Mobile chassis and pallet handling robot

Abstract

The application provides a mobile chassis and a tray carrying robot. The mobile chassis comprises a vehicle frame and two walking power assemblies arranged on the vehicle frame. The walking power assemblies are used to drive the vehicle frame to move and turn. Each walking power assembly comprises a mounting bracket, a driving assembly, a driving wheel, an extendable shaft and a fixed shaft. The walking power assembly is fixedly connected with the vehicle frame. The driving assembly has a first end and a second end opposite to each other along the walking direction. The first end is rotatably connected with the mounting bracket through the extendable shaft, and the second end is rotatably connected with the mounting bracket through the fixed shaft. The driving wheel is connected with an output shaft of the driving assembly. The extendable shaft can be elongated or shortened, so that the first end of the driving assembly can swing relative to the second end and drive the driving wheel to float up and down. The extendable shaft can be elongated and shortened, so that the driving assembly can make a slight floating around the fixed shaft, that is, the mobile chassis can be connected in a driving floating mode, so that the damping effect of the mobile chassis during walking is better.

Description

Technical Field

[0001] This utility model relates to the field of automated guided transport technology, and in particular to a mobile chassis and pallet transport robot. Background Technology

[0002] AGVs (Automated Guided Vehicles) used for transporting goods in aisles with very low height and length spaces face challenges due to the fixed principles and frame structure of AGVs. Traditional floating bridges for AGVs have insufficient layout space, making it impossible to use a floating frame or a bridge with casters. If the floating frame or the caster bridge is directly replaced with a rigid connection, the pallet handling robot will experience greater wobbling during movement and have lower obstacle-crossing ability. Utility Model Content

[0003] The purpose of this utility model embodiment is to provide a mobile chassis and pallet handling robot to solve the problem that pallet handling robots cannot adopt a floating chassis design, resulting in large amplitude of bumps during movement and low obstacle-crossing ability. The specific technical solution is as follows:

[0004] This application provides a mobile chassis for a pallet handling robot. The mobile chassis includes a frame and two walking power components mounted on the frame. The walking power components are used to drive the frame to move and turn. Each walking power component includes: a mounting bracket fixedly connected to the frame; a drive component having a first end and a second end opposite to each other along the walking direction, the first end being rotatably connected to the mounting bracket via a telescopic shaft, and the second end being rotatably connected to the mounting bracket via a fixed shaft; and a drive wheel connected to the output shaft of the drive component. The telescopic shaft can extend or retract, allowing the first end of the drive component to swing relative to the second end, thereby causing the drive wheel to float up and down.

[0005] In some embodiments, the mounting bracket includes a top plate and first mounting portions disposed on both sides of the top plate along the walking direction, the top ends of the telescopic shaft and the fixed shaft being rotatably connected to the first mounting portions; the mobile chassis further includes a flange plate, the flange plate being connected to the drive assembly, the flange plate including a second mounting portion opposite to the first mounting portion, the bottom ends of the telescopic shaft and the fixed shaft being rotatably connected to the second mounting portion.

[0006] In some embodiments, the retractable shaft includes a first segment, a bushing connected to the first segment, and a second segment movably connected to the bushing. The retractable shaft also includes a first elastic element disposed between the first segment and the second segment, for causing the second segment to move away from or closer to the first segment along the axial direction of the retractable shaft.

[0007] In some embodiments, both the first segment and the second segment include a shoulder, the first elastic member is sleeved on the outside of the sleeve, and both ends of the first elastic member abut against the shoulder.

[0008] In some embodiments, the first elastic member is disposed within the bushing and located between the first segment and the second segment, with one end of the first elastic member abutting against the first segment and the other end abutting against the second segment.

[0009] In some embodiments, the bushing includes a fixed connecting section, a first sliding section, a limiting shoulder, and a second sliding section. The fixed connecting section communicates with the first sliding section, and the first sliding section and the second sliding section are separated by the limiting shoulder, which has a gap to connect the first sliding section and the second sliding section. The first section is detachably connected to the fixed connecting section. The second section includes a first part and a second part. The first part includes a head and a rod. The head is located inside the first sliding section, and the rod extends through the gap into the second sliding section. A portion of the second part is embedded in the second sliding section and has a mounting hole on the side facing the first part. The first part is detachably connected to the mounting hole. The second part slides along the second sliding section and drives the head to slide within the first sliding section. The connecting end of the limiting shoulder and the first section is used to limit the head.

[0010] In some embodiments, there is one fixed shaft and two telescopic shafts.

[0011] In some embodiments, the mobile chassis includes a fork receiving slot, and the direction of travel of the drive wheels is perpendicular to the extension direction of the fork receiving slot.

[0012] In some embodiments, the bottom of the mobile chassis is also provided with casters, which are respectively arranged in the four corner areas of the chassis.

[0013] A second aspect of this application provides a pallet handling robot, including the mobile chassis described above.

[0014] The mobile chassis and pallet handling robot provided in this embodiment of the utility model have a first end of the drive component rotatably connected to the mounting bracket via a telescopic shaft, and a second end rotatably connected to the mounting bracket via a fixed shaft. The telescopic shaft can extend and shorten, allowing the drive component to float slightly around the fixed shaft, thus realizing a floating connection for the mobile chassis drive. This allows the mobile chassis to easily overcome obstacles. Furthermore, because the chassis adopts a floating connection for drive, the shock absorption effect of the mobile chassis during movement is better, which can improve the problem of large bump amplitude.

[0015] Of course, any product implementing this utility model does not necessarily need to achieve all of the advantages described above at the same time. Attached Figure Description

[0016] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings.

[0017] Figure 1 This is a partial structural schematic diagram of the pallet handling robot provided in the embodiments of this application;

[0018] Figure 2 A schematic diagram of the walking power component from one perspective;

[0019] Figure 3 A schematic diagram of the walking power component from another perspective;

[0020] Figure 4 for Figure 3 A schematic diagram of the central walking power assembly without the first elastic element;

[0021] Figure 5 A schematic diagram of the structure of the flange plate provided in one embodiment of this application;

[0022] Figure 6 A schematic diagram of the structure of the flange plate provided in this application embodiment in another embodiment;

[0023] Figure 7 A three-dimensional structural diagram of the retractable shaft provided in an embodiment of this application;

[0024] Figure 8 A cross-sectional view of the retractable shaft provided in an embodiment of this application;

[0025] Figure 9 for Figure 1 A bottom view of the China Mobile chassis.

[0026] Frame 1; Fork housing 11; Travel power assembly 2; Mounting bracket 21; Top plate 211; First mounting part 212; Drive assembly 22; First end 221; Second end 222; Flange plate 223; Second mounting part 2231; Drive wheel 23; Telescopic shaft 3; First section 31-1; Second section 31-2; First part 31-21; Head 31-211; Rod part 31-212; Second part 31-22; Mounting hole 31-221; Shoulder 311; Bushing 32; Fixed connection section 321; First sliding section 322; Second sliding section 323; Limiting shoulder 324; First elastic element 33; Fixed shaft 4; Pin 5; Caster wheel 6; Mast assembly 7. Detailed Implementation

[0027] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art based on this application are within the protection scope of the present utility model.

[0028] To address the issues of significant wobbling and low obstacle-crossing ability during AGV movement, this application provides a mobile chassis for use with pallet handling robots, such as... Figure 1 , Figure 1 This is a partial structural schematic diagram of the pallet handling robot provided in an embodiment of this application.

[0029] refer to Figure 2 , Figure 3 , Figure 4 , Figure 2 This is a structural schematic diagram of the walking power component from one perspective. Figure 3 This is a structural schematic diagram of the walking power component from another perspective. Figure 4 for Figure 3 A schematic diagram of the walking power assembly without the first elastic element. The mobile chassis includes a frame 1 and two walking power assemblies 2 mounted on the frame 1. The walking power assemblies 2 are used to drive the frame 1 to move and turn. Each walking power assembly 2 includes a mounting bracket 21, a drive assembly 22, a drive wheel 23, a telescopic shaft 3, and a fixed shaft 4. The walking power assembly 2 is fixedly connected to the frame 1. The drive assembly 22 has a first end 221 and a second end 222 opposite to each other along the walking direction. The first end 221 is rotatably connected to the mounting bracket 21 via the telescopic shaft 3, and the second end 222 is rotatably connected to the mounting bracket 21 via the fixed shaft 4. The drive wheel 23 is connected to the output shaft of the drive assembly 22. The telescopic shaft 3 can extend or retract, allowing the first end 221 of the drive assembly 22 to swing relative to the second end 222, thereby causing the drive wheel 23 to float up and down.

[0030] In this embodiment, the first end 221 of the drive component 22 is rotatably connected to the mounting bracket 21 via a telescopic shaft 3, and the second end 222 is rotatably connected to the mounting bracket 21 via a fixed shaft 4. The telescopic shaft 3 can extend and shorten, allowing the drive component 22 to float slightly around the fixed shaft 4, which enables a floating connection for the mobile chassis drive. This allows the mobile chassis to easily overcome obstacles. Furthermore, because the chassis uses a floating connection for drive, the shock absorption effect of the mobile chassis during travel is better, which can improve the problem of large bump amplitude.

[0031] The drive assembly 22 can be a drive motor. Each drive wheel 23 is driven by a drive motor. When the drive motors control the drive wheels 23 to rotate at the same speed, the mobile chassis can move forward or backward in a straight line. When the drive motors control the drive wheels 23 to rotate at different speeds, the mobile chassis can turn.

[0032] In some embodiments of this application, reference is made to Figure 2 , Figure 3 The mounting bracket 21 includes a top plate 211 and first mounting portions 212 located on both sides of the top plate 211 along the walking direction. The top ends of the telescopic shaft 3 and the fixed shaft 4 are rotatably connected to the first mounting portions 212. The movable chassis also includes a flange plate 223. (See reference...) Figure 5 and Figure 6 , Figure 5 This is a schematic diagram of the structure of a flange plate provided in one embodiment of this application. Figure 6 This is a schematic diagram of the flange plate provided in another embodiment of the present application. The flange plate 223 is connected to the drive assembly 22. The flange plate 223 includes a second mounting part 2231 opposite to the first mounting part 212. The bottom ends of the telescopic shaft 3 and the fixed shaft 4 are rotatably connected to the second mounting part 2231.

[0033] In this embodiment, the two ends of the fixed shaft 4 are rotatably connected to the first mounting part 212 and the second mounting part 2231, respectively. The first mounting part 212 and the second mounting part 2231 can both be U-shaped structures. The two side walls of the U-shaped structure are provided with mounting holes 31-221. The two ends of the fixed shaft 4 are provided with shaft holes. Taking the first mounting part 212 as an example, the pin 5 passes through the mounting holes 31-221 on one side wall of the first mounting part 212, the shaft hole at the top of the fixed shaft 4, and the mounting holes 31-221 on the other side wall of the first mounting part 212 in sequence to pin the top of the fixed shaft 4 to the first mounting part 212. Similarly, the bottom end of the fixed shaft 4 is also pinned to the second mounting part 2231 by the pin 5.

[0034] The telescopic shaft 3 is located on the opposite side of the fixed shaft 4 along the traveling direction of the mobile chassis. Both ends of the telescopic shaft 3 also include shaft holes. The top end of the telescopic shaft 3 is pinned to the first mounting part 212 by a pin 5, and the bottom end of the telescopic shaft 3 is pinned to the second mounting part 2231 by a pin 5.

[0035] When the mobile chassis encounters uneven ground, the pins 5 at both ends of the fixed shaft 4 will serve as the support shaft and rotation center. By extending or shortening the telescopic shaft 3, the drive wheel 23 will float slightly around the fixed shaft 4, easily overcoming obstacles. The telescopic shaft 3 also ensures that the drive wheel 23 remains pressed against the ground while floating, preventing slippage.

[0036] The specific structure of flange plate 223 is not limited; it can be used to fix the fixed shaft 4 and the telescopic shaft 3 to the drive assembly 22. As one implementation method, such as... Figure 5 As shown, flange plate 223 is sleeved on the output shaft of drive assembly 22, and a second mounting part 2231 extends from its lower end for fixing telescopic shaft 3 and fixed shaft 4. As another implementation, such as... Figure 6 As shown, the flange plate 223 can be fixed to the bottom of the drive assembly 22, and a second mounting part 2231 is extended from one side for fixing the telescopic shaft 3 and the fixed shaft 4.

[0037] Optionally, refer to Figure 7 , Figure 8 , Figure 7 This is a three-dimensional structural diagram of the retractable shaft provided in an embodiment of this application. Figure 8 This is a cross-sectional view of the telescopic shaft provided in an embodiment of this application. The telescopic shaft 3 includes a first segment 31-1, a bushing 32 connected to the first segment 31-1, and a second segment 31-2 movably connected to the bushing 32. The telescopic shaft 3 also includes a first elastic member 33, which is disposed between the first segment 31-1 and the second segment 31-2, and is used to move the second segment 31-2 away from or closer to the first segment 31-1 along the axial direction of the telescopic shaft 3.

[0038] The second segment 31-2 is movably connected to the bushing 32, allowing the telescopic shaft 3 to extend or shorten. A first elastic element 33 is provided between the first segment 31-1 and the second segment 31-2. Under the elastic force of the first elastic element 33, the second segment 31-2 remains away from the first segment 31-1, which increases the preload on the drive wheel 23, increasing its wheel pressure and ensuring that the drive wheel 23 always remains pressed against the ground. When encountering uneven ground or obstacles, the first elastic element 33 can be compressed, causing the drive wheel 23 to move upward at a certain angle, easily overcoming the obstacle. However, under the action of the first elastic element 33, the drive wheel 23 is always subjected to the elastic force of the first elastic element 33, that is, the preload on the drive wheel 23 is always present, maintaining the wheel pressure of the drive wheel 23 and preventing slippage.

[0039] The first elastic element 33 can be located inside the bushing 32 and between the first segment 31-1 and the second segment 31-2. One end of the first elastic element 33 abuts against the first segment 31-1 and the other end abuts against the second segment 31-2.

[0040] In this embodiment, the sidewall of the bushing 32 can be used to constrain the movement direction of the first elastic member 33, i.e. the direction of extension or shortening. The length of the first elastic member 33 is limited by the length space of the bushing 32, so the extension or shortening of the telescopic shaft 3 is also limited to a certain extent.

[0041] Preferably, both the first segment 31-1 and the second segment 31-2 include a shoulder 311, the first elastic member 33 is sleeved on the outside of the bushing 32, and the two ends of the first elastic member 33 abut against the shoulder 311 respectively.

[0042] The first elastic element 33 is sleeved on the outside of the bushing 32. The bushing 32 guides the first elastic element 33, ensuring that the deformation of the first elastic element 33 occurs along the extension direction of the bushing 32, thus preventing the first elastic element 33 from twisting. The shoulders 311 of the first segment 31-1 and the second segment 31-2 are used to contact the two ends of the first elastic element 33, facilitating the application of pressure. Because the distance between the shoulders 311 of the first segment 31-1 and the shoulders 311 of the second segment 31-2 is larger, the length of the first elastic element 33 can be made larger, and the load-bearing capacity of the first elastic element 33 is stronger.

[0043] Understandably, the first elastic element 33 can be a spring, a silicone part, or a rubber part.

[0044] Specifically, refer to Figure 8 The bushing 32 includes a fixed connecting section 321, a first sliding section 322, a limiting shoulder 324, and a second sliding section 323. The fixed connecting section 321 is connected to the first sliding section 322. The first sliding section 322 and the second sliding section 323 are separated by the limiting shoulder 324. There is a gap between the limiting shoulders 324 to connect the first sliding section 322 and the second sliding section 323. The first section 31-1 is detachably connected to the fixed connecting section 321.

[0045] The second segment 31-2 includes a first part 31-21 and a second part 31-22. The first part 31-21 includes a head 31-211 and a rod 31-212. The head 31-211 is located inside the first sliding segment 322. The rod 31-212 extends through the gap into the second sliding segment 323. A portion of the second part 31-22 is embedded in the second sliding segment 323, and a mounting hole 31-221 is provided on the side facing the first part 31-21. The first part 31-21 is detachably connected to the mounting hole 31-221. The second part 31-22 slides along the second sliding segment 323 and drives the head 31-211 to slide within the first sliding segment 322. The limiting shoulder 324 and the connecting end of the first segment 31-1 are used to limit the head 31-211.

[0046] In this embodiment, the first segment 31-1 is detachably connected to the fixed connecting segment 321, for example, by a threaded connection or a snap-fit ​​connection. After the first segment 31-1 and the fixed connecting segment 321 are connected, there is no relative movement between them. The second segment 31-2 includes a first part 31-21 and a second part 31-22. The first part 31-21 and the rod portion 31-212 of the second part 31-22 are detachably connected, for example, by a threaded connection or a snap-fit ​​connection. After they are connected, they slide relative to the bushing 32 as a whole, allowing the telescopic shaft 3 to extend or shorten. The head 31-211 of the first part 31-21 is located within the first sliding segment 322. The head 31-211 is limited by the limiting shoulder 324 and the connecting end of the first segment 31-1, ensuring that the extension or compression of the telescopic shaft 3 is within a reasonable range.

[0047] The outer periphery of the second part 31-22 can fit against the inner wall of the second sliding section 323. When the second section 31-2 slides, the second sliding section 323 can guide the sliding direction of the second part 31-22. Alternatively, the outer periphery of the rod 31-212 can fit against the inner wall of the limiting shoulder 324, which is away from the side wall of the bushing 32. When the second section 31-2 slides, the limiting shoulder 324 can guide the sliding of the rod 31-212. Alternatively, the outer periphery of the head 31-211 can fit against the inner wall of the first sliding section 322, which can also guide the sliding of the head 31-211 when the second section 31-2 slides. The structures of the above-mentioned guiding parts can be selected individually, two of them, or simultaneously.

[0048] Additionally, it should be noted that the reference... Figure 8The fixed connecting section 321 is connected to the first sliding section 322, and the inner diameter of the fixed connecting section 321 is greater than or equal to the inner diameter of the first sliding section 322, which facilitates the installation of the first part 31-21. Specifically, the assembly process of the telescopic shaft 3 is as follows: first, the first part 31-21 is inserted into the first sliding section 322 from one end of the fixed connecting section 321, and the rod part 31-212 is inserted into the second sliding section 323. The head 31-211 remains in the first sliding section 322 due to the limitation of the limiting shoulder 324. Then, the first section 31-1 is connected to the fixed connecting section 321, and finally, the second part 31-22 is connected to the rod part 31-212. Of course, it is understandable that the assembly order of the first section 31-1 and the second part 31-22 can be interchanged.

[0049] When the first elastic element 33 is located inside the bushing 32, it can be specifically located between the head 31-211 and the first segment 31-1. To increase the extension range of the telescopic shaft 3, the limiting shoulder 324 can be located near the end of the second sliding segment 323. The end is the end of the second sliding segment 323 away from the fixed segment 321.

[0050] As one specific embodiment, refer to Figure 2 , Figure 3 There is one fixed shaft 4 and two telescopic shafts 3. By setting two telescopic shafts 3, the preload applied by the telescopic shafts 3 can be increased, thereby better improving the slippage phenomenon that occurs when the mobile chassis is moving.

[0051] In some embodiments of this application, reference is made to Figure 1 and Figure 9 , Figure 9 for Figure 1 A bottom view of the mobile chassis, which includes a fork housing 11 and the driving direction of the drive wheel 23 is perpendicular to the extension direction of the fork housing 11.

[0052] In this embodiment, the driving direction of the drive wheel 23 is perpendicular to the extension direction of the fork receiving slot 11. The pallet handling robot does not need to rotate in the aisle during operation, and can pick up and place pallets on one side of the intended pick-up and place position in the aisle. When planning the logistics scheme, there is no need to consider the rotation space of the robot in the aisle, which adapts to the pallet handling needs of narrow aisles, thereby improving the storage density and saving pallet storage space.

[0053] Optionally, the mobile chassis includes two fork receiving slots 11, which are spaced apart. Two travel power components 2 are disposed in the space between the two fork receiving slots 11 and are located at both ends of the frame 1 along the extension direction of the fork receiving slots 11.

[0054] Furthermore, such as Figure 9As shown, the bottom of the mobile chassis is also equipped with casters 6, which are respectively located at the four corners of the chassis. The casters 6 are used to support the mobile chassis, improve the load-bearing capacity of the pallet handling robot, and because the casters are casters 6, they can turn in any direction with the steering of the drive wheels 23, thus improving the mobile chassis's flexible turning ability.

[0055] A second aspect of this application provides a pallet handling robot, which includes the mobile chassis described above. For example, as... Figure 1 The pallet handling robot shown has a mast assembly 7 mounted on its mobile chassis, and a fork assembly (not shown) mounted on the mast assembly 7. The robot also includes a lifting drive mechanism (not shown) to drive the vertical lifting movement of the fork assembly and the inner mast of the mast assembly 7. The drive assembly 22 of the mobile chassis of the pallet handling robot is floatingly connected to the mounting bracket 21. When encountering uneven ground, the drive assembly 22 can float back and forth relative to the mounting bracket 21, which can alleviate the phenomenon of the drive wheels 23 lifting off the ground. The floating connection also acts as a buffer, reducing vibrations generated during the operation of the pallet handling robot.

[0056] The above description is merely a preferred embodiment of this utility model and is not intended to limit the scope of protection of this utility model. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this utility model are included within the scope of protection of this utility model.

Claims

1. A mobile chassis, characterized in that, The mobile chassis is used for pallet handling robots. The mobile chassis includes a frame (1) and two walking power components (2) mounted on the frame (1). The walking power components (2) are used to drive the frame (1) to move and turn. Each of the aforementioned walking power components (2) includes: Mounting bracket (21) is fixedly connected to the vehicle frame (1); The drive assembly (22) has a first end (221) and a second end (222) opposite to each other along the walking direction. The first end (221) is rotatably connected to the mounting bracket (21) via a telescopic shaft (3), and the second end (222) is rotatably connected to the mounting bracket (21) via a fixed shaft (4). The drive wheel (23) is connected to the output shaft of the drive assembly (22); The telescopic shaft (3) can extend or shorten, so that the first end (221) of the drive assembly (22) can swing relative to the second end (222) and drive the drive wheel (23) to float up and down.

2. The mobile chassis according to claim 1, characterized in that, The mounting bracket (21) includes a top plate (211) and a first mounting part (212) located on both sides of the top plate (211) along the walking direction. The top ends of the telescopic shaft (3) and the fixed shaft (4) are rotatably connected to the first mounting part (212). The mobile chassis also includes a flange plate (223), which is connected to the drive assembly (22). The flange plate (223) includes a second mounting part (2231) opposite to the first mounting part (212). The bottom ends of the telescopic shaft (3) and the fixed shaft (4) are rotatably connected to the second mounting part (2231).

3. The mobile chassis according to claim 1, characterized in that, The telescopic shaft (3) includes a first segment (31-1), a bushing (32) connected to the first segment (31-1), and a second segment (31-2) movably connected to the bushing (32). The telescopic shaft (3) also includes a first elastic element (33), which is disposed between the first segment (31-1) and the second segment (31-2) to cause the second segment (31-2) to move away from or closer to the first segment (31-1) along the axial direction of the telescopic shaft (3).

4. The mobile chassis according to claim 3, characterized in that, Both the first segment (31-1) and the second segment (31-2) include a shoulder (311), the first elastic element (33) is sleeved on the outside of the bushing (32), and the two ends of the first elastic element (33) abut against the shoulder (311) respectively.

5. The mobile chassis according to claim 3, characterized in that, The first elastic element (33) is disposed inside the bushing (32) and located between the first segment (31-1) and the second segment (31-2). One end of the first elastic element (33) abuts against the first segment (31-1) and the other end abuts against the second segment (31-2).

6. The mobile chassis according to claim 3, characterized in that, The bushing (32) includes a fixed connecting section (321), a first sliding section (322), a limiting shoulder (324), and a second sliding section (323). The fixed connecting section (321) is connected to the first sliding section (322). The first sliding section (322) and the second sliding section (323) are separated by the limiting shoulder (324). There is a gap between the limiting shoulders (324) to connect the first sliding section (322) and the second sliding section (323). The first segment (31-1) is detachably connected to the fixed connection segment (321); The second segment (31-2) includes a first part (31-21) and a second part (31-22). The first part (31-21) includes a head (31-211) and a rod (31-212). The head (31-211) is located inside the first sliding segment (322). The rod (31-212) extends through the gap into the second sliding segment (323). A portion of the second part (31-22) is embedded in the second sliding segment (323), and a mounting hole (31-221) is provided on the side facing the first part (31-21). The first part (31-21) is detachably connected to the mounting hole (31-221). The second part (31-22) slides along the second sliding section (323) and drives the head (31-211) to slide within the first sliding section (322). The connecting end of the limiting shoulder (324) and the first section (31-1) is used to limit the head (31-211).

7. The mobile chassis according to claim 1, characterized in that, There is one fixed shaft (4) and two retractable shafts (3).

8. The mobile chassis according to any one of claims 1-7, characterized in that, The mobile chassis includes a fork receiving slot (11), and the driving direction of the drive wheel (23) is perpendicular to the extension direction of the fork receiving slot (11).

9. The mobile chassis according to any one of claims 1-7, characterized in that, The bottom of the mobile chassis is also provided with casters (6), which are respectively set in the four corner areas of the chassis.

10. A pallet handling robot, characterized in that, The mobile chassis included in any one of claims 1-9.

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