in situ by taking the central points of the rotating shafts of the two driving wheels as the circle center, and the turning flexibility of the moving chassis is improved.

Description

Technical Field

[0001] The utility model relates to a moving chassis and a warehousing robot, belonging to the technical field of intelligent warehousing. Background Art

[0002] With the rapid development of the logistics warehousing industry, the construction of stereoscopic warehouses for storing goods is becoming more and more extensive, and various warehousing robots such as stacker AGVs and AMRs for stereoscopic warehouses are increasing. Especially for fork-lift warehousing robots, goods are stacked on pallets, and the goods are transported by fork-lifting the pallets.

[0003] The moving chassis is an important mechanism of the warehousing robot. The fork is driven by the moving chassis to move to pick up and place goods in the stereoscopic warehouse. However, there is a problem that the existing moving chassis is not flexible enough to turn during walking. Summary of the Utility Model

[0004] Based on this, the purpose of the utility model is to provide a moving chassis and a warehousing robot to improve the turning flexibility of the moving chassis.

[0005] The utility model provides a moving chassis, which comprises:

[0006] A load-bearing main body;

[0007] A driving wheel set, arranged on the load-bearing main body. The driving wheel set includes two driving wheels, and each driving wheel is configured with a driving motor. The driving motor is used to drive the corresponding driving wheel to rotate, so that the load-bearing main body can change between going straight and turning;

[0008] At least two driven wheels. At least two of the driven wheels and the driving wheel set are used to support the load-bearing main body.

[0009] In one embodiment, the driving wheel set further includes:

[0010] The two driving wheels of the driving wheel set are connected by a connecting piece, so that the rotation axes of the two driving wheels are on the same straight line. The connecting piece is rotatably connected to the load-bearing main body to be able to adjust the rotation axes of the two driving wheels to be parallel to the walking surface or form an angle with the walking surface.

[0011] In one embodiment, the moving chassis further includes a first gear, a second gear and a sensor. The first gear and the second gear are meshed and rotatably arranged on the load-bearing main body. The connecting piece is pivotally connected to the first gear. The differential rotation of the driving wheels drives the connecting piece to rotate, and the rotation of the connecting piece drives the first gear to rotate. The second gear is connected to the sensor.

[0012] In one embodiment, the mobile chassis travels in a first direction, and the drive wheel set is disposed at a first end of the carrying body in the first direction and at an intermediate position in a second direction of the first end, the second direction being perpendicular to the first direction.

[0013] In one embodiment, the mobile chassis travels in a first direction, and two driven wheels are disposed at a second end of the carrying body in the first direction, and the two driven wheels are spaced apart in the second direction on both sides below the carrying body.

[0014] In one embodiment, the mobile chassis further includes:

[0015] An auxiliary support member, the auxiliary support member is disposed within the carrying body and is capable of selectively extending out of the lower surface of the carrying body.

[0016] In one embodiment, there are two sets of the auxiliary support members, and the two sets of the auxiliary support members are respectively disposed on both sides of the drive wheel set in a direction perpendicular to the traveling direction of the carrying body.

[0017] In one embodiment, the auxiliary support member includes:

[0018] A landing member, the landing member is used for extending out of the lower surface of the carrying body;

[0019] A lifting drive member, a fixed end of the lifting drive member is disposed on the carrying body, and a driving end of the carrying body is connected to the landing member to drive the landing member to extend out of the lower surface of the carrying body or retract into the carrying body.

[0020] In one embodiment, the auxiliary support member further includes:

[0021] A pressure sensor, disposed on the landing member, the pressure sensor is configured to sense a pressure value of the landing member on the traveling surface of the mobile chassis, so as to stop the driving action of the lifting drive member when the pressure value reaches a preset value.

[0022] In one embodiment, the landing member adopts a universal wheel.

[0023] The present utility model further provides a warehousing robot, the warehousing robot includes a gantry and an attachment, the attachment is installed on the gantry, the warehousing robot further includes the mobile chassis as described above, and the gantry and the driven wheels are installed at the same end of the carrying body.

[0024] In one embodiment, a non-contact charging device is provided on the moving chassis, and the non-contact charging device is used to cooperate with a non-contact charging pile to charge the warehousing robot.

[0025] Therefore, the utility model has the following advantages compared with the prior art:

[0026] According to the moving chassis involved in the utility model, by providing a driving wheel set on the bearing body, driving force is provided for the movement of the bearing body. The driving wheel set includes two driving wheels. By configuring a driving motor for each driving wheel, when the moving chassis needs to go straight, the two driving wheels rotate in the same direction and at the same speed; when the moving chassis needs to turn, the driving motors drive the two driving wheels to rotate in opposite directions respectively, so that the moving chassis rotates in place with the center point of the rotation axes of the two driving wheels as the center, improving the turning flexibility of the moving chassis.

[0027] According to the warehousing robot involved in the utility model, by adopting the above-mentioned moving chassis, flexible turning in the three-dimensional warehouse is realized, greatly improving the convenience of goods transfer. Description of the Drawings

[0028] Figure 1 It is a schematic structural diagram of the warehousing robot provided in an embodiment of the present application.

[0029] Figure 2 It is a schematic bottom view structural diagram of the moving chassis provided in an embodiment of the present application.

[0030] Figure 3 It is a schematic structural diagram of the driving wheel set provided in an embodiment of the present application from one perspective.

[0031] Figure 4 It is a schematic structural diagram of the driving wheel set provided in an embodiment of the present application from another perspective.

[0032] Figure 5 It is a schematic structural diagram of the auxiliary support provided in an embodiment of the present application.

[0033] Figure 6 It is a schematic structural diagram of the non-contact charging device and the charging pile provided in an embodiment of the present application.

[0034] Reference Signs:

[0035] 100a, moving chassis; 100b, gantry; 100c, attachment; 100d, charging pile; 110, power supply end;

[0036] 10, bearing body; 11, mounting plate; 12, first avoidance hole; 13, second avoidance hole;

[0037] 20. Driving wheel set; 21. Driving wheel; 22. Driving motor; 23. Connecting block; 24. First gear; 25. Second gear;

[0038] 30. Driven wheel;

[0039] 40. Auxiliary support member; 41. Landing member; 42. Lifting drive member; 421. Lifting mounting plate; 422. Lifting motor; 423. Lifting speed reducer; 43. Universal wheel mounting plate; 44. Universal wheel bracket;

[0040] 50. Non-contact charging device; 51. Power receiving end. Detailed implementation manner

[0041] To make the above objects, features, and advantages of the present utility model more obvious and understandable, the following will describe the detailed implementation manner of the present utility model with reference to the accompanying drawings. Many specific details are set forth in the following description to fully understand the present utility model. However, the present utility model can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without departing from the connotation of the present utility model. Therefore, the present utility model is not limited by the specific embodiments disclosed below.

[0042] Please refer to Figure 1 , Figure 1 which shows a schematic structural diagram of a warehousing robot provided in an embodiment of the present application. An embodiment of the present application provides a motion chassis 100a and a warehousing robot using the motion chassis 100a. The warehousing robot further includes a gantry 100b and an attachment 100c. The attachment 100c is installed on the gantry 100b, and the gantry 100b is installed on the motion chassis 100a. Specifically, the motion chassis 100a travels in a first direction, and the first direction is defined as Figure 1 the front-rear direction shown, the first end of the motion chassis 100a faces forward, and the second end of the motion chassis 100a faces backward. Among them, the gantry 100b is arranged on the upper side of the second end of the motion chassis 100a, the attachment 100c is arranged on the front side of the gantry 100b, and the center of gravity of the attachment 100c after carrying the goods falls above the motion chassis 100a, which is beneficial to maintaining the center of gravity balance of the warehousing robot.

[0043] It should be noted that the embodiment of the present application mainly relates to the improvement of the motion chassis 100a, and there are no restrictions on the specific structures of the gantry 100b and the attachment 100c and their arrangement manners on the motion chassis 100a. The above is an arrangement manner of the gantry 100b and the attachment 100c on the motion chassis 100a. In some other embodiments, the attachment 100c can also be arranged on the rear side of the gantry 100b, or the gantry 100b can be arranged on the first end of the motion chassis 100a.

[0044] Please refer toFigure 2 and Figure 3 , Figure 2 shows a bottom view structural schematic diagram of the mobile chassis 100a provided in an embodiment of the present application; Figure 3 shows a structural schematic diagram of the drive wheel set 20 provided in an embodiment of the present application from a perspective.

[0045] The mobile chassis 100a includes a load-bearing main body 10, a drive wheel set 20, and at least two driven wheels 30. The drive wheel set 20 is disposed on the load-bearing main body 10. The drive wheel set 20 includes two drive wheels 21, and each drive wheel 21 is configured with a drive motor 22. The drive motor 22 is used to drive the corresponding drive wheel 21 to rotate, so that the load-bearing main body 10 can be transformed between going straight and turning. The at least two driven wheels 30 and the drive wheel set 20 are used to support the load-bearing main body 10.

[0046] According to the mobile chassis related to the embodiment of the present utility model, by arranging the drive wheel set 20 on the load-bearing main body 10, driving force is provided for the movement of the load-bearing main body 10. The drive wheel set 20 includes two drive wheels 21. By configuring a drive motor 22 for each drive wheel 21, the two drive wheels 21 can be driven to rotate at different speeds or in different directions. When the mobile chassis 100a needs to go straight, the two drive wheels 21 are rotated in the same direction and at the same speed; when the mobile chassis 100a needs to turn, the two drive wheels 21 are respectively driven by the drive motors 22 to rotate in opposite directions, so that the mobile chassis 100a rotates in place with the center point of the rotation axes of the two drive wheels 21 as the center, improving the turning flexibility of the mobile chassis 100a.

[0047] In one embodiment, as Figure 2 shown, the mobile chassis 100a travels along the first direction. The drive wheel set 20 is disposed at the first end of the load-bearing main body 10 in the first direction, and is disposed at the middle position of the first end in the second direction. The second direction is perpendicular to the first direction, and the second direction is specifically Figure 2 the left-right direction shown in

[0048] By disposing the drive wheel set 20 at the middle position of the first end, compared with the prior art solution of disposing the two drive wheels 21 at the top corners of the load-bearing main body 10, the axial distance between the two drive wheels 21 is reduced, which is beneficial to reducing the turning radius of the mobile chassis 100a, thereby further improving the turning flexibility.

[0049] In one embodiment, there are two driven wheels 30, and the two driven wheels 30 are disposed at the second end of the load-bearing main body 10 in the first direction, and the two driven wheels 30 are spaced apart along the second direction on both sides below the load-bearing main body 10.

[0050] The two driven wheels 30 and the drive wheel set 20 form three contact points on the walking surface of the moving chassis 100a. The three-point support structure can keep the three contact points in contact with the walking surface all the time, which is beneficial to maintaining the walking stability of the moving chassis 100a. Especially on an uneven walking surface, the drive wheels 21 of the drive wheel set 20 and the driven wheels 30 can float with the undulation of the walking surface but will not separate from the walking surface, thus preventing the moving chassis 100a from losing balance due to the sudden loss of support at a certain support point.

[0051] Combined with Figure 1 As shown, the gantry 100b and the driven wheels 30 are installed at the same end of the load-bearing body 10, both at the second end of the load-bearing body 10. The drive wheels 21 are arranged at the first end of the load-bearing body 10. The front is the forward direction of the moving chassis 100a, and the rear is the reverse direction of the moving chassis 100a. Therefore, the moving chassis 100a is front-driven and is more flexible in turning and has a smaller turning radius compared to the rear-driven mode.

[0052] The attachment 100c is arranged on the front side of the gantry 100b. During the forward movement of the warehousing robot, the attachment 100c faces forward and can directly move to the front of the shelf. Compared with the solution where the attachment 100c is arranged on the rear side of the gantry 100b, it can be closer to the front shelf.

[0053] Please continue to refer to Figure 2 , in order to make the drive wheels 21 extend out of the lower surface of the load-bearing body 10, a first avoidance hole 12 is provided on the bottom plate of the load-bearing body 10, and the drive wheels 21 extend out from the first avoidance hole 12 to be able to contact the walking surface.

[0054] In an embodiment, as Figure 2 shown, the two driven wheels 30 are respectively arranged at the top corners of the second end of the moving chassis 100a, and the drive wheel set 20 is close to the front side edge of the first end of the moving chassis 100a, so as to keep the distance between the two driven wheels 30 and the drive wheel set 20 as large as possible, which is beneficial to improving the stability of the moving chassis 100a.

[0055] Please refer to Figure 4 , Figure 4 which shows a schematic structural diagram of the drive wheel set 20 provided in an embodiment of the present application from another perspective. For the convenience of installing the drive wheels 21 and the drive motors 22, the drive wheel set 20 further includes a connecting member. The two drive wheels 21 of the drive wheel set 20 are connected by the connecting member so that the rotation axes of the two drive wheels 21 are on a straight line. The connecting member is rotatably connected to the load-bearing body 10 to be able to adjust the rotation axes of the two drive wheels 21 to be parallel to the walking surface or form an angle with the walking surface.

[0056] When the walking surface is relatively flat, the contact points of the two driving wheels 21 with the walking surface are on the same plane, and the rotation axes of the two driving wheels 21 are parallel to the walking surface. When the walking surface is uneven, if the rotation axes of the driving wheels 21 cannot be adjusted, it may cause one driving wheel 21 to be in a suspended state due to potholes on the walking surface under the two driving wheels 21, resulting in unstable support. By using the above-mentioned method of pivotally connecting the connecting member to the bearing body 10, the connecting member can drive the two driving wheels 21 to rotate relative to the bearing body 10. When there are potholes on the walking surface under the two driving wheels 21, the connecting member can rotate a certain angle relative to the bearing body 10, thereby driving the two driving wheels 21 to tilt with the pothole state of the walking surface to adapt to the pothole state of the walking surface, so as to keep the two driving wheels 21 always in contact with the walking surface, so that the two driving wheels 21 maintain a stable supporting force on the bearing body 10.

[0057] Specifically, please continue to refer to Figure 3 and Figure 4 , an installation disk 11 is provided on the bearing body 10. The moving chassis 100a further includes a first gear 24, a second gear 25 and a sensor. The first gear 24 and the second gear 25 are meshed and rotatably arranged on the bearing body 10, specifically arranged on the installation disk 11. The connecting member is pivotally connected to the first gear 24. The two driving wheels 21 rotate differentially to drive the connecting member to rotate, and the connecting member rotates to drive the first gear 24 to rotate. The second gear 25 is connected to the sensor to sense the rotation angle of the second gear 25 through the sensor to confirm whether the driving wheels 21 are in a straight-line or turning state. Among them, the sensor can adopt a wire-pulling encoder.

[0058] Specifically, the connecting member includes a connecting block 23 and a pivot shaft (not shown in the figure). One end of the pivot shaft is pivotally connected to the connecting block 23, and the other end of the pivot shaft is pivotally connected to the first gear 24 to achieve the pivotal connection between the driving wheel 21 and the bearing body 10. The pivot shaft can be set as a flat shaft, which can rotate relative to the connecting block 23 and the first gear 24 in the vertical plane but cannot rotate in the horizontal plane, so as to realize the yaw of the connecting block 23 as the two driving wheels 21 tilt, and can rotate as the connecting block 23 rotates in the horizontal plane.

[0059] In one embodiment, the two driving wheels 21 are respectively arranged on the left and right sides of the connecting block 23, and the two driving motors 22 are respectively arranged on the front and rear sides of the connecting block 23. The distribution of the two driving wheels 21 and the two driving motors 22 on the connecting block 23 is relatively balanced.

[0060] In one embodiment, please refer back to Figure 2 , in order to ensure the flexibility of steering, the wheelbase L between the two driving wheels 21 is designed to be not greater than 1 / 2 of the width of the bearing body 10 in the second direction, and this ratio is generally set within the range of 1 / 3 - 1 / 2.

[0061] During the process of the storage robot picking up and placing goods, the attachment 100c may need to rise to a relatively high position, and placing the goods on the attachment 100c or unloading the goods from the attachment 100c will change the center of gravity of the storage robot, which is likely to cause the storage robot to tilt or even tip over.

[0062] To solve the above problems, please refer to Figure 2 , the moving chassis 100a further includes an auxiliary support member 40, which is arranged inside the carrying body 10 and can selectively extend out of the lower surface of the carrying body 10. When the storage robot is moving forward, the auxiliary support member 40 is adjusted to retract upward so that the lower end surface of the auxiliary support member 40 is higher than the lowest points of the driving wheels 21 and the driven wheels 30, that is to say, the auxiliary support member 40 is kept away from the walking surface to ensure that only the driving wheels 21 and the driven wheels 30 of the moving chassis 100a are in contact with the walking surface during the forward movement, so as to maintain smooth forward movement. In order to avoid that the auxiliary support member 40 may rub against the protruding walking surface when moving on an uneven walking surface, the auxiliary support member 40 can be retracted into the carrying body 10.

[0063] In one embodiment, as Figure 2 shown, there are two groups of auxiliary support members 40, and the two groups of auxiliary support members 40 are respectively arranged on both sides of the driving wheel set 20 in the second direction, that is, the two groups of auxiliary support members 40 are respectively arranged on the left and right sides of the driving wheel set 20. By arranging the two groups of auxiliary support members 40, support points are formed on both sides of the driving wheel set 20, and the support for the carrying body 10 is relatively uniform, which is beneficial to further improving the stability of the storage robot when picking up and placing goods.

[0064] Optionally, as Figure 2 shown, the auxiliary support member 40 is arranged at two top corners of the first end of the carrying body 10 to further improve the uniformity of the support for the carrying body 10.

[0065] Specifically, as Figure 2 shown, a second avoidance hole 13 is provided on the bottom plate of the carrying body 10, and the auxiliary support member 40 movably passes through the second avoidance hole 13 so as to be able to extend out of the lower surface of the carrying body 10.

[0066] In order to be able to realize the telescoping of the auxiliary support member 40, the structure of the auxiliary support member 40 is designed. Please refer to Figure 2 and Figure 5 , Figure 5The structural schematic diagram of the auxiliary support provided in an embodiment of the present application is shown. Specifically, the auxiliary support 40 includes a landing member 41 and a lifting drive member 42. The landing member 41 is used to extend out of the lower surface of the carrying body 10. The fixed end of the lifting drive member 42 is arranged on the carrying body 10, and the driving end of the carrying body 10 is connected to the landing member 41 to drive the landing member 41 to extend out of the lower surface of the carrying body 10 or retract into the carrying body 10.

[0067] It can be understood that the distance that the landing member 41 extends out of the carrying body 10 determines the supporting force of the landing member 41 on the carrying body 10. The supporting force provided by the landing member 41 should be consistent with the supporting forces provided by the driving wheel 21 and the driven wheel 30. Being too large or too small is not conducive to the smoothness of the moving chassis 100a.

[0068] For this reason, the auxiliary support 40 further includes a pressure sensor (not shown in the figure). The pressure sensor is arranged on the landing member 41 and is configured to sense the pressure value of the landing member 41 on the walking surface of the moving chassis 100a, so as to stop the driving action of the lifting drive member 42 when the pressure value reaches a preset value, thereby controlling the distance that the landing member 41 extends out of the carrying body 10, and further ensuring that the landing member 41 provides an appropriate supporting force for the carrying body 10.

[0069] In one embodiment, as Figure 5 shown, the lifting drive member 42 includes a lifting mounting plate 421, a lifting motor 422 and a lifting speed reducer 423. The lifting mounting plate 421 is connected to the inner wall of the carrying body 10. The fixed end of the lifting speed reducer 423 is connected to the lifting mounting plate 421. The fixed end of the lifting motor 422 is connected to the fixed end of the lifting speed reducer 423. The landing member 41 is connected to the output end of the lifting speed reducer 423. The lifting motor 422 drives the landing member 41 to lift after being decelerated by the lifting speed reducer 423.

[0070] Specifically, between the lifting speed reducer 423 and the landing member 41, the rotational motion of the output end of the lifting speed reducer 423 is converted into the linear motion of the landing member 41 in the form of a motor lead screw module. This is a conventional structure in the prior art, and its specific structure and working principle will not be elaborated in detail.

[0071] After the warehousing robot moves to the position for picking and placing goods, the landing member 41 is driven to descend and support on the walking surface. After that, if it is found that the position of the warehousing robot is not accurate and micro-adjustment is required. Since the landing member 41 has already supported on the ground, it will interfere with the movement of the warehousing robot. It is necessary to raise the landing member 41. After the warehousing robot adjusts its position, it is lowered again. The operation is rather cumbersome and affects the working efficiency of the warehousing robot.

[0072] For this reason, in one embodiment, as Figure 5As shown, the landing part 41 is set as a universal wheel, and the universal wheel can rotate 360° on the walking surface. Therefore, the moving chassis 100a can walk when the universal wheel is in contact with the walking surface without raising the universal wheel, thus simplifying the position adjustment steps of the warehousing robot and being beneficial to saving the operation time for adjusting the position of the warehousing robot.

[0073] To facilitate the installation of the universal wheel, the auxiliary support 40 further includes a universal wheel mounting plate 43 and a universal wheel bracket 44. The universal wheel mounting plate 43 is connected to the output end of the lifting reduction gear 423, the universal wheel bracket 44 is rotatably connected to the universal wheel mounting plate 43, and the universal wheel is rotatably arranged on the universal wheel bracket 44.

[0074] In one embodiment, two universal wheels are provided, and the two universal wheels are connected side by side to the universal wheel bracket 44.

[0075] In one embodiment, as Figure 6 shown, for charging convenience, a non-contact charging device 50 is provided on the moving chassis. The non-contact charging device 50 is used to cooperate with the non-contact charging pile 100d to charge the warehousing robot.

[0076] Specifically, in the workshop environment, a charging pile 100d is provided. The charging pile 100d includes a power supply end 110, and the non-contact charging device 50 includes a power receiving end 51. When the warehousing robot needs to be charged, the warehousing robot is moved to the charging pile 100d, and the power receiving end 51 is aligned with the power supply end 110 to perform charging, which is relatively convenient.

[0077] In one embodiment, a charging plug is also configured on the moving chassis, and the warehousing robot can also be charged by plugging the charging plug into a power source. In actual working conditions, the appropriate charging method can be selected according to the actual situation on site.

[0078] The technical features of the above-described embodiments can be combined arbitrarily. For the sake of concise description, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, it should be considered as the scope described in this specification.

[0079] The above-described embodiments only represent several implementation manners of the present invention, and their descriptions are relatively specific and detailed, but they should not be construed as limiting the scope of the utility model patent. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present invention, several deformations and improvements can still be made, and these all belong to the protection scope of the present invention. Therefore, the protection scope of the utility model patent should be subject to the appended claims.

Claims

1. A sports chassis, characterized in that: The sports chassis comprises: A bearing body (10); a driving wheel set (20) disposed on the carrying body (10), the driving wheel set (20) comprising two driving wheels (21), each driving wheel (21) being provided with a driving motor (22), the driving motor (22) being used to drive the corresponding driving wheel (21) to rotate, so that the carrying body (10) can switch between straight travel and turning; At least two driven wheels (30), wherein at least two of the driven wheels (30) and the driving wheel set (20) are used to support the bearing body (10).

2. The motion chassis according to claim 1, characterized in that: The two driving wheels (21) of the driving wheel set (20) are connected via a connecting piece so that the rotation axes of the two driving wheels (21) are in a straight line, and the connecting piece is pivotally connected to the supporting body (10) so that the rotation axes of the two driving wheels (21) can be adjusted to be parallel to a walking surface or to form an angle with the walking surface.

3. The motion chassis according to claim 2, characterized in that: The motion chassis further comprises a first gear (24), a second gear (25) and a sensor; the first gear (24) and the second gear (25) are meshed with each other and are rotatably arranged on the bearing body (10); the connecting member is pivotally connected to the first gear (24); the driving wheel (21) rotates differentially to drive the connecting member to rotate; the rotation of the connecting member drives the first gear (24) to rotate; and the second gear (25) is connected to the sensor.

4. The motion chassis according to claim 1, characterized in that: The moving chassis moves along a first direction, and the driving wheel set (20) is arranged at a first end of the bearing body (10) in the first direction and at a middle position of the first end in a second direction, the second direction being perpendicular to the first direction.

5. The motion chassis according to claim 4, characterized in that: The moving chassis moves along a first direction, the two driven wheels (30) are arranged at a second end of the bearing body (10) in the first direction, and the two driven wheels (30) are arranged at intervals on both sides below the bearing body (10) along the second direction.

6. The motion chassis according to any one of claims 1 to 5, characterized in that: The sports chassis also includes: An auxiliary support member (40), wherein the auxiliary support member (40) is arranged in the carrying body (10) and can selectively extend out of the lower surface of the carrying body (10).

7. The motion chassis according to claim 6, characterized in that: Two groups of the auxiliary support members (40) are provided, and the two groups of the auxiliary support members (40) are respectively provided on both sides of the driving wheel group (20) in a direction perpendicular to the walking direction of the bearing body (10).

8. The motion chassis according to claim 6, characterized in that: The auxiliary support member (40) comprises: A floor member (41), the floor member (41) being used to extend out of the lower surface of the carrying body (10); A lifting drive member (42), wherein a fixed end of the lifting drive member (42) is arranged on the carrying body (10), and a driving end of the carrying body (10) is connected to the grounding member (41) to drive the grounding member (41) to extend out of the lower surface of the carrying body (10) or to retract into the carrying body (10).

9. The motion chassis according to claim 8, characterized in that: The auxiliary support member (40) further comprises: A pressure sensor is provided on the ground member (41), the pressure sensor being configured to sense a pressure value of the ground member (41) on a walking surface of the moving chassis, so as to stop the driving action of the lifting drive member (42) when the pressure value reaches a preset value.

10. The motion chassis according to claim 8, characterized in that: The floor member (41) adopts universal wheels.

11. A storage robot, characterized in that: The storage robot comprises a door frame (100b) and an attachment (100c), wherein the attachment (100c) is mounted on the door frame (100b), and the storage robot further comprises a motion chassis according to any one of claims 1 to 10, wherein the door frame (100b) and the driven wheel (30) are mounted on the same end of the bearing body (10).

12. The storage robot according to claim 11, characterized in that: A non-contact charging device (50) is provided on the moving chassis, and the non-contact charging device (50) is used to cooperate with a non-contact charging pile (100d) to charge the storage robot.

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