Movable chassis and transportation equipment

Abstract

The utility model relates to the technical field of warehouse logistics, in particular to a movable chassis and transportation equipment. The mobile chassis includes: a chassis body; the driving wheel assembly is rotatably connected to the chassis main body; one end of the damping assembly is rotatably connected to the chassis body, and the other end of the damping assembly is rotatably connected to the driving wheel assembly so as to apply pressure to the driving wheel assembly; the end, connected with the chassis body, of the damping assembly is configured to rotate relative to the chassis body in the direction away from the driving wheel assembly under the action of external force so as to reduce pressure applied to the driving wheel assembly. Or the driving wheel assembly is configured to resist the pressure of the damping assembly to rotate in the direction away from the ground under the action of external force. According to the movable chassis and the transportation equipment provided by the invention, when the transportation equipment breaks down, the pressure of the driving wheels on the ground can be adjusted, so that the movable chassis can be manually pushed to a maintenance position for maintenance, the maintenance difficulty is reduced, and the maintenance flexibility is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of warehouse logistics, and particularly relates to a mobile chassis and a transportation device. BACKGROUND

[0002] With the popularization of intelligence, the application of intelligent robots is more and more widely used in various industries. For example, in the field of logistics transportation, the transportation robot is one of the commonly used logistics transportation devices. In the process of transporting goods by the transportation robot, due to the uneven road surface, different centers of gravity of goods, and other problems, the transportation robot may swing, travel unstably, and even tip over during movement.

[0003] In order to improve the travel stability of the transportation robot, a damping assembly can apply pressure to the driving wheel of the transportation robot. The damping assembly can absorb external vibration, and also can maintain the grip between the driving wheel and the ground, so as to improve the travel stability of the transportation robot. However, when the transportation robot fails, the motor that provides power for the driving wheel may jam the driving wheel, so that the driving wheel cannot rotate. At the same time, under the limitation of the pressure provided by the damping assembly for the driving wheel, the friction between the driving wheel and the ground is large, so that the transportation robot cannot move, which increases the difficulty of repairing the transportation robot. Invention content

[0004] In order to solve the above problems, the present application provides a mobile chassis and a transportation device, which can adjust the pressure of the driving wheel on the ground when the transportation device fails, so that the mobile chassis can be pushed to the maintenance position by manual operation for maintenance, thereby reducing the maintenance difficulty and improving the maintenance flexibility.

[0005] In order to achieve the above purpose, in a first aspect, the present application provides a mobile chassis, comprising: a chassis body; a driving wheel assembly rotatably connected to the chassis body; a damping assembly having one end rotatably connected to the chassis body through a first connecting part and the other end rotatably connected to the driving wheel assembly to apply pressure to the driving wheel assembly; the first connecting part is configured to be rotatable under external force and to move the damping assembly to reduce the pressure applied by the damping assembly to the driving wheel assembly.

[0006] In this embodiment, to adjust the traction of the drive wheel assembly when it loses power, an external force can be used to rotate the first connecting part, causing it to rotate the shock-absorbing component in a direction away from the drive wheel assembly. This stretches the shock-absorbing component, reducing the pressure it exerts on the drive wheel assembly, thereby reducing the pressure of the drive wheel assembly on the ground and decreasing its traction. This allows the mobile chassis to be manually pushed when it malfunctions, facilitating repairs and quickly clearing the working area of ​​the faulty chassis so that other mobile chassis can continue operating.

[0007] In one alternative implementation, the damping assembly includes a first damper and a first connector; one end of the first damper is rotatably connected to the drive wheel assembly, and the other end of the first damper is rotatably connected to the first connector; one end of the first connector opposite to the first damper is connected to a first connecting portion; the first connector is configured to rotate under the drive of the first connecting portion and drive the first damper to move, thereby reducing the pressure exerted by the first damper on the drive wheel assembly.

[0008] In one alternative implementation, the first connecting part includes a first connecting seat and a first connecting shaft; the first connecting seat is connected to the chassis body; the first connecting shaft is rotatably connected to the first connecting seat, and the first connecting member is connected to the first connecting shaft; the first connecting shaft is configured to rotate relative to the first connecting seat under the action of an external force, and drive the first connecting member to rotate.

[0009] In one alternative implementation, the first connecting part further includes a first fixing member; the first fixing member is connected to the first connecting member and the first connecting shaft so that the first connecting shaft can drive the first connecting member to rotate relative to the first connecting seat.

[0010] In one optional implementation, the first connecting seat includes a first base, a first connecting ear, and a second connecting ear; the first base is connected to the chassis body; the first connecting ear and the second connecting ear are connected to the side of the first base away from the chassis body, and the first connecting ear and the second connecting ear are spaced apart; one end of the first connecting member is located between the first connecting ear and the second connecting ear; the first connecting shaft passes through the first connecting ear, the first connecting member, and the second connecting ear in sequence; and the first fixing member is located between the first connecting ear and the second connecting ear.

[0011] In an alternative implementation, the first connecting seat comprises a first base and a first connecting lug; the first base is connected to the chassis body; the first connecting lug is connected to a side of the first base away from the chassis body; the first connecting member comprises a first connecting plate, a first side plate and a second side plate; the first side plate and the second side plate are connected to opposite sides of the first connecting plate, and the first side plate and the second side plate are respectively located on two sides of the first connecting lug; the first connecting shaft is sequentially arranged through the first side plate, the first connecting lug and the second side plate; the first fixing member is two, and the two first fixing members are respectively located on two sides of the first side plate and the second side plate away from the first connecting lug.

[0012] In an alternative implementation, the mobile chassis further comprises a chassis side plate; the chassis side plate is connected to the chassis body; the first connecting shaft comprises a first shaft body and a first cap body; the first shaft body is rotatably connected to the first connecting seat, and the first shaft body is connected to the first connecting member; along the axis direction of the first shaft body, the first cap body is connected to a side of the first shaft body close to the chassis side plate; the chassis side plate is provided with a first opening hole corresponding to the first cap body; the first opening hole is configured to allow the rotating member to be arranged through and connected to the first cap body, so that the rotating member rotates the first cap body and drives the first shaft body to rotate relative to the first connecting seat.

[0013] In an alternative implementation, the mobile chassis further comprises a first decorative member; the first decorative member is detachably connected to the first opening hole; the first decorative member is configured to be installed in the first opening hole when the driving wheel assembly is normally working, and the first decorative member can be removed from the first opening hole when the transportation equipment with the mobile chassis fails, so as to expose the first opening hole.

[0014] In an alternative implementation, the mobile chassis further comprises an abutting portion; the abutting portion is arranged on the chassis body; the abutting portion is configured to allow one end of the first connecting member connected to the first shock absorber to abut against the abutting portion, so as to compress the first shock absorber and keep the first shock absorber applying pressure to the driving wheel assembly.

[0015] In an alternative implementation, the driving wheel assembly comprises a first support, a driving member and a driving wheel; the first support is rotatably connected to the chassis body; the driving member is connected to the first support; the driving wheel is connected to the driving member; the shock absorbing assembly is rotatably connected to the first support; the first support is configured to be driven to rotate relative to the chassis body by the driving member and the driving wheel under the pressure applied by the shock absorbing assembly.

[0016] In an alternative implementation, the mobile chassis further comprises at least one set of driven wheels; each set of driven wheels comprises two driven wheels arranged on opposite sides of the chassis body; the driven wheels are configured to be driven to rotate under an external force to drive the chassis body to move relative to the ground after the shock absorbing assembly reduces the pressure applied to the driving wheel assembly.

[0017] To achieve the above object, in a second aspect, the embodiment of the present application provides a mobile chassis, comprising: a chassis body; a driving wheel assembly rotatably connected to the chassis body through a second connecting part; a damping assembly, one end of the damping assembly being rotatably connected to the chassis body, the other end of the damping assembly being rotatably connected to the driving wheel assembly to apply pressure to the driving wheel assembly; the second connecting part being configured to rotate against the pressure of the damping assembly under external force to drive the driving wheel assembly to rotate in a direction away from the ground.

[0018] In the embodiment, in order to adjust the gripping force of the driving wheel assembly in the case that the driving wheel assembly loses power, the second connecting part can be rotated by external force, so that the second connecting part can rotate against the pressure of the damping assembly to drive the driving wheel assembly to rotate in a direction away from the ground. At this time, if the angle of rotation of the driving wheel assembly is small, the driving wheel assembly can not completely leave the ground, but the pressure of the driving wheel assembly on the ground will be smaller, thereby reducing the gripping force of the driving wheel assembly; if the angle of rotation of the driving wheel assembly is large, the driving wheel can completely leave the ground, so that the pressure of the driving wheel on the ground is zero, that is, the gripping force of the driving wheel is also zero. In this way, during the process of manually pushing the mobile chassis to the maintenance position, the driving wheel will not generate a moving resistance, which facilitates pushing, thereby improving the maintenance flexibility and avoiding the working area of the mobile chassis with a fault as soon as possible to facilitate the continuous work of other mobile chassis.

[0019] In an alternative implementation, the driving wheel assembly comprises a second support and a driving wheel; the second support is rotatably connected to the chassis body through the second connecting part; the driving wheel is connected to the second support; the second support is configured to rotate in a direction away from the ground under the driving of the second connecting part to make the driving wheel leave the ground.

[0020] In an alternative implementation, the mobile chassis further comprises a first clamping part; the first clamping part is configured to be clamped to the second support when the driving wheel leaves the ground to maintain the state that the driving wheel leaves the ground.

[0021] In an alternative implementation, the mobile chassis further comprises a chassis side plate; the chassis side plate is connected to the chassis body; the second support is provided with a second clamping part on a side facing the chassis side plate; the chassis side plate is provided with a clamping hole; the clamping hole is configured to allow the first clamping part to pass through, so that the first clamping part is clamped to the second clamping part to maintain the state that the driving wheel leaves the ground.

[0022] In an alternative implementation, the mobile chassis further comprises a third decorative part; the third decorative part is detachably connected to the clamping hole; the third decorative part is configured to be installed in the clamping hole when the driving wheel assembly is normally working, and the third decorative part can be removed from the clamping hole to expose the clamping hole when the transport equipment with the mobile chassis fails.

[0023] In an alternative implementation, the second connecting part comprises a second connecting seat and a second connecting shaft; the second connecting seat is connected to the chassis body; the second connecting shaft is rotatably connected to the second connecting seat; the second support is connected to the second connecting shaft; the second connecting shaft is configured to rotate the second support away from the ground under the action of an external force, so that the driving wheel is separated from the ground.

[0024] In an alternative implementation, the second connecting part further comprises a second fixing member; the second fixing member is connected to the second support and the second connecting shaft, so that the second connecting shaft can drive the second support to rotate relative to the second connecting seat.

[0025] In an alternative implementation, the mobile chassis further comprises a chassis side plate; the chassis side plate is connected to the chassis body; the second connecting shaft comprises a second shaft body and a second cap body; the second shaft body is rotatably connected to the second connecting seat; the second cap body is connected to the second shaft body on the side close to the chassis side plate along the axial direction of the second shaft body; the chassis side plate is provided with a second opening hole corresponding to the second cap body; the second opening hole is configured to allow the rotating member to pass through and be connected to the second cap body, so that the rotating member rotates the second cap body and drives the second shaft body to rotate relative to the second connecting seat.

[0026] In an alternative implementation, the mobile chassis further comprises a second decorative member; the second decorative member is detachably connected to the second opening hole; the second decorative member is configured to be installed in the second opening hole when the driving wheel assembly is working normally, and to be removed from the second opening hole when the transport equipment with the mobile chassis fails, so as to expose the second opening hole.

[0027] In an alternative implementation, the damping assembly comprises a second connecting member and a second damper; the second connecting member is rotatably connected to the chassis body; the second damper comprises a fixed shaft and a spring; one end of the fixed shaft is rotatably connected to the driving wheel assembly, and the other end of the fixed shaft is slidably connected to the second connecting member; the spring is sleeved on the fixed shaft, the first end of the spring abuts against the first step surface of the fixed shaft, and the second end of the spring abuts against the second connecting member.

[0028] In an alternative implementation, the second damper further comprises a first sleeve and a second sleeve; the first sleeve is sleeved on the fixed shaft and abuts against the first step surface, and the first end of the spring is embedded in the first sleeve; the second sleeve is sleeved on the fixed shaft and abuts against the second connecting member, and the second end of the spring is embedded in the second sleeve.

[0029] In an alternative implementation, the second damper further comprises a first elastic pad and a second elastic pad; the first elastic pad is sleeved on the fixed shaft and located between the first sleeve and the first end of the spring; the second elastic pad is sleeved on the fixed shaft and located between the second sleeve and the second end of the spring.

[0030] In an alternative implementation, the driving wheel assembly further comprises a driving member; the driving member is arranged on the second support; the driving wheel is connected to the driving member; the driving member is configured to drive the driving wheel to rotate.

[0031] In an alternative implementation, the mobile chassis further comprises at least one set of driven wheels; each set of driven wheels comprises two driven wheels arranged on opposite sides of the chassis body; the driven wheels are configured to rotate under an external force after the driving wheel assembly rotates in a direction away from the ground, so as to drive the chassis body to move relative to the ground.

[0032] To achieve the above object, in a third aspect, the embodiments of the present application provide a mobile chassis, comprising: a chassis body; a driving wheel assembly rotatably connected to the chassis body; a damping assembly having one end rotatably connected to the chassis body and the other end rotatably connected to the driving wheel assembly, so as to apply pressure to the driving wheel assembly; the one end of the damping assembly connected to the chassis body is configured to rotate relative to the chassis body in a direction away from the driving wheel assembly under an external force, so as to reduce the pressure applied to the driving wheel assembly; or the driving wheel assembly is configured to rotate in a direction away from the ground under an external force against the pressure of the damping assembly.

[0033] The mobile chassis provided by the embodiments of the present application can reduce the grip of the driving wheel assembly by rotating the connecting end of the damping assembly and the chassis body or rotating the driving wheel assembly in the case of power loss of the driving wheel assembly, so that the mobile chassis can be manually pushed when the mobile chassis fails, which is convenient for maintenance, and the working area of the mobile chassis with failure is avoided as soon as possible, so that other mobile chassis can continue to work.

[0034] In an alternative implementation, the driving wheel assembly comprises a support, a driving member and a driving wheel; the support is rotatably connected to the chassis body; the driving member is connected to the support; the driving wheel is connected to the driving member; the damping assembly is rotatably connected to the support; the support is configured to rotate the driving member and the driving wheel relative to the chassis body under the pressure applied by the damping assembly.

[0035] In an alternative implementation, the mobile chassis further comprises at least one set of driven wheels; each set of driven wheels comprises two driven wheels arranged on opposite sides of the chassis body; the driven wheels are configured to rotate under an external force after the damping assembly reduces the pressure applied to the driving wheel assembly or after the driving wheel assembly rotates in a direction away from the ground against the pressure of the damping assembly, so as to drive the chassis body to move relative to the ground.

[0036] To achieve the above object, in a fourth aspect, the embodiments of the present application provide a transport device, comprising: a load carrying device and any one of the mobile chassis provided in the first aspect to the third aspect; the load carrying device is arranged on the chassis body.

[0037] It can be understood that the transport equipment provided by the fourth aspect has the advantages of the first aspect to the third aspect, which will not be repeated here. BRIEF DESCRIPTION OF DRAWINGS

[0038] In order to more clearly illustrate the technical solutions of the present application, the drawings needed in the embodiments will be briefly introduced as follows. Obviously, for those skilled in the art, other drawings can also be obtained without creative labor on the basis of these drawings.

[0039] Figure 1 is a structural schematic diagram of a carrying robot provided by an embodiment of the present application;

[0040] Figure 2 is a structural schematic diagram of a carrying robot chassis provided by an embodiment of the present application;

[0041] Figure 3 is a moving state schematic diagram of a carrying robot provided by an embodiment of the present application;

[0042] Figure 4 is a moving state schematic diagram of another carrying robot provided by an embodiment of the present application;

[0043] Figure 5 is a moving state schematic diagram of a chassis with a damping structure provided by an embodiment of the present application;

[0044] Figure 6 is a first moving chassis structure schematic diagram provided by an embodiment of the present application;

[0045] Figure 7 is a first moving chassis structure schematic diagram provided by an embodiment of the present application;

[0046] Figure 8 is a first moving chassis structure schematic diagram provided by an embodiment of the present application;

[0047] Figure 9 is a first moving chassis structure schematic diagram provided by an embodiment of the present application;

[0048] Figure 10 is a first moving chassis structure schematic diagram provided by an embodiment of the present application;

[0049] Figure 11 is a first moving chassis structure schematic diagram provided by an embodiment of the present application;

[0050] Figure 12is a first kind of mobile chassis rotating first connecting part structure schematic diagram provided by the embodiment of the application;

[0051] Figure 13 is a second kind of mobile chassis structure schematic diagram provided by the embodiment of the application;

[0052] Figure 14 is a second kind of mobile chassis partial structure exploded schematic diagram provided by the embodiment of the application;

[0053] Figure 15 is a second kind of mobile chassis driving wheel assembly and damping assembly connection local structure schematic diagram provided by the embodiment of the application;

[0054] Figure 16 is a second kind of mobile chassis damping assembly and first connecting part connection local structure schematic diagram provided by the embodiment of the application;

[0055] Figure 17 is a second kind of mobile chassis damping assembly structure schematic diagram provided by the embodiment of the application;

[0056] Figure 18 is Figure 17 sectional view along C-C direction;

[0057] Figure 19 is a second kind of mobile chassis rotating second connecting part structure schematic diagram provided by the embodiment of the application.

[0058] Figure illustration mark:

[0059] 10-chassis, 11-bearing surface, 12-chassis bottom plate, 20-driving wheel, 30-castor, 40-rotating frame, 50-damping structure, 51-spring damper,

[0060] 100 - moving chassis, 110 - chassis body, 120 - drive wheel assembly, 121 - bracket, 1211 - first bracket, 1212 - second bracket, 121a - first part, 121b - second part, 121c - third part, 121d - fourth part, 121e - fifth part, 121f - sixth part, 121g - seventh part, 121h - second clamping part, 122 - drive piece, 123 - drive wheel, 130 - damping assembly, 131 - first damper, 132 - first connecting piece, 1321 - first connecting plate, 1322 - first side plate, 1323 - second side plate, 1324 - first connecting block, 1325 - second connecting block, 133 - first rotating shaft, 134 - seventh clamping spring, 135 - second connecting piece, 1351 - sleeving part, 1352 - rotating part, 135a - shaft hole, 136 - second damper, 1361 - fixed shaft, 1362 - spring, 136a - first end, 136b - first step surface, 136c - second end, 1363 - first sleeve, 1364 - second sleeve, 1365 - first elastic pad, 1366 - second elastic pad, 140 - driven wheel, 150 - connecting part, 151 - first connecting part, 1511 - first connecting seat, 1512 - first connecting shaft, 1513 - first fixing piece, 151a - first shaft body, 151b - first cap body, 151c - first base, 151d - first connecting lug, 151e - second connecting lug, 152 - second connecting part, 1521 - second connecting seat, 1522 - second connecting shaft, 152a - second shaft body, 152b - second cap body, 152c - second base, 152d - third connecting lug, 152e - fourth connecting lug, 1523 - second fixing piece, 153 - third connecting part, 1531 - third connecting shaft, 1532 - third clamping spring, 154 - fourth connecting part, 1541 - fourth connecting shaft, 1542 - fourth fixing piece, 155 - fifth connecting part, 1551 - fifth connecting seat, 1552 - fifth connecting shaft, 1553 - fifth clamping spring, 156 - sixth connecting part, 1561 - third connecting seat, 1562 - fourth connecting seat, 160 - shell, 170 - abutting part, 181 - chassis side plate, 182 - first opening, 183 - first decoration piece, 184 - second opening, 185 - second decoration piece, 186 - clamping hole, 187 - third decoration piece, 191 - rotating piece, 192 - first clamping part. DETAILED DESCRIPTION

[0061] The technical solutions in the embodiments of the present application will be clearly described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments of the present application, other embodiments obtained by a person of ordinary skill in the art without creative work are within the protection scope of the present application.

[0062] Hereinafter, the terms "first", "second", and the like are used only for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined with "first", "second", and the like can explicitly or implicitly include one or more of the features. In the description of the present application, unless otherwise stated, the meaning of "a plurality of" is two or more.

[0063] In addition, in the present application, the orientation terms such as "upper", "lower", "inner", "outer" and the like are defined with respect to the orientation in which the components in the drawings are placed, and it should be understood that these directional terms are relative concepts, which are used for relative description and clarification, and can be changed accordingly according to the change of the orientation in which the components are placed in the drawings.

[0064] With the popularization of intelligence, the application of intelligent robots in various industries is also becoming more and more widespread. At present, common intelligent robots include but are not limited to sweeping robots, reconnaissance robots, and carrying robots. Among them, in daily production activities, carrying robots are applied in various fields such as logistics and warehousing fields, manufacturing fields, and service fields, etc. due to their efficient and stable carrying capacity. The following takes the application of carrying robots in the logistics and warehousing field as an example for description.

[0065] In the logistics and warehousing field, the carrying robot can automatically go to the goods storage area (such as the goods shelf) according to the instruction of the warehouse management system, accurately identify and carry the goods to the designated area (such as the sorting area or the delivery area, etc.). The carrying efficiency of the carrying robot is higher than that of manual carrying, so as to shorten the turnover time of the goods and improve the space utilization rate of the warehouse.

[0066] Figure 1 is a structural schematic diagram of a carrying robot provided by an embodiment of the present application.

[0067] As shown in Figure 1 , the carrying robot 1 comprises a chassis 10, and the chassis 10 has a bearing surface 11 which can be used to bear the goods.

[0068] Optionally, the goods can be directly placed on the bearing surface 11. Or, when there are many goods, the goods can be placed on a mobile shelf, and the bearing surface 11 of the chassis 10 can bear the mobile shelf to realize the bearing and fixing of the goods by the mobile shelf, so as to prevent the goods from falling off the bearing surface 11 during the movement.

[0069] Alternatively, the bearing surface 11 of the carrying robot 1 can be provided with a gantry 13. The gantry 13 can be slidably provided with a lifting mechanism, and the lifting mechanism can be assembled with a taking mechanism 15. In this way, the carrying robot 1 can realize taking, placing and carrying of the goods at different height positions.Figure 2 is a structural schematic diagram of a chassis of a carrying robot provided by an embodiment of the present application.

[0070] As shown in Figure 2 , the chassis 10 is generally provided with a set of driving wheels 20 and two sets of universal wheels 30. In the direction of travel, the driving wheels 20 can be arranged at the middle position of the chassis 10, and the two sets of universal wheels 30 can be arranged respectively in front of and behind the driving wheels 20. In this way, the driving wheels 20 can be used to provide power for the travel of the chassis 10, and the universal wheels 30 can be used to support the main weight of the chassis 10.

[0071] It is worth noting that each set of driving wheels 20 can include two driving wheels 20, and each set of universal wheels 30 can include two universal wheels 30.

[0072] Figure 3 is a schematic diagram of a moving state of a carrying robot provided by an embodiment of the present application.

[0073] As shown in Figure 3 (a), when the carrying robot is carrying goods and traveling, if there is a protruding obstacle on the travel surface, in the direction of travel, the universal wheel 30 located in front will first contact the protruding obstacle. At this time, the driving wheel 20 can be suspended, causing the chassis 10 to lose travel power and thus unable to climb over the protruding obstacle. In addition, if the carrying robot cannot climb over the protruding obstacle, it can stop on the protruding obstacle. That is, the carrying robot will be in a state of overall backward tilting, and in this case, the center of gravity of the carrying robot moves backward, which is prone to tilting phenomenon.

[0074] As shown in Figure 3 (b), when the carrying robot is carrying goods and traveling, if there is a concave obstacle on the travel surface, in the direction of travel, the universal wheel 30 located in front will first pass through the concave obstacle. When the driving wheel 20 passes through the concave obstacle, the driving wheel 20 can be suspended, causing the chassis 10 to lose travel power and thus unable to climb over the concave obstacle, and further causing the carrying robot to stop at this position.

[0075] As shown in Figure 3 , the moving state of the carrying robot can be known that when the carrying robot travels on an uneven road surface, it can be caused to stop due to the unevenness of the road surface, and even to tilt, which affects the travel stability of the carrying robot in the working process.

[0076] Figure 4 is another schematic diagram of a moving state of a carrying robot provided by an embodiment of the present application.

[0077] As shown in Figure 4As shown in (a), when the height of the goods being transported by the robot is relatively small, the overall center of gravity of the robot during its movement is point A, and the distance between point A and the ground is H1. Figure 4 As shown in (b), when the goods being transported by the robot are of considerable height, the robot's overall center of gravity during its movement is point B, and the distance between point B and the ground is H2 > H1. In this case, the center of gravity point B is higher than the center of gravity point A. Figure 4 The transport state shown in (b) is compared to Figure 4 The handling state shown in (a) is more prone to swaying, which affects the stability of the handling robot during operation.

[0078] For the reasons mentioned above, in order to improve the overall stability of the handling robot during operation, a shock-absorbing structure 50 can be installed on the chassis 10.

[0079] Figure 5 This is a simplified schematic diagram of the movement state of a chassis with a shock-absorbing structure provided in an embodiment of this application.

[0080] like Figure 5 As shown, the chassis 10 may include a rotating frame 40 and a shock-absorbing structure 50. The rotating frame 40 is rotatably connected to the chassis base plate 12, and the drive wheel 20 is connected to the rotating frame 40. The shock-absorbing structure 50 may include a spring shock absorber 51, one end of which is rotatably connected to the chassis base plate 12, and the other end is rotatably connected to the rotating frame 40. The spring shock absorber 51 is in a compressed state and can apply pressure to the outside. In this way, the pressure of the spring shock absorber 51 can act on the rotating frame 40, so that the rotating frame 40 can drive the drive wheel 20 to rotate.

[0081] like Figure 5 As shown in (a), when the chassis 10 encounters a raised obstacle, after the omnidirectional wheel 30 at the front contacts the raised obstacle, the spring shock absorber 51 applies pressure to the rotating frame 40, which can drive the rotating frame 40 to rotate the drive wheel 20 downward, so that the drive wheel 20 can contact the ground below the raised obstacle, thereby maintaining the contact between the drive wheel 20 and the ground, and thus being able to continue to move forward.

[0082] like Figure 5 As shown in (b), when the drive wheel 20 passes over the raised obstacle, the raised obstacle can resist the force of the spring damper 51, causing the rotating frame 40 to rotate upward, thereby raising the drive wheel 20. In this way, when the drive wheel 20 contacts the raised obstacle, the other casters 30 can still remain in contact with the ground, so as to avoid the casters 30 being suspended in the air, thereby avoiding affecting the driving stability of the chassis 10.

[0083] It is worth mentioning that when the chassis 10 encounters a concave obstacle, the state of the rotating frame 40 and the spring shock absorber 51 can refer to Figure 5 The moving state of the chassis 10 is illustrated, and will not be repeated here.

[0084] From the state illustrated by Figure 5 , it can be seen that the chassis 10 with the shock absorbing structure 50 can always maintain the contact of the driving wheel 20 with the ground when driving on uneven road surfaces. In addition, the pressure exerted by the spring shock absorber 51 on the driving wheel 20 also increases the normal pressure of the driving wheel 20 on the ground, thereby increasing the friction between the driving wheel 20 and the ground. In other words, the driving wheel 20 can maintain a larger grip, thereby enabling the driving wheel 20 to provide sufficient driving force for the entire machine, enabling the entire machine to maintain smooth travel.

[0085] However, when the chassis 10 fails, such as when the motor used to provide power to the driving wheel 20 is powered off or the electronic control system of the chassis 10 fails, the driving wheel 20 loses driving power and stops in place. At this time, the motor and the driving wheel 20 are in a brake state, i.e. the motor can lock the driving wheel 20, causing the driving wheel 20 to be unable to rotate.

[0086] In addition, when the chassis 10 stops due to failure, the pressure exerted by the shock absorbing structure 50 on the driving wheel 20 still exists. In other words, at this time the driving wheel 20 still maintains a larger grip, thereby making it impossible to manually push the mobile robot to a maintenance position, resulting in an increase in the difficulty of maintaining the chassis 10 and affecting the maintenance flexibility of the chassis 10.

[0087] In order to solve the above problems, the embodiments of the present application provide a mobile chassis which can adjust the pressure of the driving wheel on the ground when the mobile chassis fails, so as to facilitate manual pushing of the mobile chassis, thereby reducing the difficulty of maintenance and improving the maintenance flexibility.

[0088] Figure 6 is a structural schematic diagram of a first mobile chassis provided by the embodiments of the present application.

[0089] Figure 7 is a structural schematic diagram of the first mobile chassis provided by the embodiments of the present application, omitting the shell.

[0090] As shown in Figure 6 and Figure 7 , the mobile chassis 100 comprises a chassis body 110, a driving wheel assembly 120, and a shock absorbing assembly 130.

[0091] The chassis body 110 can be provided with a bearing surface to bear the goods. The driving wheel assembly 120 is rotatably connected to the chassis body 110, and one end of the damping assembly 130 is rotatable to the chassis body 110, and the other end is connected to the driving wheel assembly 120 to apply pressure to the driving wheel assembly 120. In this way, the damping assembly 130 can drive the driving wheel assembly 120 to rotate relative to the chassis body 110, so that the driving wheel assembly 120 can always be in contact with the ground, ensuring sufficient ground pressure in different road conditions and maintaining the grip.

[0092] In the case of power loss of the driving wheel assembly 120, in order to facilitate the adjustment of the grip of the driving wheel assembly 120, the end of the damping assembly 130 connected to the chassis body 110 can be rotated relative to the chassis body 110 under the action of external force in a direction away from the driving wheel assembly 120. In this way, the stretching of the damping assembly 130 can be realized, so as to reduce the compression amount of the damping assembly 130, so as to reduce the pressure of the damping assembly 130 on the driving wheel assembly 120, and then reduce the pressure of the driving wheel assembly 120 on the ground, so as to reduce the grip of the driving wheel assembly 120. At this time, the mobile chassis 100 can be manually pushed to a maintenance position to facilitate maintenance of the mobile chassis 100, and the maintenance flexibility of the mobile chassis 100 is improved.

[0093] Alternatively, in the case of power loss of the driving wheel assembly 120, in order to facilitate the adjustment of the grip of the driving wheel assembly 120, the driving wheel assembly 120 can be rotated in a direction away from the ground under the action of external force against the pressure of the damping assembly 130, so that the driving wheel assembly 120 can be away from the ground. At this time, the grip of the driving wheel assembly 120 is zero, and the mobile chassis 100 can be manually pushed to a maintenance position to facilitate maintenance of the mobile chassis 100, and the maintenance flexibility of the mobile chassis 100 is improved.

[0094] The mobile chassis 100 provided by the embodiment of the present application can reduce the grip of the driving wheel assembly 120 by rotating the connection end of the damping assembly 130 to the chassis body 110 or by rotating the driving wheel assembly 120 in the case of power loss of the driving wheel assembly 120, so that the mobile chassis 100 can be manually pushed for maintenance when it fails. In addition, the failed mobile chassis 100 is quickly pushed to the maintenance area, which can also avoid the failed mobile chassis 100 from causing obstacles in its working area, so as to avoid causing obstacles to other mobile chassis 100, walking mechanisms, transportation devices and other equipment that need to pass through the working area, thereby reducing the impact on the working efficiency of the warehouse system.

[0095] It should be noted that in the embodiments provided in the present application, the "one end" and "the other end" of the damping assembly 130 are not limited to the edge positions of the two ends of the damping assembly 130, but can also be positions close to the ends of the damping assembly 130, or can also be positions on the opposite sides of the damping assembly 130. In the present embodiment, the limitations of the related descriptions of "one end", "the other end", "end", "first end" and "second end" and the like for other structures are similar to the damping assembly 130, and will not be described again.

[0096] For example, the driving wheel assembly 120 includes a support 121, a driving member 122, and a driving wheel 123.

[0097] The support 121 is rotatably connected to the chassis body 110, the driving member 122 is connected to the support 121, the driving wheel 123 is connected to the driving member 122, and the driving member 122 is used to provide power for the rotation of the driving wheel 123. The damping assembly 130 is rotatably connected to the support 121. The support 121 can drive the driving member 122 and the driving wheel 123 to rotate relative to the chassis body 110 under the action of the pressure applied by the damping assembly 130.

[0098] For example, the driving member 122 can be a motor or a component capable of providing power for the driving wheel 123, which is not limited in the present embodiment.

[0099] It should be noted that the power loss of the driving wheel assembly 120 can be the case that the driving member 122 is powered off or the driving member 122 cannot work uncontrollably. At this time, the driving member 122 no longer provides driving force for the driving wheel 123, and the driving member 122 and the driving wheel 123 are in the brake state. In other words, in the case that the driving member 122 does not provide driving force, the driving member 122 will jam the driving wheel 123, causing the driving wheel 123 to be unable to rotate.

[0100] It can be understood that in the normal case, the driving member 122 can not provide power for the driving wheel 123, but will not be powered off. At this time, the electric control system of the mobile chassis 100 can control the brake release between the driving member 122 and the driving wheel 123, so that the driving wheel 123 can rotate freely. However, in the case of failure of the mobile chassis 100, the driving member 122 can be powered off or the electric control system of the mobile chassis 100 fails, causing the driving member 122 and the driving wheel 123 to remain in the brake state.

[0101] In the present embodiment, the mobile chassis failure can include the driving wheel assembly 120 failure. The driving wheel assembly 120 failure can be the brake state of the driving member 122 and the driving wheel 123, and the driving member 122 cannot provide driving force for the driving wheel 123, causing the driving wheel 123 to be unable to rotate.

[0102] In some embodiments, the mobile chassis 100 further comprises at least one set of driven wheels 140. In some embodiments, each set of driven wheels 140 can comprise two driven wheels 140 arranged on opposite sides of the chassis body 110 in a direction perpendicular to the moving direction. In other words, each set of driven wheels 140 can comprise two driven wheels 140 arranged on opposite sides of the chassis body 110 in a width direction.

[0103] Optionally, when the driving wheel assembly 120 is arranged at the front or the rear of the chassis body 110 in the moving direction, the driven wheels 140 can comprise one set of driven wheels 140, which can be arranged on the opposite side of the driving wheel assembly 120.

[0104] Alternatively, when the driving wheel assembly 120 is arranged at the middle of the chassis body 110 in the moving direction, the driven wheels 140 can comprise two sets of driven wheels 140, which can be arranged on the two sides of the chassis body 110 in the moving direction, respectively.

[0105] It is worth mentioning that the driven wheels 140 can also comprise three sets, four sets, etc., which are not limited in the embodiments.

[0106] For example, the driven wheels 140 can be universal wheels, so as to facilitate the movement of the mobile chassis 100 in various directions, and improve the movement flexibility of the mobile chassis 100.

[0107] It can be understood that, in the embodiments provided in the present application, the moving direction can be the length direction of the mobile chassis 100. Alternatively, in other embodiments, the moving direction can also be the width direction of the mobile chassis 100, which is not limited in the embodiments.

[0108] Optionally, when the damping assembly 130 reduces the pressure applied to the driving wheel assembly 120, the grip of the driving wheel assembly 120 is reduced, and the driven wheels 140 can rotate under the external force, so as to drive the chassis body 110 to move relative to the ground, so as to facilitate the operator to move the mobile chassis 100 with failure to the maintenance area as soon as possible, and also to avoid the mobile chassis 100 with failure to cause obstruction in its working area, so as to avoid obstruction to other mobile chassis 100, walking mechanism, transportation device and other equipment that need to pass through the working area, thereby reducing the influence on the working efficiency of the warehouse system.

[0109] Or, when the driving wheel assembly 120 rotates in the direction away from the ground under the action of external force against the pressure of the damping assembly 130, the grip of the driving wheel assembly 120 is reduced, even off the ground, the driven wheel 140 can rotate under the action of external force, so as to drive the chassis body 110 to move relative to the ground, so as to facilitate the operator to push the mobile chassis 100 with fault to the maintenance area as soon as possible, and also can avoid the mobile chassis 100 with fault to cause obstruction in its working area, so as to avoid the obstruction to other mobile chassis 100, walking mechanism, transportation device and other equipment that need to pass through the working area, so as to reduce the influence on the working efficiency of the warehouse system.

[0110] In some embodiments, the mobile chassis 100 can also include a shell 160, which can be buckled on the chassis body 110 to protect the related structures on the chassis body 110. The side of the shell 160 away from the chassis body 110 can be provided with a bearing surface for bearing goods or other related mechanical structures to realize unmanned handling.

[0111] In some embodiments, the damping assembly 130 and the chassis body 110 can be rotatably connected through the connecting part 150, and the driving wheel assembly 120 can also be rotatably connected with the chassis body 110 through the connecting part 150. When it is needed to rotate the damping assembly 130, the connecting part 150 between the damping assembly 130 and the chassis body 110 can be rotated. When it is needed to rotate the driving wheel assembly 120, the connecting part 150 between the driving wheel assembly 120 and the chassis body 110 can be rotated.

[0112] The following describes the scheme of adjusting the grip of the driving wheel assembly 120 by rotating the connecting part 150 between the damping assembly 130 and the chassis body 110.

[0113] Figure 8 is the first part structure exploded schematic view of the mobile chassis provided by the embodiment of the application.

[0114] As Figure 8As shown, in some embodiments, the connecting part 150 comprises a first connecting part 151, a third connecting part 153 and a fifth connecting part 155. One end of the damping assembly 130 is rotatably connected to the chassis body 110 through the first connecting part 151, and the other end is rotatably connected to the driving wheel assembly 120 through the third connecting part 153, and the driving wheel assembly 120 can be rotatably connected to the chassis body 110 through the fifth connecting part 155. In this way, the damping assembly 130 can rotate relative to the chassis body 110, and the damping assembly 130 can also rotate relative to the driving wheel assembly 120. The pressure exerted by the damping assembly 130 on the driving wheel assembly 120 is transmitted through the third connecting part 153, and the driving wheel assembly 120 is rotated along the fifth connecting part 155, so as to keep in contact with the ground at all times, so as to maintain the grip of the driving wheel assembly 120.

[0115] In order to adjust the grip of the driving wheel assembly 120 in the case that the driving wheel assembly 120 loses power, the first connecting part 151 can be rotated by external force, so that the first connecting part 151 drives the damping assembly 130 to rotate in a direction away from the driving wheel assembly 120. In this way, the stretching of the damping assembly 130 can be achieved, so as to reduce the pressure of the damping assembly 130 acting on the driving wheel assembly 120, so as to reduce the pressure of the driving wheel assembly 120 on the ground, so as to reduce the grip of the driving wheel assembly 120, and thus when the mobile chassis 100 fails, the mobile chassis 100 can be manually pushed for maintenance.

[0116] Figure 9 Figure 2 is a partial structure schematic diagram of the connection between the driving wheel assembly and the damping assembly provided by the embodiment of the present application.

[0117] In combination Figure 8 and Figure 9 As shown, in some embodiments, the bracket 121 comprises a first bracket 1211.

[0118] The first bracket 1211 is rotatably connected to the chassis body 110 through the fifth connecting part 155, and the first bracket 1211 is rotatably connected to the damping assembly 130 through the third connecting part 153. The driving part 122 is connected to the first bracket 1211, and the driving wheel 123 is connected to the driving part 122. In this way, the damping assembly 130 can exert pressure on the first bracket 1211 through the third connecting part 153, and the first bracket 1211 tends to rotate towards the ground along the fifth connecting part 155 after being subjected to pressure, so that the driving wheel 123 on the first bracket 1211 can press the ground, so that the driving wheel 123 can maintain a larger grip.

[0119] It can be understood that the related description about the brake state between the driving wheel 123 and the driving part 122 can refer to the above-mentioned related description, which will not be repeated here.

[0120] For example, the first support 1211 can include a first portion 121a, a second portion 121b and a third portion 121c connected with each other.

[0121] The first portion 121a is rotatably connected with the chassis body 110 through a fifth connecting part 155, the second portion 121b is rotatably connected with the damping assembly 130 through a third connecting part 153, and the third portion 121c is connected with the driving member 122.

[0122] In order to realize the stable connection of the first support 1211 with the driving member 122 and the driving wheel 123, the third portion 121c can be a semi-enclosing structure, for example, the third portion 121c can be a structure similar to a "C" shape to enclose the driving member 122. The two ends of the third portion 121c can be connected with the driving member 122 respectively, so as to improve the connection stability of the first support 1211 with the driving member 122.

[0123] It can be understood that the third portion 121c can also be connected with the driving member 122 at one end or more positions, which is not limited in the embodiment.

[0124] In some embodiments, the fifth connecting part 155 can include a fifth connecting seat 1551 and a fifth connecting shaft 1552.

[0125] The fifth connecting seat 1551 is connected with the chassis body 110. For example, the fifth connecting seat 1551 can be connected with the chassis body 110 through bolts, or the fifth connecting seat 1551 can also be connected with the chassis body 110 through welding, and the specific connection mode of the fifth connecting seat 1551 with the chassis body 110 is not limited in the embodiment.

[0126] The fifth connecting shaft 1552 is rotatably connected with the fifth connecting seat 1551, and the fifth connecting shaft 1552 is connected with the first portion 121a.

[0127] For example, the fifth connecting seat 1551 and the first portion 121a are provided with connecting holes corresponding to each other, and the fifth connecting shaft 1552 can be arranged in the connecting holes. The fifth connecting shaft 1552 can rotate relative to the first portion 121a and / or the fifth connecting seat 1551, in other words, the fifth connecting shaft 1552 is clearance-fitted with the first portion 121a and / or the fifth connecting seat 1551, so that the fifth connecting shaft 1552 can rotate relative to the fifth connecting seat 1551 or the first portion 121a, thereby enabling the first portion 121a to rotate relative to the fifth connecting seat 1551.

[0128] Further, in order to avoid the fifth connecting shaft 1552 from slipping off, the fifth connecting part 155 can further include a fifth snap spring 1553. The fifth snap spring 1553 can be arranged at both ends of the fifth connecting shaft 1552 to prevent the fifth connecting shaft 1552 from slipping off from the fifth connecting seat 1551 and the first part 121a.

[0129] In some embodiments, the third connecting part 153 can include a third connecting shaft 1531. The third connecting shaft 1531 is arranged through the second part 121b and the damping assembly 130 to achieve the rotatable connection between the damping assembly 130 and the second part 121b.

[0130] For example, the second part 121b and the damping assembly 130 can be provided with a connecting hole, and the third connecting shaft 1531 can be arranged through the connecting hole.

[0131] In order to avoid the third connecting shaft 1531 from slipping off, the third connecting part 153 can further include a third snap spring 1532, which can be clamped at both ends of the third connecting shaft 1531. In this way, after the third connecting shaft 1531 is arranged through the second part 121b and the damping assembly 130, the third snap spring 1532 can be relied on to limit the third connecting shaft 1531 in the connecting hole to prevent slipping off.

[0132] Figure 10 FIG. 1 is a partial structure diagram of a first damping assembly of a first mobile chassis provided by the embodiments of the present application and a first connecting part.

[0133] In combination with FIGS. 1, 2 and 3, Figure 8 Figure 9 and Figure 10 In some embodiments, the damping assembly 130 includes a first damper 131 and a first connecting piece 132.

[0134] One end of the first damper 131 is rotatably connected with the second part 121b through the third connecting shaft 1531, and the other end of the first damper 131 is rotatably connected with the first connecting piece 132. For example, the first damper 131 can be a spring damper or a damping damper, and the specific form of the first damper 131 is not limited in the embodiments.

[0135] When the first damper 131 is a spring damper, the greater the compression amount of the first damper 131, the greater the pressure exerted by the first damper 131 on the driving wheel assembly 120.

[0136] ​For example, one end of the first connecting member 132 can be connected to one end of the first shock absorber 131 through a first rotating shaft 133. The first rotating shaft 133 can be disposed through the first connecting member 132 and the first shock absorber 131, and the first rotating shaft 133 can be connected to the first connecting member 132 and / or the first shock absorber 131 through a clearance fit, so as to achieve rotatable connection of the first connecting member 132 and the first shock absorber 131.

[0137] Optionally, when the first rotating shaft 133 is disposed through the first connecting member 132 and the first shock absorber 131, both ends of the first rotating shaft 133 can be provided with a seventh snap spring 134, so as to clamp the first rotating shaft 133 to the first connecting member 132 by the seventh snap spring 134, to prevent the first rotating shaft 133 from falling off.

[0138] The end of the first connecting member 132 away from the first shock absorber 131 is connected to the first connecting portion 151, and the first connecting portion 151 can drive the first connecting member 132 to rotate. In this way, the first connecting member 132 can realize stretching and compression of the first shock absorber 131 during rotation with the first connecting portion 151. When the first connecting member 132 rotates in a direction away from the driving wheel assembly 120, the first connecting member 132 can realize stretching of the first shock absorber 131, so as to reduce the compression amount of the first shock absorber 131, to reduce the pressure exerted by the first shock absorber 131 on the driving wheel assembly 120.

[0139] In addition, if the first shock absorber 131 is directly connected to the first connecting portion 151, the stretching and compression amount of the first shock absorber 131 generally corresponds to the articulation radius when the first shock absorber 131 rotates with the first connecting portion 151. The first connecting member 132 is equivalent to increasing the articulation radius, so as to increase the stretching and compression amount of the first shock absorber 131.

[0140] In some embodiments, the mobile chassis 100 further comprises an abutting portion 170 provided on the chassis body 110. During normal driving of the mobile chassis 100, the end of the first connecting member 132 connected to the first shock absorber 131 can abut against the abutting portion 170, so as to compress the first shock absorber 131 and maintain the pressure exerted by the first shock absorber 131 on the driving wheel assembly 120.

[0141] When one end of the first shock absorber 131 abuts against the abutting portion 170, compression of the first shock absorber 131 can be achieved due to the abutting portion 170 arranged on the chassis body 110, and at this time, the external force generated by the first shock absorber 131 can have a tendency to drive the first connecting piece 132 to rotate downward around the first connecting portion 151. The arrangement of the abutting portion 170 can prevent the first connecting piece 132 from rotating further downward, so that the first connecting piece 132 and the first shock absorber 131 can be kept in abutment on the abutting portion 170. In this way, the compression amount of the first shock absorber 131 is large, and the first shock absorber 131 can exert a relatively large pressure on the driving wheel assembly 120, thereby being beneficial to maintaining the grip of the driving wheel assembly 120.

[0142] For example, the abutting portion 170 can be a boss, a bump, a protrusion, or the like arranged on the chassis body 110, and the specific structure of the abutting portion 170 is not limited in the present embodiment.

[0143] Meanwhile, the protruding height of the abutting portion 170 relative to the chassis body 110 should be less than or equal to the central height of the connecting position of the first connecting piece 132 and the first connecting portion 151. In this way, the force of the first shock absorber 131 can keep the first connecting piece 132 having a tendency to rotate toward the driving wheel assembly 120 and downward, so as to be kept in abutment on the abutting portion 170. The protruding height of the abutting portion 170 relative to the chassis body 110 should be greater than the central height of the connecting position of the first connecting piece 132 and the first connecting portion 151. In this way, the force of the first shock absorber 131 can make the first connecting piece 132 have a tendency to rotate away from the driving wheel assembly 120 and downward, so as to no longer abut against the abutting portion 170, and the compression amount of the first shock absorber 131 is reduced, and the pressure exerted on the driving wheel assembly 120 is reduced.

[0144] In some embodiments, the first connecting portion 151 includes a first connecting seat 1511 and a first connecting shaft 1512.

[0145] The first connecting seat 1511 is connected to the chassis body 110. For example, the first connecting seat 1511 can be connected to the chassis body 110 by bolts, or the first connecting seat 1511 can be connected to the chassis body 110 by welding, and the specific connection mode of the first connecting seat 1511 and the chassis body 110 is not limited in the present embodiment.

[0146] The first connecting shaft 1512 is rotatably connected to the first connecting seat 1511, and the first connecting shaft 1512 is connected to the end of the first connecting piece 132 away from the first shock absorber 131. The first connecting shaft 1512 can rotate under the action of an external force, so as to drive the first connecting piece 132 to rotate relative to the first connecting seat 1511. In this way, the first connecting shaft 1512 can drive the first connecting piece 132 to rotate in a direction away from the driving wheel assembly 120, so as to stretch the first shock absorber 131, thereby reducing the pressure exerted by the first shock absorber 131 on the driving wheel assembly 120.

[0147] For example, the first connecting seat 1511 can be provided with a connecting hole, and the first connecting shaft 1512 can be arranged in the connecting hole to achieve the rotatable connection between the first connecting shaft 1512 and the first connecting seat 1511.

[0148] In an implementation manner, the first connecting shaft 1512 and the first connecting piece 132 can be connected by plug-in connection. For example, the first connecting shaft 1512 is provided with a slot, and the first connecting piece 132 is provided with a protrusion corresponding to the slot. In this way, the protrusion of the first connecting piece 132 can be plugged into the slot to achieve the connection between the first connecting shaft 1512 and the first connecting piece 132.

[0149] It should be noted that the positions of the slot and the protrusion can be exchanged, and the specific plug-in form of the first connecting shaft 1512 and the first connecting piece 132 is not limited in the embodiment.

[0150] In another implementation manner, the first connecting shaft 1512 and the first connecting piece 132 can be connected by sleeve connection. For example, the first connecting piece 132 can be provided with a connecting hole corresponding to the first connecting shaft 1512, and the first connecting shaft 1512 can be arranged in the connecting hole.

[0151] Optionally, in order to avoid that the first connecting piece 132 remains stationary when the first connecting shaft 1512 rotates, the first connecting shaft 1512 and the first connecting piece 132 can be interference fit to achieve the close connection between the first connecting shaft 1512 and the connecting hole of the first connecting piece 132, so that the first connecting piece 132 can be driven when the first connecting shaft 1512 rotates.

[0152] Alternatively, the first connecting part 151 further comprises a first fixing piece 1513. The first fixing piece 1513 is connected to the first connecting shaft 1512 and the first connecting piece 132 to achieve the fixed connection of the first connecting shaft 1512 and the first connecting piece 132 in the circumferential direction, so that the first connecting shaft 1512 can drive the first connecting piece 132 to rotate relative to the first connecting seat 1511.

[0153] In some embodiments, the mobile chassis 100 further comprises a chassis side plate 181 arranged at the edge of the chassis body 110 to enclose various structures arranged on the chassis body 110 to protect the various structures on the chassis body 110. Meanwhile, the first connecting shaft 1512 comprises a first shaft body 151a and a first cap body 151b, the first shaft body 151a is rotatably connected to the first connecting seat 1511, and the first shaft body 151a is connected with the first connecting piece 132. Along the axial direction of the first shaft body 151a, the first cap body 151b is located at the side of the first shaft body 151a close to the chassis side plate 181.

[0154] Further, the chassis side plate 181 is provided with a first opening 182 corresponding to the first cap body 151b. When the driving wheel assembly 120 loses power, the operator can pass the rotating piece 191 through the first opening 182 to connect the rotating piece 191 to the first cap body 151b. At this time, the operator can rotate the rotating piece 191 to drive the first cap body 151b to rotate through the rotating piece 191, and drive the first shaft body 151a to rotate relative to the first connecting seat 1511 through the first cap body 151b, thereby driving the first connecting piece 132 to rotate. In this way, the first connecting shaft 1512 can be rotated without disassembling the shell 160 of the mobile chassis 100, and adjustment of the first shock absorber 131 can be realized.

[0155] Alternatively, the first cap body 151b can be a standard hexagonal nut, and the rotating piece 191 can be a hexagonal wrench matched with the standard hexagonal nut. In this way, in the use scenario of the mobile chassis 100, the rotating piece 191 matched with the standard hexagonal nut can be more easily found, thereby realizing timely adjustment of the mobile chassis 100 and improving the maintenance efficiency.

[0156] In addition, the size of the standard hexagonal nut can be selected according to actual conditions, which is not limited in the embodiment.

[0157] Alternatively, the first cap body 151b can also be a triangular, quadrangular or pentagonal cap body, and correspondingly, the rotating piece 191 is a rotating tool matched with the shape of the first cap body 151b. In the embodiment, the shape of the first cap body 151b and the rotating piece 191 are not limited.

[0158] In some embodiments, the mobile chassis 100 further comprises a first decoration piece 183. The first decoration piece 183 is detachably connected to the first opening 182. In this way, when the mobile chassis 100 is in normal operation, the first decoration piece 183 can be installed in the first opening 182 to prevent dust, sand and other foreign matter in the external environment from entering the mobile chassis 100 through the first opening 182, thereby affecting the normal operation of the mobile chassis 100. When the mobile chassis-equipped transport equipment fails, the first decoration piece 183 can be removed to expose the first opening 182, so that the rotating piece 191 can be connected to the first cap body 151b.

[0159] For example, the failure of the mobile chassis-equipped transport equipment can be the failure of the object taking mechanism, the lifting mechanism, the bearing mechanism and other structures on the transport equipment. Alternatively, the failure of the mobile chassis-equipped transport equipment can be the failure of the drive wheel assembly 120, the control structure and the power supply structure of the mobile chassis.

[0160] It should be noted that the failure of the mobile chassis-equipped transport equipment can be the failure of the structure of the mobile chassis itself, or the failure of other structures arranged on the mobile chassis. In this embodiment, the specific failure of the transport equipment is not limited.

[0161] The specific structure of the first connecting seat 1511 and the first connecting piece 132 in the scheme of adjusting the grip force of the drive wheel assembly 120 by rotating the connecting part 150 between the damping assembly 130 and the chassis body 110 will be described below.

[0162] As shown in Figure 10 In one example, the first connecting seat 1511 comprises a first base 151c, a first connecting lug 151d and a second connecting lug 151e.

[0163] The first base 151c is connected to the chassis body 110, the first connecting lug 151d and the second connecting lug 151e are connected to the side of the first base 151c away from the chassis body 110, and the first connecting lug 151d and the second connecting lug 151e are arranged at intervals. One end of the first connecting piece 132 is located between the first connecting lug 151d and the second connecting lug 151e. For example, the first connecting piece 132, the first connecting lug 151d and the second connecting lug 151e are correspondingly provided with connecting holes. In this way, the first connecting shaft 1512 can be sequentially arranged through the first connecting lug 151d, the first connecting piece 132 and the second connecting lug 151e, thereby realizing the connection between the first connecting shaft 1512 and the first connecting seat 1511, and the connection between the first connecting shaft 1512 and the first connecting piece 132.

[0164] For example, in order to facilitate the penetration of the first connecting shaft 1512, the connecting holes on the first connecting lug 151d and the second connecting lug 151e can be gap-fitted with the first connecting shaft 1512. At this time, in order to avoid the first connecting shaft 1512 from being separated from the first connecting lug 151d and the second connecting lug 151e, the end of the first shaft body 151a away from the first cap body 151b can be further provided with a first circlip (not shown in the figure). In this way, one end of the first connecting shaft 1512 can be clamped by the first cap body 151b, and the other end can be connected by the first circlip to prevent the first connecting shaft 1512 from being separated.

[0165] Alternatively, the first connecting shaft 1512 can further include a third cap body (not shown in the figure), and the third cap body is located on the other side of the first shaft body 151a along the axial direction relative to the first cap body 151b. Among them, the first shaft body 151a can be sequentially penetrated through the first connecting lug 151d, the first connecting piece 132 and the second connecting lug 151e, and the first cap body 151b and the third cap body can be connected to the two ends of the first shaft body 151a respectively. The outer diameter of the first cap body 151b and the third cap body is greater than the diameter of the connecting hole on the first connecting lug 151d and the second connecting lug 151e, and the first cap body 151b is located on the side of the first connecting lug 151d away from the second connecting lug 151e, and the third cap body is located on the side of the second connecting lug 151e away from the first connecting lug 151d. In this way, the first cap body 151b and the third cap body can be used to fix the first shaft body 151a along the axial direction, and the first shaft body 151a is limited on the first connecting lug 151d and the second connecting lug 151e, thereby preventing the first connecting shaft 1512 from slipping off.

[0166] Alternatively, in order to avoid the first connecting shaft 1512 from being separated from the first connecting seat 1511, after the first connecting shaft 1512 is penetrated through the first connecting lug 151d, the first connecting piece 132 and the second connecting lug 151e, the other end of the first connecting shaft 1512 can be bent to avoid the first connecting shaft 1512 from slipping off. In this embodiment, the specific connection mode of the first connecting shaft 1512 and the first connecting seat 1511 is not limited.

[0167] Further, when the first connecting shaft 1512 is gap-fitted with the first connecting piece 132, the first fixing piece 1513 can be arranged between the first connecting lug 151d and the second connecting lug 151e.

[0168] For example, the first shaft body 151a can be provided with a fixing hole, and the fixing hole of the first shaft body 151a is perpendicular to the axis of the first shaft body 151a. The first connecting piece 132 is also correspondingly provided with a fixing hole, and the first fixing piece 1513 is penetrated through the two fixing holes to fix the first connecting shaft 1512 and the first connecting piece 132.

[0169] Optionally, the first fixing member 1513 can be a bolt, the fixing hole of the first shaft body 151a can be a threaded hole, and the fixing hole of the first connecting member 132 can be a through hole. In this way, after the first connecting member 132 is penetrated by the first fixing member 1513, the first fixing member 1513 can be fixed to the first shaft body 151a by screwing. The first fixing member 1513 fixed by screwing can be easily disassembled and maintained, thereby facilitating the later maintenance. It can be understood that the second fixing hole can also be provided with a thread, which is not limited in the embodiment.

[0170] Alternatively, the first fixing member 1513 can be a pin shaft, the fixing hole of the first shaft body 151a and the fixing hole of the first connecting member 132 can be through holes, and the fixing hole of the first shaft body 151a and the fixing hole of the first connecting member 132 can be in interference fit with the pin shaft, thereby preventing the pin shaft from slipping off. Compared with a screw, the pin shaft has stronger shear resistance, thereby improving the connection strength of the first connecting shaft 1512 and the first connecting member 132.

[0171] Further alternatively, the first fixing member 1513 can also be a key, the first shaft body 151a is provided with a first key groove, and the connecting hole of the first connecting member 132 is correspondingly provided with a second key groove. During assembly, the first fixing member 1513 can be placed in the first key groove first, and then the first shaft body 151a is penetrated through the connecting hole of the first connecting member 132, and the first fixing member 1513 is correspondingly arranged in the second key groove. In this way, when the first shaft body 151a rotates, the first connecting member 132 can be driven to rotate by the key.

[0172] It can be understood that the specific implementation form of the first fixing member 1513 can be adjusted according to actual needs, which is not limited in the embodiment.

[0173] Figure 11 is a partial structure schematic view of a second damping assembly of a first mobile chassis provided by the embodiment of the application and connected with the first connecting part.

[0174] Combined with Figure 8 and Figure 11 shown, in another example, the first connecting seat 1511 can include a first base 151c and a first connecting lug 151d.

[0175] Among them, the first base 151c is connected to the chassis body 110, and the first connecting lug 151d is connected to the side of the first base 151c away from the chassis body 110.

[0176] The first connecting member 132 includes a first connecting plate 1321, a first side plate 1322 and a second side plate 1323. In this way, the first connecting member 132 can be a sheet metal part, which is easy to process and form, saves materials, and can reduce production and manufacturing costs.

[0177] The first side plate 1322 and the second side plate 1323 are connected to two sides of the first connecting plate 1321, and the first side plate 1322 and the second side plate 1323 are located on two sides of the first connecting lug 151d. In other words, the first connecting lug 151d is located between the first side plate 1322 and the second side plate 1323. The first connecting shaft 1512 is sequentially arranged in the first side plate 1322, the first connecting lug 151d and the second side plate 1323, so as to realize the connection between the first connecting shaft 1512 and the first connecting seat 1511 and the first connecting member 132.

[0178] For example, in order to facilitate the arrangement of the first connecting shaft 1512, the first connecting lug 151d, the first side plate 1322 and the second side plate 1323 can be gap-fitted. At this time, in order to avoid the first connecting shaft 1512 from slipping off, the end of the first shaft body 151a away from the first cap body 151b can be provided with a first snap spring (not shown in the figure). In this way, one end of the first connecting shaft 1512 can be clamped by the first cap body 151b, and the other end can be clamped by the first snap spring, so as to prevent the first connecting shaft 1512 from being separated.

[0179] Alternatively, the first connecting shaft 1512 can also include a third cap body (not shown in the figure), and the third cap body and the first cap body 151b are located on two sides of the first shaft body 151a along the axis direction. The first shaft body 151a is sequentially arranged in the first side plate 1322, the first connecting lug 151d and the second side plate 1323, and the first cap body 151b and the third cap body are respectively connected to two ends of the first shaft body 151a. The outer diameter of the first cap body 151b and the third cap body is greater than the diameter of the connecting hole on the first side plate 1322 and the second side plate 1323, and the first cap body 151b is located on the side of the first side plate 1322 away from the second side plate 1323, and the third cap body is located on the side of the second side plate 1323 away from the first side plate 1322. In this way, the first shaft body 151a can be limited on the first side plate 1322 and the second side plate 1323 by the first cap body 151b and the third cap body, so as to prevent the first connecting shaft 1512 from slipping off.

[0180] Alternatively, in order to avoid the first connecting shaft 1512 from being separated from the first connecting seat 1511, after the first connecting shaft 1512 is arranged in the first side plate 1322, the first connecting lug 151d and the second side plate 1323, the other end of the first connecting shaft 1512 can be bent to avoid the first connecting shaft 1512 from slipping off. In this embodiment, the specific connection mode of the first connecting shaft 1512 and the first connecting seat 1511 is not limited.

[0181] Furthermore, when the first connecting shaft 1512 and the first connecting member 132 are in clearance fit, there can be two first fixing members 1513. The two first fixing members 1513 can be respectively set on the two sides of the first side plate 1322 and the second side plate 1323 away from the first connecting ear 151d.

[0182] For example, a first connecting block 1324 is provided on the side of the first side plate 1322 opposite to the first connecting ear 151d, and a second connecting block 1325 is provided on the side of the second side plate 1323 opposite to the second connecting ear 151e. The first connecting block 1324 and the second connecting block 1325 can be positioned close to the connecting holes on the first side plate 1322 and the second side plate 1323. In this way, after the first connecting shaft 1512 passes through the first side plate 1322 and the second side plate 1323, the first connecting block 1324 and the second connecting block 1325 can be close to the first connecting shaft 1512. Two first fasteners 1513 can be respectively connected to the first connecting block 1324 and the first connecting shaft 1512, and the second connecting block 1325 and the first connecting shaft 1512.

[0183] For example, the first shaft 151a may be provided with two fixing holes, the axes of which are perpendicular to the axis of the first shaft 151a. The first connecting block 1324 and the second connecting block 1325 are also provided with corresponding fixing holes. One first fixing member 1513 passes through the fixing holes of the first shaft 151a and the first connecting block 1324, and another first fixing member 1513 passes through the fixing holes of the first shaft 151a and the second connecting block 1325, so as to fix the first connecting shaft 1512 and the first connecting member 132.

[0184] Optionally, the first fixing member 1513 can be a bolt, the fixing hole of the first shaft 151a is a threaded hole, and the fixing holes of the first connecting block 1324 and the second connecting block 1325 are through holes. Thus, after the first connecting block 1324 and the second connecting block 1325 are inserted, the first fixing member 1513 can be threadedly connected and fixed to the first shaft 151a. The threaded connection of the first fixing member 1513 facilitates disassembly and inspection, thereby simplifying later maintenance. It is understood that the second fixing hole can also be threaded; this is not limited in this embodiment.

[0185] Alternatively, the first fixing member 1513 can be a pin, and the fixing holes of the first shaft 151a, the first connecting block 1324, and the second connecting block 1325 are all through holes. The fixing holes can be interference-fitted with the pin to prevent the pin from slipping.

[0186] Alternatively, the first fixing member 1513 can also be a connecting ring, which can be sleeved on the outer periphery of the first shaft 151a and the first connecting block 1324, and on the outer periphery of the first shaft 151a and the second connecting block 1325, to achieve a fixed connection between the first shaft 151a and the first connecting member 132. In this way, when the first shaft 151a rotates, the first connecting member 132 can be driven to rotate through the connecting ring.

[0187] It is understood that the specific implementation of the first fastener 1513 can be adjusted according to actual needs, and is not limited in this embodiment.

[0188] Figure 12 This is a schematic diagram of the structure of the first mobile chassis rotating the first connecting part before and after, provided in the embodiments of this application.

[0189] Combination Figure 8 and Figure 12 As shown, when the mobile chassis 100 is in normal operation, the connecting ends of the first connecting member 132 and the first shock absorber 131 abut against the abutment portion 170 (e.g., Figure 12 As shown in (a) in the figure, at this time, the compression of the first shock absorber 131 is relatively large, and the pressure applied by the first shock absorber 131 to the drive wheel assembly 120 is relatively large, so that the drive wheel 123 can maintain a large grip force to achieve the smooth operation of the mobile chassis 100.

[0190] When the drive wheel assembly 120 of the mobile chassis 100 loses power, the first decorative piece 183 on the chassis side plate 181 can be removed to expose the first opening 182. Then, the rotating member 191 is inserted through the first opening 182 and connected to the first cap 151b. At this time, the rotating member 191 can be rotated along the side opposite to the drive wheel 123, thereby driving the first shaft 151a to rotate via the first cap 151b, which in turn drives the first connecting member 132 along the side opposite to the drive wheel 123 (along...). Figure 12 The first connector 132 is rotated in the direction shown in (b) to move away from the contact part 170 at the connection position between the first connector 132 and the first shock absorber 131.

[0191] When the rotating component 191 drives the first connecting component 132 to rotate to the position shown in the figure, Figure 12 At the position shown in (b), the compression of the first shock absorber 131 is less than Figure 12 The compression of the first shock absorber 131 is shown in (a). At this time, the force exerted by the first shock absorber 131 on the first connector 132 and the first bracket 1211 is reduced, thereby reducing the rotational tendency of the first bracket 1211 relative to the chassis body 110 towards the ground, so as to reduce the pressure of the drive wheel 123 on the ground, and thus reduce the grip of the drive wheel 123.

[0192] It is worth noting that,Figure 12 The first damper 131 shown in (b) in the figure still generates a pushing force F to the first connecting member 132. At this time, the rotating member 191 is removed, and the first connecting member 132 will not be connected to the abutting portion 170 again under the pushing force F of the first damper 131. In other words, after the rotating member 191 is removed, the compression amount of the first damper 131 will not increase again, but only decrease slowly, so that the first damper 131 and the first connecting member 132 can stay at a balanced position.

[0193] When the first damper 131 and the first connecting member 132 stay at the balanced position, the pressure of the first damper 131 to the first support 1211 can be zero, which depends on whether the first damper 131 has a pre-load. When the pressure of the first damper 131 to the first support 1211 is zero, the pressure of the driving wheel 123 to the ground only comes from the gravity of the driving member 122, so that the driving wheel 123 has a very small grip to the ground. The operator can manually push the mobile chassis 100 to make the mobile chassis 100 move on the road surface by the driven wheel 140. At this time, although the driving wheel 123 cannot rotate in the brake-holding state with the driving member 122, the driving wheel 123 has a small pressure to the ground, and the sliding friction between the driving wheel 123 and the ground is small, so that the driving wheel 123 is easy to push, and thus the maintenance is facilitated.

[0194] The following describes a scheme for adjusting the grip of the driving wheel assembly 120 by rotating the connecting portion 150 between the driving wheel assembly 120 and the chassis main body 110.

[0195] Figure 13 is a structural schematic diagram of a second mobile chassis provided by an embodiment of the present application.

[0196] Figure 14 is a partial structural exploded schematic diagram of the second mobile chassis provided by an embodiment of the present application.

[0197] As shown in Figure 13 and Figure 14 the related description of the shell 160 and the driven wheel 140 of the second mobile chassis 100 provided by the embodiment of the present application can refer to the related description of the first mobile chassis 100 described above, and will not be described herein again.

[0198] In some embodiments, the connecting portion 150 includes a second connecting portion 152, a fourth connecting portion 154, and a sixth connecting portion 156. The drive wheel assembly 120 is rotatably connected to the chassis body 110 via the second connecting portion 152. One end of the shock absorber assembly 130 is rotatably connected to the drive wheel assembly 120 via the fourth connecting portion 154, and the other end of the shock absorber assembly 130 is rotatably connected to the chassis body 110 via the sixth connecting portion 156. Thus, the shock absorber assembly 130 can rotate relative to the chassis body 110, and the shock absorber assembly 130 can also rotate relative to the drive wheel assembly 120. The pressure applied by the shock absorber assembly 130 to the drive wheel assembly 120 is transmitted through the fourth connecting portion 154, causing the drive wheel assembly 120 to rotate along the second connecting portion 152, thereby maintaining constant contact with the ground to maintain the traction of the drive wheel assembly 120.

[0199] To adjust the traction of the drive wheel assembly 120 when it loses power, the second connecting part 152 can be rotated by external force. This allows the second connecting part 152 to rotate against the pressure of the shock-absorbing assembly 130, thereby causing the drive wheel assembly 120 to rotate in a direction away from the ground. If the rotation angle of the drive wheel assembly 120 is small, it may not completely leave the ground, but its pressure on the ground will decrease, thus reducing its traction. If the rotation angle of the drive wheel assembly 120 is large, the drive wheel 123 may completely leave the ground, resulting in zero pressure on the ground, and therefore zero traction.

[0200] Regardless of whether the drive wheel 123 is completely off the ground, when the drive wheel assembly 120 is rotated in the direction away from the ground by the second connecting part 152, the grip between the drive wheel 123 and the ground will decrease. In this way, if the mobile chassis 100 malfunctions, it can be manually pushed, which facilitates maintenance.

[0201] Figure 15 This is a partial structural diagram of the connection between the drive wheel assembly and the shock absorption assembly of the second type of mobile chassis provided in this application embodiment.

[0202] like Figure 14 and Figure 15 As shown, in some embodiments, the support 121 includes a second support 1212.

[0203] The second support 1212 is rotatably connected to the chassis body 110 through the second connecting portion 152, and is rotatably connected to the damping assembly 130 through the fourth connecting portion 154. The driving member 122 is connected to the second support 1212, and the driving wheel 123 is connected to the driving member 122. In this way, the damping assembly 130 can exert pressure on the second support 1212 through the fourth connecting portion 154. After being pressed, the second support 1212 tends to rotate along the second connecting portion 152 relative to the chassis body 110 to rotate towards the ground, so that the driving wheel 123 on the second support 1212 can press the ground, thereby keeping the driving wheel 123 with a larger grip.

[0204] In addition, the second support 1212 can be rotated in a direction away from the ground under the action of the second connecting portion 152, so that the driving wheel 123 is separated from the ground. In this way, when the second connecting portion 152 is rotated under the action of an external force, the second support 1212 can be rotated, so that the driving wheel 123 connected to the second support 1212 can be rotated, so that the driving wheel 123 can be separated from the ground, thereby facilitating subsequent manual pushing of the chassis 100.

[0205] It can be understood that the related description of the brake state between the driving wheel 123 and the driving member 122 can refer to the above related description, which will not be repeated here.

[0206] For example, the second support 1212 can include a fourth portion 121d, a fifth portion 121e and a sixth portion 121f connected to each other.

[0207] The fourth portion 121d is rotatably connected to the chassis body 110 through the second connecting portion 152, the fifth portion 121e is rotatably connected to the damping assembly 130 through the fourth connecting portion 154, and the sixth portion 121f is connected to the driving member 122.

[0208] Optionally, in order to facilitate the connection between the driving member 122 and the sixth portion 121f and the structural avoidance, one side of the sixth portion 121f facing the driving member 122 can be approximately arc-shaped to approach the contour of the driving member 122, thereby surrounding the driving member 122. The end of the sixth portion 121f can be connected to the driving member 122.

[0209] In addition, in order to improve the connection strength between the driving member 122 and the second support 1212, the second support 1212 can further include a seventh portion 121g connected to the fourth portion 121d. The seventh portion 121g extends from the fourth portion 121d to the side facing the driving member 122 to be connected to the driving member 122, thereby improving the connection stability between the second support 1212 and the driving member 122.

[0210] In some embodiments, the second connecting part 152 comprises a second connecting seat 1521 and a second connecting shaft 1522.

[0211] The second connecting seat 1521 is connected to the chassis body 110. For example, the second connecting seat 1521 can be connected to the chassis body 110 by bolts, or the second connecting seat 1521 can be connected to the chassis body 110 by welding. In this embodiment, the specific connection mode of the second connecting seat 1521 and the chassis body 110 is not limited.

[0212] The second connecting shaft 1522 is rotatably connected to the second connecting seat 1521, and the second connecting shaft 1522 is connected to the fourth part 121d. The second connecting shaft 1522 can rotate in a direction away from the ground under the action of an external force to drive the fourth part 121d to rotate in a direction away from the ground, so that the driving wheel 123 can be separated from the ground.

[0213] For example, the second connecting seat 1521 can be provided with a connecting hole, and the second connecting shaft 1522 can be arranged in the connecting hole to achieve the rotatable connection between the second connecting shaft 1522 and the second connecting seat 1521.

[0214] In an implementation manner, the second connecting shaft 1522 and the fourth part 121d can be connected by insertion. For example, the second connecting shaft 1522 can be provided with a slot, and the fourth part 121d can be provided with a protrusion corresponding to the slot. In this way, the protrusion of the fourth part 121d can be inserted into the slot to achieve the connection between the fourth part 121d and the second connecting shaft 1522.

[0215] It should be noted that the positions of the slot and the protrusion can be exchanged, and the specific insertion form of the second connecting shaft 1522 and the fourth part 121d is not limited in this embodiment.

[0216] In another implementation manner, the second connecting shaft 1522 and the fourth part 121d can be connected by sleeving. For example, the fourth part 121d can be provided with a connecting hole corresponding to the second connecting shaft 1522, and the second connecting shaft 1522 can be arranged in the connecting hole.

[0217] Optionally, in order to avoid that the fourth part 121d remains stationary when the second connecting shaft 1522 rotates, the second connecting shaft 1522 and the fourth part 121d can be connected by interference fit to achieve the close connection between the connecting holes of the second connecting shaft 1522 and the fourth part 121d, so that the fourth part 121d can be driven when the second connecting shaft 1522 rotates.

[0218] Alternatively, the second connecting shaft 1522 can be in clearance fit with the fourth part 121d. In this case, the second connecting part 152 can further include a second fixing member 1523. The second fixing member 1523 is connected to the second connecting shaft 1522 and the fourth part 121d to achieve fixed connection between the second connecting shaft 1522 and the fourth part 121d, so that the second connecting shaft 1522 can drive the fourth part 121d to rotate relative to the second base 152c.

[0219] For example, the second connecting shaft 1522 can be provided with a fixing hole, and an axis of the fixing hole of the second connecting shaft 1522 is perpendicular to an axis of the second connecting shaft 1522. The fourth part 121d can also be provided with a fixing hole. The second fixing member 1523 can be arranged in the fixing hole of the second connecting shaft 1522 and the fixing hole of the fourth part 121d. In this way, the second fixing member 1523 can achieve the fixed connection of the second connecting shaft 1522 and the fourth part 121d in the circumferential direction, so that the second connecting shaft 1522 can drive the fourth part 121d to rotate.

[0220] Alternatively, the second fixing member 1523 can be a bolt, the fixing hole of the second connecting shaft 1522 can be a threaded hole, and the fixing hole of the fourth part 121d can be a hole. In this way, after the second fixing member 1523 is arranged in the fixing hole of the fourth part 121d, the second fixing member 1523 can be screwed and fixed in the fixing hole of the second connecting shaft 1522. The second fixing member 1523 connected by screwing can be easily disassembled and maintained, thereby facilitating later maintenance. It can be understood that the fourth fixing hole can also be provided with a thread, which is not limited in the embodiment.

[0221] Alternatively, the second fixing member 1523 can be a pin shaft, the fixing hole of the second connecting shaft 1522 and the fixing hole of the fourth part 121d can be through holes, and the fixing hole of the second connecting shaft 1522 and the fixing hole of the fourth part 121d can be in interference fit with the pin shaft, thereby preventing the pin shaft from slipping off. Compared with a screw, the pin shaft has stronger shear resistance, thereby improving the connection strength of the second connecting shaft 1522 and the fourth part 121d.

[0222] Alternatively, the second fixing member 1523 can also be a key, the second connecting shaft 1522 is provided with a third key groove, and the connecting hole of the fourth part 121d is correspondingly provided with a fourth key groove. During assembly, the second fixing member 1523 can be placed in the third key groove first, and then the second connecting shaft 1522 is arranged in the connecting hole of the fourth part 121d, and the second fixing member 1523 is correspondingly arranged in the fourth key groove. In this way, when the second connecting shaft 1522 rotates, the fourth part 121d can be driven to rotate by the key.

[0223] It can be understood that the specific implementation form of the second fixing member 1523 can be adjusted according to actual needs, which is not limited in the embodiment.

[0224] In some embodiments, the second connecting shaft 1522 can include a second shaft body 152a and a second cap body 152b, and the second connecting seat 1521 can include a second base 152c, a third connecting lug 152d and a fourth connecting lug 152e.

[0225] The second base 152c is connected to the base body 110, the third connecting lug 152d and the fourth connecting lug 152e are connected to the side of the second base 152c away from the base body 110, and the third connecting lug 152d and the fourth connecting lug 152e are arranged at intervals. The fourth part 121d is located between the third connecting lug 152d and the fourth connecting lug 152e, and the third connecting lug 152d and the fourth connecting lug 152e are provided with corresponding connecting holes. In this way, the second shaft body 152a can be sequentially arranged in the third connecting lug 152d, the fourth part 121d and the fourth connecting lug 152e, thereby realizing the connection between the second connecting shaft 1522 and the second connecting seat 1521.

[0226] For example, in order to facilitate the arrangement of the second shaft body 152a, the connecting holes on the third connecting lug 152d and the fourth connecting lug 152e can be clearance-fitted with the second shaft body 152a.

[0227] In order to avoid the second shaft body 152a from being separated from the third connecting lug 152d and the fourth connecting lug 152e, the second cap body 152b is located on one side of the second shaft body 152a along the axial direction of the second shaft body 152a.

[0228] Alternatively, the second connecting part 152 can further include a second snap spring (not shown in the figure), when the second shaft body 152a is arranged in the third connecting lug 152d, the fourth part 121d and the fourth connecting lug 152e, the second cap body 152b is located at one end of the third connecting lug 152d away from the fourth part 121d, and the second snap spring can be connected to one end of the second shaft body 152a away from the second cap body 152b. In this way, the second cap body 152b and the second snap spring can be used to fix the second shaft body 152a in the axial direction, so as to prevent the second connecting shaft 1522 from slipping off.

[0229] Alternatively, the second connecting shaft 1522 can further include a fourth cap body (not shown in the figure), and the fourth cap body and the second cap body 152b are respectively located at two ends of the second shaft body 152a along the axial direction.

[0230] When the second shaft body 152a is sequentially threaded through the third connecting lug 152d, the fourth part 121d and the fourth connecting lug 152e, the second cap body 152b and the fourth cap body can be connected to the two ends of the second shaft body 152a respectively. The second cap body 152b can be located on the side of the third connecting lug 152d away from the fourth part 121d, and the fourth cap body can be located on the side of the fourth connecting lug 152e away from the fourth part 121d. In this way, the second cap body 152b and the fourth cap body can be used to fix the second shaft body 152a in the axial direction to prevent the second connecting shaft 1522 from slipping off.

[0231] Alternatively, in order to prevent the second connecting shaft 1522 from disengaging from the second connecting seat 1521, after the second connecting shaft 1522 is threaded through the third connecting lug 152d, the fourth part 121d and the third connecting lug 152d, the other end of the second shaft body 152a can be bent to prevent the second connecting shaft 1522 from slipping off. In this embodiment, the specific connection method of the second connecting shaft 1522 and the second connecting seat 1521 is not limited.

[0232] In some embodiments, the mobile chassis 100 further comprises a chassis side plate 181 arranged at the edge of the chassis main body 110 to surround various structures arranged on the chassis main body 110 to protect the various structures on the chassis main body 110. The second cap body 152b is located on the side close to the chassis side plate 181.

[0233] Further, the chassis side plate 181 is provided with a second opening 184 corresponding to the second cap body 152b. When the driving member 122 loses power and the driving wheel 123 is in the brake state, the operator can thread the rotating member 191 through the second opening 184 to connect the rotating member 191 to the second cap body 152b. At this time, the operator can rotate the rotating member 191 to drive the second cap body 152b to rotate through the rotating member 191, and drive the second shaft body 152a to rotate relative to the second connecting seat 1521 through the second cap body 152b, thereby driving the fourth part 121d and the driving wheel 123 to rotate. In this way, the second connecting shaft 1522 can be rotated without disassembling the shell 160 of the mobile chassis 100, so as to adjust the position of the driving wheel 123.

[0234] Optionally, the second cap body 152b can be a standard hexagonal nut, and the rotating member 191 can be a hexagonal wrench adapted to the standard hexagonal nut. In this way, in the use scenario of the mobile chassis 100, the rotating member 191 adapted to the standard hexagonal nut can be found more easily, so as to realize timely adjustment of the mobile chassis 100 and improve the maintenance efficiency.

[0235] In addition, the size of the standard hexagonal nut can be selected according to actual conditions, which is not limited in this embodiment.

[0236] Alternatively, the second cap 152b can also be a triangular, quadrangular or pentagonal cap, and the rotating member 191 is a rotating tool matched with the shape of the second cap 152b. In the embodiment, the shape of the second cap 152b and the rotating member 191 are not limited.

[0237] In some embodiments, the mobile chassis 100 further comprises a second decoration 185. The second decoration 185 is detachably connected to the second opening 184. In this way, when the mobile chassis 100 is in normal operation, the second decoration 185 can be installed in the second opening 184 to prevent dust, sand and other foreign matters in the external environment from entering the mobile chassis 100 through the second opening 184, thereby affecting the normal operation of the mobile chassis 100. When the transport equipment with the mobile chassis fails, the second decoration 185 can be removed to expose the second opening 184, so as to facilitate the rotating member 191 to rotate the second connecting shaft 1522.

[0238] It can be understood that the specific failure of the transport equipment with the mobile chassis can refer to the related description of the first decoration, which will not be repeated here.

[0239] In some embodiments, the mobile chassis 100 can further comprise a first clamping portion 192. The first clamping portion 192 can be clamped to the second support 1212 when the driving wheel 123 is away from the ground, so as to maintain the state of the driving wheel 123 away from the ground.

[0240] Alternatively, the first clamping portion 192 can be clamped to the fifth portion 121e, or the first clamping portion 192 can be clamped to the sixth portion 121f.

[0241] The following will be described by taking the first clamping portion 192 clamped to the fifth portion 121e as an example.

[0242] In some embodiments, the fifth part 121e is provided with a second clamping portion 121h on a side thereof facing the chassis side plate 181, and the chassis side plate 181 is provided with a clamping hole 186. In the case that the fourth part 121d is driven to rotate by the second connecting shaft 1522 so that the driving wheel 123 is separated from the ground, the first clamping portion 192 can be inserted into the clamping hole 186 so as to be clamped to the second clamping portion 121h, thereby keeping the driving wheel 123 separated from the ground. In this way, in the case that the rotating member 191 does not exert an external force on the second connecting shaft 1522, the cooperation between the clamping hole 186, the first clamping portion 192 and the second clamping portion 121h can resist the force exerted by the damping assembly 130 on the fifth part 121e, so as to prevent the fifth part 121e from driving the fourth part 121d to rotate relative to the second connecting seat 1521 towards the ground and causing the driving wheel 123 to contact the ground again after the external force of the rotating member 191 is removed.

[0243] For example, the first clamping portion 192 can be a pin shaft. The second clamping portion 121h can be a protruding structure, such as a bump, a protruding strip, etc., provided on the surface of the fifth part 121e facing the chassis side plate 181. Alternatively, the second clamping portion 121h can also be a recessed structure, such as a groove, etc., provided on the surface of the fifth part 121e facing the chassis side plate 181.

[0244] In other embodiments, if the first clamping portion 192 is clamped to the fourth part 121d, the first clamping portion 192 can also be a support column. If the first clamping portion 192 is clamped to the sixth part 121f, the first clamping portion 192 can also be a recessed structure provided on the side of the chassis side plate 181 facing the sixth part 121f, and the second clamping portion 121h on the sixth part 121f can be a protruding structure to be clamped in the recessed structure, or the recessed structure and the protruding structure can be interchanged.

[0245] It can be understood that the specific clamping structure of the second bracket 1212 is not limited in the embodiments of the present application, and can be adjusted according to actual conditions.

[0246] In some embodiments, the mobile chassis 100 further comprises a third decorative member 187. The third decorative member 187 is detachably connected to the clamping hole 186. In this way, when the mobile chassis 100 is normally operated, the third decorative member 187 can be installed on the clamping hole 186, so as to prevent dust, sand and other foreign matters in the external environment from entering the inside of the mobile chassis 100 through the clamping hole 186 and affecting the normal operation of the mobile chassis 100. When the transport equipment with the mobile chassis fails, the third decorative member 187 can be removed to expose the clamping hole 186, so that the first clamping portion 192 can be inserted into the clamping hole 186 to clamp the second bracket 1212.

[0247] It can be understood that the specific failure related description of the transport equipment with the mobile chassis in the failure can refer to the related description in the first decoration, which will not be repeated here.

[0248] In some embodiments, the fourth connecting part 154 can include a fourth connecting shaft 1541. The fourth connecting shaft 1541 is provided through the fifth part 121e and the damping assembly 130 to achieve the rotatable connection of the damping assembly 130 and the fifth part 121e.

[0249] For example, the fifth part 121e and the damping assembly 130 can be provided with a connecting hole, and the fourth connecting shaft 1541 can be provided through the connecting hole.

[0250] In order to avoid the fourth connecting shaft 1541 from slipping off, the fourth connecting part 154 can further include a fourth fixing part 1542. The fourth fixing part 1542 can be connected to the fifth part 121e and the fourth connecting shaft 1541 to achieve the fixed connection of the fourth connecting shaft 1541 and the fifth part 121e while preventing the fourth connecting shaft 1541 from slipping off.

[0251] For example, the fourth connecting shaft 1541 can be provided with a fixing hole, and the fifth part 121e is correspondingly provided with a fixing hole, and the fourth fixing part 1542 can be provided through the fixing hole of the fourth connecting shaft 1541 and the fixing hole of the fifth part 121e. In this way, when the fourth connecting shaft 1541 is provided through the fifth part 121e, the fourth fixing part 1542 can achieve the fixing of the fourth connecting shaft 1541 in the radial and axial directions. In other words, the fourth fixing part 1542 can not only prevent the fourth connecting shaft 1541 from rotating relative to the fifth part 121e, but also prevent the fourth connecting shaft 1541 from moving along its axial direction, thereby possibly effectively preventing the fourth connecting shaft 1541 from slipping off.

[0252] Further, in order to achieve the rotatable connection of the fifth part 121e and the damping assembly 130, the damping assembly 130 and the fourth connecting shaft 1541 can be gap-fitted. In this way, the damping assembly 130 can be freely rotated relative to the fourth connecting shaft 1541.

[0253] Figure 16 is a partial structure schematic view of the connection of the second kind of mobile chassis damping assembly and the first connecting part provided by the embodiment of the present application.

[0254] In combination Figure 14 and Figure 16 As shown in the figure, in some embodiments, the damping assembly 130 includes a second connecting part 135 and a second damper 136.

[0255] The second connecting part 135 is rotatably connected to the chassis main body 110 through a sixth connecting part 156.

[0256] Figure 17 is a structural schematic view of a damping assembly in a second mobile chassis provided by an embodiment of the present application.

[0257] Figure 18 is Figure 17 a sectional view along the direction of C-C.

[0258] In combination Figure 17 and Figure 18 As shown in the figure, the second damper 136 comprises a fixed shaft 1361 and a spring 1362. One end of the fixed shaft 1361 is rotatably connected to the fourth connecting shaft 1541, and the other end of the fixed shaft 1361 is slidably connected to the second connecting piece 135. The spring 1362 is sleeved on the fixed shaft 1361, the first end 136a of the spring 1362 abuts against the first stepped surface 136b of the fixed shaft 1361, and the second end 136c of the spring 1362 abuts against the second connecting piece 135. When the fixed shaft 1361 relatively rotates on the fourth connecting shaft 1541, the fixed shaft 1361 can slide relative to the second connecting piece 135, and the second connecting piece 135 can slide relative to the chassis main body 110. In this way, not only the rotation of the second damper 136 can be realized, but also the compression of the spring 1362 can be realized by the second connecting piece 135 and the first stepped surface 136b to meet the attitude change of the second damper 136.

[0259] Exemplarily, the second damper 136 further comprises a first sleeve 1363 and a second sleeve 1364.

[0260] Among them, the first sleeve 1363 is sleeved on the fixed shaft 1361 and abuts against the first stepped surface 136b, and the first end 136a of the spring 1362 is embedded in the first sleeve 1363. The second sleeve 1364 is sleeved on the fixed shaft 1361 and abuts against the second connecting piece 135, and the second end 136c of the spring 1362 is embedded in the second sleeve 1364. In this way, the guiding effect of the spring 1362 can be realized by the first sleeve 1363 and the second sleeve 1364 to prevent the spring 1362 from bending or tilting during compression.

[0261] Further, the second damper 136 further comprises a first elastic pad 1365 and a second elastic pad 1366.

[0262] Among them, the first elastic pad 1365 is sleeved on the fixed shaft 1361 and located between the first sleeve 1363 and the spring 1362, so as to avoid the noise generated by the direct contact between the spring 1362 and the first sleeve 1363, and also to absorb part of the external impact. The second elastic pad 1366 is sleeved on the fixed shaft 1361 and located between the second sleeve 1364 and the spring 1362, so as to avoid the noise generated by the direct contact between the spring 1362 and the second sleeve 1364, and also to absorb part of the external impact.

[0263] Exemplarily, the first elastic pad 1365 and the second elastic pad 1366 can be rubber pads, silica gel pads, sponge pads and the like which have elastic deformation capability and can absorb noise, and are not limited in the embodiment.

[0264] In some embodiments, the second connecting piece 135 comprises a sleeving part 1351 sleeved on the fixing shaft 1361 and a rotating part 1352 connected to the sixth connecting part 156. The sleeving part 1351 is provided with a shaft hole 135a, and the fixing shaft 1361 is arranged in the shaft hole 135a and can slide in the shaft hole 135a along the axial direction. In this way, the fixing shaft 1361 and the sleeving part 1351 can be slidably connected through the cooperation of the fixing shaft 1361 and the shaft hole 135a.

[0265] The rotating part 1352 is located on both sides of the sleeving part 1351, and the rotating part 1352 can be a rotating shaft, and the axis of the rotating shaft is perpendicular to the axis of the fixing shaft 1361. In this way, the second connecting piece 135 can be rotatably connected to the sixth connecting part 156 through the rotating shaft.

[0266] Exemplarily, the rotating part 1352 can be a convex column, and the sleeving part 1351 can be a sleeve or a sleeve block with a shaft hole, which are not limited in the embodiment.

[0267] In some embodiments, the sixth connecting part 156 comprises a third connecting seat 1561 and a fourth connecting seat 1562. The third connecting seat 1561 and the fourth connecting seat 1562 are connected to the chassis body 110, and the third connecting seat 1561 and the fourth connecting seat 1562 are correspondingly provided with connecting holes. In this way, the rotating part 1352 of the second connecting piece 135 can be rotatably connected to the third connecting seat 1561 and the fourth connecting seat 1562, so as to realize the rotatable connection between the second connecting piece 135 and the sixth connecting part 156.

[0268] Figure 19 is a structural schematic view of the second connecting part provided by the embodiment of the application before and after the rotation of the mobile chassis.

[0269] Combined with Figure 14 and Figure 19 As shown in FIGS. 1(a) and 1(b), when the mobile chassis 100 is running normally, the second decorative piece 185 is installed in the second opening 184, and the third decorative piece 187 is installed in the clamping hole 186. At this time, the second damper 136 can normally apply pressure to the second support 1212 (as shown in FIG. 1(a)), so that the driving wheel 123 connected to the second support 1212 can press the ground, so as to maintain the grip of the driving wheel 123, and thus realize the stable operation of the mobile chassis 100. Figure 19

[0270] ​When the driving member 122 of the mobile chassis 100 is powered off, the second decorative member 185 and the third decorative member 187 can be removed to expose the second opening 184 and the clamping hole 186. Then, the rotating member 191 is inserted into the second opening 184 and connected to the second cap 152b. At this time, the rotating member 191 can be rotated along the side facing the ground, so as to drive the second shaft 152a to rotate through the second cap 152b, thereby driving the second support 1212 connected to the second shaft 152a to rotate against the pressure of the second shock absorber 136. In this way, the driving wheel 123 can be rotated along the direction away from the ground (e.g., the o2 direction shown in (b) of FIG. 13) along with the second support 1212, so as to enable the driving wheel 123 to move away from the ground (e.g., as shown in (b) of FIG. 13). When the driving wheel 123 moves away from the ground, the first clamping portion 192 can be inserted into the clamping hole 186 and clamped to the second clamping portion 121h, so as to fix the second support 1212 and maintain the state that the driving wheel 123 moves away from the ground. Figure 19 Figure 19 When the driving wheel 123 maintains the state of moving away from the ground, an operator can manually push the mobile chassis 100 to a maintenance position, thereby reducing the difficulty of maintenance and improving the maintenance flexibility of the mobile chassis 100.

[0271] In addition, when the second support 1212 rotates against the pressure of the second shock absorber 136 under the driving of the second shaft 152a, the length of the force arm of the second shock absorber 136 is greater than the length of the force arm of the second support 1212, and the second shock absorber 136, the second connecting portion 152, and the second support 1212 form a force-lever. For such a force-lever, although a larger external force is needed to rotate the second cap 152b and the second shaft 152a, the moving distance of the second support 1212 can be saved. That is, by rotating the second shaft 152a by a smaller angle, the driving wheel 123 can move a larger distance, thereby facilitating the lifting of the driving wheel 123 to reduce the space occupied by the driving wheel assembly 120.

[0272] In other embodiments, the first clamping portion 192 can be always arranged in the clamping hole 186. When the mobile chassis 100 normally travels, the first clamping portion 192 is not connected to the second clamping portion 121h. When the driving wheel 123 moves away from the ground, the first clamping portion 192 is clamped to the second clamping portion 121h. The specific arrangement of the first clamping portion 192 is not limited in the present embodiment.

[0273] It can be understood that the structures related to the first mobile chassis and the second mobile chassis can be interchangeable, which is not limited in the present embodiment.

[0274] It can be understood that the structures related to the first mobile chassis and the second mobile chassis can be interchangeable, which is not limited in the present embodiment.

[0275] ​In a second aspect, the embodiments of the present application further provide a transport device. The transport device comprises a load carrying device and any one of the mobile chassis provided in the first aspect above, so as to improve the maintenance flexibility of the transport device.

[0276] For example, the transport device can be a transport robot, and the load carrying device can comprise a gantry or a mobile rack, etc. In the embodiments, the load carrying device is not limited.

[0277] It should be noted that other embodiments of the present application will readily occur to those skilled in the art having the benefit of the description and practice of the application disclosed herein. The application is intended to include any and all variations that fall within the general scope of the application, including adaptations that are apparent to those of ordinary skill in the art. The description and examples are not intended to limit the scope of the application to the specific embodiments described. The true scope of the application is indicated by the appended claims.

[0278] It should be understood that the application is not limited to the precise construction that has been described above and shown in the accompanying drawings, and that various modifications and changes can be made by those skilled in the art without departing from the scope of the application. The scope of the application is indicated only by the appended claims.

Claims

1. A mobile chassis characterized by, The mobile chassis comprises: a chassis body (110); a driving wheel assembly (120) rotatably connected to the chassis body (110); a damping assembly (130) having one end rotatably connected to the chassis body (110) through a first connecting part (151) and the other end rotatably connected to the driving wheel assembly (120) to apply pressure to the driving wheel assembly (120); the first connecting part (151) is configured to rotate under external force and move the damping assembly (130) to reduce the pressure applied by the damping assembly (130) to the driving wheel assembly (120).

2. The mobile chassis according to claim 1, wherein the damping assembly (130) comprises a first damper (131) and a first connecting piece (132); one end of the first damper (131) is rotatably connected to the driving wheel assembly (120), and the other end of the first damper (131) is rotatably connected to the first connecting piece (132); one end of the first connecting piece (132) away from the first damper (131) is connected to the first connecting part (151); the first connecting piece (132) is configured to rotate under the driving of the first connecting part (151) and move the first damper (131) to reduce the pressure applied by the first damper (131) to the driving wheel assembly (120).

3. The mobile chassis according to claim 2, wherein the first connecting part (151) comprises a first connecting seat (1511) and a first connecting shaft (1512); the first connecting seat (1511) is connected to the chassis body (110); the first connecting shaft (1512) is rotatably connected to the first connecting seat (1511), and the first connecting piece (132) is connected to the first connecting shaft (1512); the first connecting shaft (1512) is configured to rotate relative to the first connecting seat (1511) under external force and drive the first connecting piece (132) to rotate.

4. The mobile chassis according to claim 3, wherein the first connecting part (151) further comprises a first fixing piece (1513); the first fixing piece (1513) is connected to the first connecting piece (132) and the first connecting shaft (1512) to enable the first connecting shaft (1512) to drive the first connecting piece (132) to rotate relative to the first connecting seat (1511).

5. The mobile chassis according to claim 4, wherein the first connecting seat (1511) comprises a first base (151c), a first connecting lug (151d), and a second connecting lug (151e); the first base (151c) is connected to the chassis body (110); The first connecting lug (151d) and the second connecting lug (151e) are connected to the side of the first base (151c) away from the chassis body (110), and the first connecting lug (151d) and the second connecting lug (151e) are arranged at intervals; One end of the first connecting piece (132) is located between the first connecting lug (151d) and the second connecting lug (151e); The first connecting shaft (1512) is sequentially arranged in the first connecting lug (151d), the first connecting piece (132), and the second connecting lug (151e); The first fixing piece (1513) is located between the first connecting lug (151d) and the second connecting lug (151e).

6. The mobile chassis according to claim 4, wherein The first connecting seat (1511) comprises a first base (151c) and a first connecting lug (151d); The first base (151c) is connected to the chassis body (110); The first connecting lug (151d) is connected to the side of the first base (151c) away from the chassis body (110); The first connecting piece (132) comprises a first connecting plate (1321), a first side plate (1322), and a second side plate (1323); The first side plate (1322) and the second side plate (1323) are connected to the opposite sides of the first connecting plate (1321), and the first side plate (1322) and the second side plate (1323) are located on the two sides of the first connecting lug (151d), respectively; The first connecting shaft (1512) sequentially passes through the first side plate (1322), the first connecting lug (151d), and the second side plate (1323); The first fixing piece (1513) is two, and the two first fixing pieces (1513) are located on the two sides of the first side plate (1322) and the second side plate (1323) away from the first connecting lug (151d), respectively.

7. The mobile chassis according to any one of claims 3-6, wherein The mobile chassis further comprises a chassis side plate (181); The chassis side plate (181) is connected to the chassis body (110); The first connecting shaft (1512) comprises a first shaft body (151a) and a first cap body (151b); The first shaft body (151a) is rotatably connected to the first connecting seat (1511), and the first shaft body (151a) is connected to the first connecting piece (132); Along the axis direction of the first shaft body (151a), the first cap body (151b) is connected to the side of the first shaft body (151a) close to the chassis side plate (181); The chassis side plate (181) is provided with a first opening (182) corresponding to the first cap body (151b); The first opening (182) is configured to allow a rotating member (191) to pass through and be connected to the first cap (151b), so that the rotating member (191) rotates the first cap (151b) and drives the first shaft (151a) to rotate relative to the first connecting seat (1511).

8. The mobile chassis according to claim 7, wherein, The mobile chassis further comprises a first decorative member (183); The first decorative member (183) is detachably connected to the first opening (182); The first decorative member (183) is configured to be installed in the first opening (182) when the driving wheel assembly (120) is normally working, and to be removed from the first opening (182) to expose the first opening (182) when the transport equipment with the mobile chassis fails.

9. The mobile chassis according to any one of claims 2-6, wherein, The mobile chassis further comprises an abutting portion (170); The abutting portion (170) is arranged on the chassis body (110); The abutting portion (170) is configured to abut against one end of the first connecting member (132) connected to the first shock absorber (131), so as to compress the first shock absorber (131) and keep the first shock absorber (131) exerting pressure on the driving wheel assembly (120).

10. The mobile chassis according to any one of claims 1-6, wherein, The driving wheel assembly (120) comprises a first support (1211), a driving member (122), and a driving wheel (123); The first support (1211) is rotatably connected to the chassis body (110); The driving member (122) is connected to the first support (1211); The driving wheel (123) is connected to the driving member (122); The shock absorbing assembly (130) is rotatably connected to the first support (1211); The first support (1211) is configured to be driven to rotate relative to the chassis body (110) by the driving member (122) and the driving wheel (123) under the pressure exerted by the shock absorbing assembly (130).

11. The mobile chassis according to any one of claims 1-6, wherein, The mobile chassis further comprises at least one set of driven wheels (140); Each set of driven wheels (140) comprises two driven wheels (140) arranged on opposite sides of the chassis body (110); The driven wheels (140) are configured to rotate under an external force to drive the chassis body (110) to move relative to the ground after the shock absorbing assembly (130) reduces the pressure exerted on the driving wheel assembly (120).

12. A mobile chassis characterized by, The mobile chassis comprises: a chassis body (110); a driving wheel assembly (120) rotatably connected to the chassis body (110) through a second connecting portion (152); a damping assembly (130) rotatably connected to the chassis body (110) at one end and rotatably connected to the driving wheel assembly (120) at the other end to apply pressure to the driving wheel assembly (120); the second connecting part (152) is configured to rotate against the pressure of the damping assembly (130) under external force to drive the driving wheel assembly (120) to rotate away from the ground.

13. The mobile chassis according to claim 12, wherein the driving wheel assembly (120) comprises a second support (1212) and a driving wheel (123); the second support (1212) is rotatably connected to the chassis body (110) through the second connecting part (152); the driving wheel (123) is connected to the second support (1212); the second support (1212) is configured to rotate away from the ground to make the driving wheel (123) leave the ground under the driving of the second connecting part (152).

14. The mobile chassis according to claim 13, wherein the mobile chassis further comprises a first clamping part (192); the first clamping part (192) is configured to clamp the second support (1212) to keep the driving wheel (123) away from the ground when the driving wheel (123) leaves the ground.

15. The mobile chassis according to claim 14, wherein the mobile chassis further comprises a chassis side plate (181); the chassis side plate (181) is connected to the chassis body (110); the second support (1212) is provided with a second clamping part (121h) on the side facing the chassis side plate (181); the chassis side plate (181) is provided with a clamping hole (186); the clamping hole (186) is configured to allow the first clamping part (192) to pass through to clamp the second clamping part (121h) to keep the driving wheel (123) away from the ground.

16. The mobile chassis according to claim 15, wherein the mobile chassis further comprises a third decorative part (187); the third decorative part (187) is detachably connected to the clamping hole (186); the third decorative part (187) is configured to be installed in the clamping hole (186) when the driving wheel assembly (120) is working normally, and to be removed from the clamping hole (186) to expose the clamping hole (186) when the transportation equipment with the mobile chassis fails.

17. The mobile chassis according to claim 13, wherein the second connecting part (152) comprises a second connecting seat (1521) and a second connecting shaft (1522); the second connecting seat (1521) is connected to the chassis body (110); the second connecting shaft (1522) is rotatably connected to the second connecting seat (1521); The second support (1212) is connected to the second connecting shaft (1522); The second connecting shaft (1522) is configured to rotate the second support (1212) away from the ground under an external force, so that the drive wheel (123) is separated from the ground.

18. The mobile chassis according to claim 17, wherein, The second connecting part (152) further comprises a second fixing member (1523); The second fixing member (1523) is connected to the second support (1212) and the second connecting shaft (1522), so that the second connecting shaft (1522) can drive the second support (1212) to rotate relative to the second connecting seat (1521).

19. The mobile chassis according to claim 18, wherein, The mobile chassis further comprises a chassis side plate (181); The chassis side plate (181) is connected to the chassis body (110); The second connecting shaft (1522) comprises a second shaft body (152a) and a second cap body (152b); The second shaft body (152a) is rotatably connected to the second connecting seat (1521); The second cap body (152b) is connected to the second shaft body (152a) near the side of the chassis side plate (181) along the axial direction of the second shaft body (152a); The chassis side plate (181) is provided with a second opening (184) corresponding to the second cap body (152b); The second opening (184) is configured to allow a rotating member (191) to pass through and be connected to the second cap body (152b), so that the rotating member (191) rotates the second cap body (152b) and drives the second shaft body (152a) to rotate relative to the second connecting seat (1521).

20. The mobile chassis according to claim 19, wherein, The mobile chassis further comprises a second decorative member (185); The second decorative member (185) is detachably connected to the second opening (184); The second decorative member (185) is configured to be installed in the second opening (184) when the drive wheel assembly (120) is working normally, and to be removed from the second opening (184) to expose the second opening (184) when the transportation equipment with the mobile chassis fails.

21. The mobile chassis according to any one of claims 12-20, wherein, The damping assembly (130) comprises a second connecting member (135) and a second damper (136); The second connecting member (135) is rotatably connected to the chassis body (110); The second damper (136) comprises a fixed shaft (1361) and a spring (1362); One end of the fixed shaft (1361) is rotatably connected to the drive wheel assembly (120), and the other end of the fixed shaft (1361) is slidably connected to the second connecting member (135); The spring (1362) is sleeved on the fixed shaft (1361), a first end (136a) of the spring (1362) abuts against a first stepped surface (136b) of the fixed shaft (1361), and a second end (136c) of the spring (1362) abuts against the second connecting piece (135).

22. The mobile chassis of claim 21, wherein, The second shock absorber (136) further comprises a first sleeve (1363) and a second sleeve (1364); The first sleeve (1363) is sleeved on the fixed shaft (1361) and abuts against the first stepped surface (136b), and the first end (136a) of the spring (1362) is embedded in the first sleeve (1363); The second sleeve (1364) is sleeved on the fixed shaft (1361) and abuts against the second connecting piece (135), and the second end (136c) of the spring (1362) is embedded in the second sleeve (1364).

23. The mobile chassis of claim 22, wherein, The second shock absorber (136) further comprises a first elastic pad (1365) and a second elastic pad (1366); The first elastic pad (1365) is sleeved on the fixed shaft (1361) and located between the first sleeve (1363) and the first end (136a) of the spring (1362); The second elastic pad (1366) is sleeved on the fixed shaft (1361) and located between the second sleeve (1364) and the second end (136c) of the spring (1362).

24. The mobile chassis of claim 13, wherein, The drive wheel assembly (120) further comprises a drive piece (122); The drive piece (122) is arranged on the second support (1212); The drive wheel (123) is connected to the drive piece (122); The drive piece (122) is configured to drive the drive wheel (123) to rotate.

25. The mobile chassis of any one of claims 12-20, wherein, The mobile chassis further comprises at least one set of driven wheels (140); Each set of driven wheels (140) comprises two driven wheels (140) arranged on opposite sides of the chassis body (110); The driven wheels (140) are configured to rotate under an external force after the drive wheel assembly (120) rotates in a direction away from the ground, so as to drive the chassis body (110) to move relative to the ground.

26. A mobile chassis characterized by, Comprising: a chassis body (110); a drive wheel assembly (120) rotatably connected to the chassis body (110); a shock absorbing assembly (130) rotatably connected to one end of the chassis body (110) and rotatably connected to the other end of the drive wheel assembly (120) to apply pressure to the drive wheel assembly (120); One end of the damping assembly (130) connected with the chassis body (110) is configured to rotate relative to the chassis body (110) in a direction away from the driving wheel assembly (120) under an external force, so as to reduce the pressure applied to the driving wheel assembly (120); or the driving wheel assembly (120) is configured to rotate in a direction away from the ground under the pressure of the damping assembly (130) under an external force.

27. The mobile chassis according to claim 26, wherein, the driving wheel assembly (120) comprises a support (121), a driving member (122) and a driving wheel (123); the support (121) is rotatably connected to the chassis body (110); the driving member (122) is connected to the support (121); the driving wheel (123) is connected to the driving member (122); the damping assembly (130) is rotatably connected to the support (121); the support (121) is configured to drive the driving member (122) and the driving wheel (123) to rotate relative to the chassis body (110) under the pressure applied by the damping assembly (130).

28. The mobile chassis according to claim 26, wherein, the mobile chassis further comprises at least one set of driven wheels (140); each set of the driven wheels (140) comprises two driven wheels (140) arranged on opposite sides of the chassis body (110); the driven wheels (140) are configured to rotate under an external force to drive the chassis body (110) to move relative to the ground after the damping assembly (130) reduces the pressure applied to the driving wheel assembly (120) or after the driving wheel assembly (120) rotates in a direction away from the ground under the pressure of the damping assembly (130).

29. A transport apparatus, characterized by comprising: a carrier device and the mobile chassis according to any one of claims 1-28; the carrier device is arranged on the chassis body (110).

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