Chassis device, movable platform, shock absorber, and material storage and retrieval device

Abstract

A chassis device (100), a movable platform (1000), a shock absorber (80), and a material storage and retrieval device (900). The chassis device (100) comprises a frame (10), a connecting rod mechanism (20), and a first auxiliary wheel assembly (30). The connecting rod mechanism (20) comprises a first connecting rod (21) and a second connecting rod (22). The first connecting rod (21) is hinged to the frame (10) by means of a first hinge point (A1), and the first connecting rod (21) is hinged to the first auxiliary wheel assembly (30) by means of a second hinge point (A2). The second connecting rod (22) is hinged to the frame (10) by means of a third hinge point (A3), and the second connecting rod (22) is hinged to the first auxiliary wheel assembly (30) by means of a fourth hinge point (A4). A line connecting the first hinge point (A1) and the second hinge point (A2) is parallel or approximately parallel to a line connecting the third hinge point (A3) and the fourth hinge point (A4), and a line connecting the first hinge point (A1) and the third hinge point (A3) is parallel to or approximately parallel to a line connecting the second hinge point (A2) and the fourth hinge point (A4).

Description

Chassis, movable platform, shock absorber and material storage and retrieval device Technical Field

[0001] The present application relates to the field of robotics technology, and in particular to a chassis device, a movable platform, a shock-absorbing device, and a material storage and retrieval device. Background Art

[0002] Robots are intelligent machines capable of semi- or fully autonomous operation, finding widespread application in industries such as healthcare, education, military, subway inspection, and daily life. Common types of robots include legged robots and wheeled robots. Wheeled robots have become mainstream due to their high speed, low noise, high efficiency, strong obstacle-crossing capabilities, and strong terrain adaptability. Wheeled robots are divided into two main components: the body and the chassis. The body is primarily used to house electronic components and carry loads, while the chassis is primarily used for locomotion and steering via rollers or tires.

[0003] The chassis device of the existing wheeled robot has wheels distributed at the bottom or both sides of the chassis bracket. When the wheels encounter an obstacle, they move upward in the vertical direction relative to the chassis bracket. The chassis device of this embodiment has large vibration and poor obstacle-crossing ability.

[0004] Summary of the Invention

[0005] In view of this, the present application proposes a chassis device, a movable platform, a shock-absorbing device, and a material storage and retrieval device.

[0006] The chassis device provided in the first aspect of the present application includes a frame, a connecting rod mechanism, and a first auxiliary wheel assembly, wherein the connecting rod mechanism includes:

[0007] a first connecting rod, one end of the first connecting rod being hinged to the frame via a first hinge point, and the other end of the first connecting rod being hinged to the first auxiliary wheel assembly via a second hinge point; and

[0008] a second connecting rod, one end of the second connecting rod being hinged to the frame via a third hinge point, and the other end of the second connecting rod being hinged to the first auxiliary wheel assembly via a fourth hinge point;

[0009] In which, the line between the first hinge point and the second hinge point is parallel or approximately parallel to the line between the third hinge point and the fourth hinge point, and the line between the first hinge point and the third hinge point is parallel or approximately parallel to the line between the second hinge point and the fourth hinge point.

[0010] The chassis device provided in the second aspect of the present application includes a frame, a lifting mechanism, and a first auxiliary wheel assembly, wherein the lifting mechanism includes:

[0011] a lifting member connected to the frame, the first auxiliary wheel assembly being mechanically coupled to the lifting member and being rotatable relative to the lifting member about a first axis, the lifting member being configured to simultaneously change the horizontal and vertical displacements of the first auxiliary wheel assembly relative to the frame when the chassis device is in motion and the first auxiliary wheel assembly encounters an obstacle;

[0012] a limiting component connected to the frame and mechanically coupled to the first auxiliary wheel assembly or the lifting component, the limiting component being configured to maintain an extension direction of the first axis unchanged during movement of the first auxiliary wheel assembly;

[0013] Wherein, when the chassis device is in motion and the first auxiliary wheel assembly encounters an obstacle, the first auxiliary wheel assembly is lifted obliquely upward under the action of the lifting component while keeping the extension direction of the first axis unchanged.

[0014] The movable platform proposed in the third aspect of this application includes:

[0015] Material storage and retrieval devices; and

[0016] The above-mentioned chassis device;

[0017] Wherein, the material storage and retrieval device is connected to the chassis device.

[0018] The fourth aspect of the present application provides a shock-absorbing device for isolating a frame and a first auxiliary wheel assembly connected to the frame via a linkage mechanism. The shock-absorbing device includes:

[0019] Sleeve mechanism;

[0020] a movable rod configured to be movable relative to the sleeve mechanism, one of the sleeve mechanism and the movable rod being connected to the frame, and the other of the sleeve mechanism and the movable rod being connected to the connecting rod mechanism or the first auxiliary wheel assembly;

[0021] a first elastic member, the first elastic member being used to reset the movable rod and the sleeve mechanism after relative movement; and

[0022] a locking mechanism having an unlocked state and a locked state;

[0023] When the locking mechanism is in an unlocked state, the movable rod can freely move relative to the sleeve mechanism;

[0024] When the locking mechanism is in a locked state, the locking mechanism can limit the relative movement between the sleeve mechanism and the movable rod.

[0025] The material storage and retrieval device proposed in the fifth aspect of this application includes:

[0026] A fuselage is provided with a plurality of cargo compartments, each having windows for allowing materials to enter or exit;

[0027] a shielding assembly for shielding the window, the shielding assembly being movably connected to the fuselage and configured to open or close the window of a target cargo hold, the target cargo hold being a cargo hold to be picked up; and

[0028] a retrieval device, movably provided on the body, the retrieval device having a first working mode and a second working mode;

[0029] In the first working mode, after the obstruction of the window of the target cargo hold is released, the picking and placing device is used to automatically transfer the material into and out of the target cargo hold through the window of the target cargo hold, and the blocking component blocks other windows except the target window;

[0030] In the second working mode, the picking and placing device is used to cover several windows of the cargo hold, the covering assembly is used to cover several other windows of the cargo hold, and the window of the target cargo hold is exposed between the picking and placing device and the covering assembly for the materials in the target cargo hold to be taken out.

[0031] As can be seen from the above technical solution, the chassis device proposed in the first aspect of the present application is connected to the frame by a linkage mechanism provided between the first auxiliary wheel assembly and the frame. The linkage mechanism is a parallelogram linkage mechanism or a linkage mechanism approximately in the shape of a parallelogram. The four linkages are mutually constrained, namely, an equivalent linkage formed by the line connecting the first hinge point and the second hinge point, an equivalent linkage formed by the line connecting the third hinge point and the fourth hinge point, an equivalent linkage formed by the line connecting the first hinge point and the third hinge point, and an equivalent linkage formed by the line connecting the second hinge point and the fourth hinge point. When the chassis device is in operation, when the first auxiliary wheel assembly encounters an obstacle, the first auxiliary wheel assembly can swing smoothly relative to the frame under the constraint of the linkage mechanism. That is, the first auxiliary wheel assembly can smoothly overcome the obstacle, while reducing the vibration amplitude of the chassis device during the obstacle overcoming process, thereby preventing items carried by the chassis device from being significantly displaced or even falling. Secondly, compared to existing solutions where wheels are directly mounted on the frame, the linkage mechanism gives the first auxiliary wheel assembly a larger range of motion, allowing it to adapt to larger obstacles. At the same time, when the first auxiliary wheel assembly crosses a large obstacle, the shaking amplitude of the chassis device is greatly reduced, which means that the chassis device has better obstacle-crossing and stability capabilities. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following is a brief introduction to the drawings required for use in the description of the embodiments. Obviously, the drawings described below are some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0033] FIG1 is a schematic structural diagram of a chassis device according to an embodiment of the present application;

[0034] FIG2 is a schematic diagram of a partial structure of a chassis device according to an embodiment of the present application;

[0035] FIG3 is a partial enlarged schematic diagram of point E in FIG2 ;

[0036] FIG4 is a schematic diagram of a partial structure of a chassis device according to an embodiment of the present application;

[0037] FIG5 is a schematic diagram of a partial structure of a chassis device according to an embodiment of the present application;

[0038] FIG6 is a schematic structural diagram of a chassis device proposed in another embodiment of the present application;

[0039] FIG7 is a schematic structural diagram of a chassis device proposed in another embodiment of the present application;

[0040] FIG8 is a schematic structural diagram of a chassis device proposed in another embodiment of the present application;

[0041] FIG9 is a schematic structural diagram of a chassis device proposed in another embodiment of the present application;

[0042] FIG10 is a schematic structural diagram of a shock absorbing device according to an embodiment of the present application;

[0043] FIG11 is a partial enlarged schematic diagram of point F in FIG10;

[0044] FIG12 is a partial enlarged schematic diagram of point G in FIG10;

[0045] FIG13 is a schematic diagram of a partial structure of a chassis device proposed in another embodiment of the present application;

[0046] FIG14 is a schematic diagram of a partial structure of a chassis device proposed in another embodiment of the present application;

[0047] FIG15 is a schematic structural diagram of a movable platform proposed in one embodiment of the present application;

[0048] FIG16 is a schematic structural diagram of a movable platform proposed in another embodiment of the present application;

[0049] FIG17 is a schematic diagram of a partial structure of a material storage and retrieval device according to an embodiment of the present application;

[0050] FIG18 is a schematic structural diagram of a first curtain assembly according to an embodiment of the present application. DETAILED DESCRIPTION

[0051] To make the purpose, technical solutions, and advantages of the embodiments of this application more clear, the technical solutions in the embodiments of this application will be clearly and completely described below in conjunction with the drawings in the embodiments of this application. Obviously, the described embodiments are part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0052] The terms "first" and "second" in the specification and claims of this application may explicitly or implicitly refer to one or more of the features. Throughout the description of this application, unless otherwise specified, "plurality" means two or more. Furthermore, "and / or" in the specification and claims refers to at least one of the connected entities, and the character " / " generally indicates an "or" relationship between the connected entities.

[0053] In the description of the present application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0054] In the description of this application, it should be noted that, unless otherwise expressly specified or limited, the terms "mounted," "connected," and "connected" should be understood in a broad sense. For example, they can refer to fixed connections, detachable connections, or integral connections; mechanical connections or electrical connections; direct connections or indirect connections through an intermediate medium; and internal connections between two components. Those skilled in the art will understand the specific meanings of the above terms in this application based on the specific circumstances.

[0055] As shown in FIG1 , an embodiment of the present application proposes a chassis device 100 , which can be applied to wheeled robots, including but not limited to material storage robots, cargo handling robots, express delivery robots, building delivery robots, automatic food delivery robots, etc.

[0056] As shown in Figures 1 to 3, the proposed chassis device 100 includes a frame 10, a linkage mechanism 20, and a first auxiliary wheel assembly 30. The linkage mechanism 20 includes a first link 21 and a second link 22. One end of the first link 21 is hinged to the frame 10 via a first hinge point A1, and the other end of the first link 21 is hinged to the first auxiliary wheel assembly 30 via a second hinge point A2. One end of the second link 22 is hinged to the frame 10 via a third hinge point A3, and the other end of the second link 22 is hinged to the first auxiliary wheel assembly 30 via a fourth hinge point A4. The line connecting the first hinge point A1 and the second hinge point A2 is parallel or approximately parallel to the line connecting the third hinge point A3 and the fourth hinge point A4, and the line connecting the first hinge point A1 and the third hinge point A3 is parallel or approximately parallel to the line connecting the second hinge point A2 and the fourth hinge point A4.

[0057] The line connecting the first hinge point A1 and the second hinge point A2 is approximately parallel to the line connecting the third hinge point A3 and the fourth hinge point A4, which means that the first connecting rod 21 and the second connecting rod 22 are arranged at an angle less than or equal to 10 degrees. Preferably, the angle between the line connecting the first hinge point A1 and the second hinge point A2 and the line connecting the third hinge point A3 and the fourth hinge point A4 is between 1 and 5 degrees. Similarly, the line connecting the first hinge point A1 and the third hinge point A3 is approximately parallel to the line connecting the second hinge point A2 and the fourth hinge point A4, which means that the line connecting the first hinge point A1 and the third hinge point A3 and the line connecting the second hinge point A2 and the fourth hinge point A4 are arranged at an angle less than or equal to 10 degrees. Preferably, the angle between the line connecting the first hinge point A1 and the third hinge point A3 and the line connecting the second hinge point A2 and the fourth hinge point A4 is between 1 and 5 degrees.

[0058] The chassis device 100 proposed in this embodiment is provided with a first auxiliary wheel assembly 30 and a frame 10 connected by a link mechanism 20, and the link mechanism 20 is a parallelogram link mechanism or a link mechanism approximately in the shape of a parallelogram, an equivalent link formed by a line connecting the first hinge point A1 and the second hinge point A2, an equivalent link formed by a line connecting the third hinge point A3 and the fourth hinge point A4, an equivalent link formed by a line connecting the first hinge point A1 and the third hinge point A3, an equivalent link formed by a line connecting the second hinge point A2 and the fourth hinge point A4, an equivalent link formed by a line connecting the first hinge point A1 and the third hinge point A3, an equivalent link formed by a line connecting the second hinge point A2 and the fourth hinge point A5. The four links formed by the line connecting the joints A4 are mutually constrained. During operation, when the first auxiliary wheel assembly 30 encounters an obstacle, the linkage mechanism 20 constrains the first auxiliary wheel assembly 30 to swing smoothly relative to the frame 10. This allows the first auxiliary wheel assembly 30 to smoothly navigate the obstacle, while also minimizing vibrations during the process, preventing items carried by the chassis 100 from being significantly displaced or even dropped. Furthermore, compared to existing solutions where wheels are directly mounted to the frame, the linkage mechanism 20 provides the first auxiliary wheel assembly 30 with greater mobility, enabling it to adapt to larger obstacles. Furthermore, when the first auxiliary wheel assembly 30 traverses a larger obstacle, the vibrations of the chassis 100 are significantly reduced, resulting in improved obstacle-crossing and stability. Obstacles can include, but are not limited to, curbs, doorsteps, cable ducts, speed bumps, concrete floors, stone brick roads, and other uneven, hardened surfaces.

[0059] In one embodiment, in response to the first auxiliary wheel assembly 30 climbing, the second hinge point A2 is vertically located above the first hinge point A1. The vertical direction refers to the orientation of the chassis device 100 in normal use. For example, when the chassis device 100 is operating on the ground, the vertical direction is perpendicular to the ground. This definition applies hereinafter.

[0060] In this embodiment, when the first auxiliary wheel assembly 30 climbs, the second hinge point A2 is vertically located above the first hinge point A1. That is, when the first auxiliary wheel assembly 30 encounters an obstacle, the first link 21 swings upward relative to the first hinge point A1. Compared to conventional wheels that move vertically straight upward, during this upward swing, the angle between the direction of movement of the first auxiliary wheel assembly 30 and the direction of the reaction force from the obstacle on the first auxiliary wheel assembly 30 decreases, increasing the component of the reaction force in the direction of movement of the first auxiliary wheel assembly 30. This makes it easier for the first link 21 to swing upward, thereby making it easier for the first auxiliary wheel assembly 30 to overcome obstacles. As can be understood, because the first auxiliary wheel assembly 30 swings upward more easily in this embodiment, the chassis assembly 10 requires less power to overcome the same obstacle. In other words, compared to conventional chassis devices, the chassis assembly 10 in this embodiment requires less power to overcome the same obstacle, thus saving more energy.

[0061] In another embodiment, when the chassis 100 is placed on flat ground, the second hinge point A2 is vertically located above the first hinge point A1. In this embodiment, the first link 21 extends upward at an angle from the first hinge point A1 to the second hinge point A2. When the first auxiliary wheel assembly 30 encounters an obstacle, the first link 21 is more likely to lift upward, making it easier for the first auxiliary wheel assembly 30 to overcome the obstacle.

[0062] In one embodiment, the frame 10 includes a front side and a rear side opposite the front side, and a linkage mechanism 20 is provided on the front side and / or rear side of the frame 10. That is, the linkage mechanism 20 may be provided only on the front side of the frame 10, only on the rear side of the frame 10, or on both the front and rear sides of the frame 10. It should be noted that the front side of the frame 10 refers to the side located at the front end of the chassis device 100 when the chassis device 100 is in the normal forward state, and conversely, the rear side of the frame 10 refers to the side located at the rear end of the chassis device 100 when the chassis device 100 is in the normal forward state. This definition applies hereinafter.

[0063] In one embodiment, two linkage mechanisms 20 are provided on the front side of the frame 10, spaced apart along the left-right direction of the frame 10. In this embodiment, the restraining action of the two linkage mechanisms 20 ensures smooth movement of the first auxiliary wheel assembly 30 relative to the frame 10.

[0064] It should be noted that the number of linkage mechanisms 20 is not limited to two. For example, in another embodiment, there is one linkage mechanism 20, which is located in the middle of the frame 10. In another embodiment, there are three linkage mechanisms 20, two of which are spaced apart along the left and right directions of the frame 10, and the other linkage mechanism 20 is located in the middle of the frame 10. Of course, the number of linkage mechanisms 20 may be more than three, depending on actual design requirements.

[0065] In another embodiment, a linkage mechanism 20 is provided on the rear side of the frame 10. The number of linkage mechanisms 20 is two, and the two linkage mechanisms 20 are spaced apart along the left-right direction of the frame 10. Similarly, in this embodiment, the number of linkage mechanisms 20 is not limited to two, and may also be one, three, or more than three, depending on design requirements.

[0066] As shown in Figures 1, 2, and 4, in one embodiment, the chassis device 100 further includes a connecting assembly 40. The first auxiliary wheel assembly 30 is connected to the linkage mechanism 20 via the connecting assembly 40, and the first and second links 21 and 22 are hingedly connected to the connecting assembly 40. The first auxiliary wheel assembly 30 includes a first base 31 and a first auxiliary wheel 32 that can roll relative to the first base 31. The first base 31 is connected to the connecting assembly 40 and can rotate relative to the connecting assembly 40 about a first axis S1, which extends in a vertical direction.

[0067] As shown in Figures 3 and 4 , in one embodiment, the line connecting the first hinge point A1 and the third hinge point A3 extends vertically, and the line connecting the second hinge point A2 and the fourth hinge point A4 is parallel to the line connecting the first hinge point A1 and the third hinge point A3. In this embodiment, based on the principle that opposite sides of a parallelogram always remain parallel, when the line connecting the first hinge point A1 and the third hinge point A3 extends vertically, the line connecting the second hinge point A2 and the fourth hinge point A4 also extends vertically. This allows the first axis S1 of the first auxiliary wheel assembly 30 to remain vertical, preventing the first auxiliary wheel assembly 30 from tilting and enabling normal operation.

[0068] As shown in Figure 4, in one embodiment, the connection assembly 40 includes a first connection member 41 and two first structural members 42 connected to the first connection member 41. The first structural members 42 are connected to the connecting rod mechanism 20 in a one-to-one correspondence. The first base 31 is connected to the first connection member 41 and can rotate relative to the first connection member 41 about the first axis S1. It should be noted that the number of first structural members 42 is not limited to two, and can also be three or more, as long as the number of first structural members 42 matches the number of connecting rod mechanisms 20 and they are connected in a one-to-one correspondence. It should also be noted that in this embodiment, the number of first auxiliary wheel assemblies 30 can be one or more, depending on actual design requirements.

[0069] It should be noted that the connection assemblies 40 are not limited to the above-described embodiment. For example, in another embodiment, there are two connection assemblies 40, each connected to a connecting rod mechanism 20 in a one-to-one relationship. There are also two first auxiliary wheel assemblies 30, each connected to a connecting assembly 40 in a one-to-one relationship. The two first auxiliary wheel assemblies 30 are spaced apart along the left-right direction of the frame 10. It should be noted that the number of connection assemblies 40 is not limited to two. In other embodiments, the number of connection assemblies 40 may be three or more, as long as the connection assemblies 40, the connecting rod mechanism 20, and the first auxiliary wheel assemblies 30 are connected in a one-to-one relationship.

[0070] As shown in Figures 2, 4, and 5, in one embodiment, the chassis device 100 further includes a balancing frame structure 50, which includes a driving wheel 51, a third connecting rod 52, and a second auxiliary wheel assembly 53. The third connecting rod 52 is hingedly connected to the frame 10 via a fifth hinge point A5. The driving wheel 51 and the second auxiliary wheel assembly 53 are disposed on the third connecting rod 52 on either side of the fifth hinge point A5. The first auxiliary wheel assembly 30, the driving wheel 51, and the second auxiliary wheel assembly 53 are sequentially arranged along the front-to-back direction of the frame 10. The end of the third connecting rod 52 closest to the linkage mechanism 20 is movably connected to the linkage mechanism 20 via a mating structure 60. In this embodiment, by providing an end of the third link 52 proximal to the linkage 20 and movably connected to the linkage 20 via a mating structure 60, the composite structure formed by the linkage 20 and the gimbal structure 50 can change in response to changes in the magnitude and direction of the forces acting on the first auxiliary wheel assembly 30, the driving wheel 51, and the second auxiliary wheel assembly 53. In other words, the chassis device 100 can adjust the horizontal height difference between the wheels in response to terrain fluctuations, thereby achieving terrain adaptation and maintaining all wheels in a grounded state.

[0071] In one embodiment, the mating structure 60 includes a first mating portion 61 and a second mating portion 61 , wherein the first mating portion 61 is provided on the connecting rod mechanism 20 , and the second mating portion 62 is provided on the third connecting rod 52 , and the first mating portion 61 and the second mating portion 62 are slidably and rotationally mated.

[0072] As shown in Figures 4 and 5, in one embodiment, the linkage mechanism 20 further includes a connecting portion 23 connected to the first link 21 and extending from the first hinge point A1 toward the third link 52. A first mating portion 61 is provided on the connecting portion 23. The third link 52 includes a first extension segment 521 and a second extension segment 522 connected to the first extension segment 521. A fifth hinge point A5 is located at the connection between the first and second extension segments 521 and 522. The second auxiliary wheel assembly 53 is connected to the first extension segment 521, and the driving wheel 51 is connected to the second extension segment 522. The connection point between the driving wheel 51 and the second extension segment 522 divides the second extension segment 522 into a first sub-extension segment 5221 and a second sub-extension segment 5222. The first sub-extension segment 5221 is connected to the first extension segment 521, and the second mating portion 62 is provided on the second sub-extension segment 5222.

[0073] In this embodiment, the first connecting rod 21 and the connecting portion 23 are combined to form a lever, one end of which is the second hinge point A2, and the other end of which is the contact point between the second extension section 212 and the second sub-extension section 5222. When the first auxiliary wheel assembly 30 is climbing, the lever formed by the first connecting rod 21 generates an upward component force on the frame 10 at the first hinge point A1. In other words, the first auxiliary wheel assembly 30 has a lifting effect on the frame 10 during the climbing process. Compared to existing solutions that directly lift the frame 10 vertically upward using auxiliary wheels, this solution utilizes the principle of leverage to lift the frame 10 with less force. In other words, under the same lifting force, the first auxiliary wheel assembly 30 of this solution can achieve a better lifting effect on the frame 10, making it easier for the frame 10 to traverse obstacles, thereby enabling the chassis device 100 to overcome higher and more difficult obstacles.

[0074] Furthermore, it should be noted that, through the use of a lever, the lever arm between the first auxiliary wheel assembly 30 and the contact point between the second extension 212 and the second sub-extension 5222 is longer, while the lever arm between the first hinge point A1 and the contact point between the second extension 212 and the second sub-extension 5222 is shorter. Consequently, according to the proportional relationship of the lever principle, the vertical movement distance of the first auxiliary wheel assembly 30 transmitted to the frame 10 is proportionally reduced. That is, even if the vertical movement amplitude of the first auxiliary wheel assembly 30 is large, the vertical movement amplitude of the frame 10 is relatively reduced according to the proportional relationship. As a result, the chassis assembly 100 is better able to cross obstacles while also reducing vertical vibration of the frame 10, enabling the chassis assembly 100 to operate smoothly even on uneven surfaces.

[0075] Specifically, by adopting the above-mentioned lever principle, the operation process of the chassis device 100 when encountering an obstacle is as follows:

[0076] When the first auxiliary wheel assembly 30 is climbing, the lever formed by the first connecting rod 21 generates an upward force component on the frame 10 at the first hinge point A1. In other words, the first auxiliary wheel assembly 30 has a lifting effect on the frame 10 during the climbing process. Based on the principle of leverage, this solution allows the first auxiliary wheel assembly 30 to lift the frame 10 with less force, thereby enabling the chassis device 100 to overcome higher and more difficult obstacles.

[0077] When the first auxiliary wheel assembly 30 has completed climbing, the driving wheel 51 is in the process of climbing. The third connecting rod 52 forms a lever. One end of the lever is the connection point between the driving wheel 51 and the third connecting rod 52, and the other end of the lever is the position where the third lever is connected to the second auxiliary wheel assembly 53. The lever formed by the third connecting rod 52 generates an upward component force on the frame 10 at the fifth hinge point A5. In other words, the driving wheel 51 has a lifting effect on the frame 10 during the climbing process. Compared with the existing solution of lifting the frame 10 directly by the driving wheel 51, this solution utilizes the principle of leverage to lift the frame 10 with less force, thereby enabling the chassis device 100 to overcome higher and more difficult obstacles.

[0078] As the chassis 100 continues to advance and the second auxiliary wheel assembly 53 climbs, the third connecting rod 52 forms a lever. One end of the lever connects to the second auxiliary wheel assembly 53, and the other end connects the driving wheel 51 to the third connecting rod 52. This lever, formed by the third connecting rod 52, exerts an upward force on the frame 10 at the fifth hinge point A5. This means that the driving wheel 51 lifts the frame 10 during the climb. Compared to existing solutions that directly lift the frame 10 using the driving wheel 51, this solution utilizes the principle of leverage to lift the frame 10 with less force, enabling the chassis 100 to overcome higher and more difficult obstacles. The same lever effect also occurs when the chassis 100 moves backward to overcome obstacles.

[0079] That is, with the structure of this solution, the chassis device 100, whether the first auxiliary wheel assembly 30 and the driving wheel 51 are climbing, or the second auxiliary wheel assembly 53 is climbing, can use the principle of leverage to generate an upward component of force on the frame 10 to lift the frame 10. This allows the frame 10 to be lifted with less force, enabling the chassis device 100 to overcome higher and more difficult obstacles. The lifting action of the frame 10 is also completed in three steps, reducing the shaking caused by each lift, thereby making the chassis device 100 more stable when crossing obstacles.

[0080] As shown in Figures 4 and 5, in one embodiment, the first mating portion 61 includes a boss 611, and the second mating portion 62 includes an elongated slot 621. The boss 611 is provided on the connecting portion 23, and the elongated slot 621 is provided on the second sub-extension section 5222. The boss 611 is movably provided in the elongated slot 621. The boss 611 being movably provided in the elongated slot 621 means that the boss 611 can move along the extension direction of the elongated slot 621 and can also rotate relative to the elongated slot 621. It should be noted that the positions of the boss 611 and the elongated slot 621 can be interchanged, that is, the boss 611 can be provided in the second sub-extension section 5222, while the elongated slot 621 is provided in the connecting portion 23.

[0081] As shown in Figure 4, in one embodiment, a second auxiliary wheel assembly 53 is adjustably mounted on the third connecting rod 52 along the front-to-back direction of the frame 10. In this embodiment, by adjusting the position of the second auxiliary wheel assembly 53, the distance between the first auxiliary wheel assembly 30 and the second auxiliary wheel assembly 53 can be increased, thereby increasing the wheelbase and improving stability. Furthermore, when the chassis device 100 is not in use, the second auxiliary wheel assembly 53 can be retracted to reduce space usage.

[0082] As shown in FIG4 , in one embodiment, the chassis device 100 further includes a second connecting member 70 and two third connecting rods 52, spaced apart along the left-right direction of the frame 10. The second connecting member 70 is located at the rear side of the frame 10 and disposed between the two third connecting rods 52. The second connecting member 70 is slidably connected to the two third connecting rods 52 in the front-to-back direction of the frame 10. The second auxiliary wheel assembly 53 is rotatably connected to the second connecting member 70. In this embodiment, the two third connecting rods 52 provide stable support for the second connecting member 70, ensuring smoother operation of the second auxiliary wheel assembly 53. It should be noted that in this embodiment, the number of second auxiliary wheel assemblies 53 can be one or more, depending on actual design requirements.

[0083] As shown in FIG4 , in one embodiment, the second auxiliary wheel assembly 53 includes a second base 531 and a second auxiliary wheel 532 that can roll relative to the second base 531 . The second base 531 is connected to the second connecting member 70 and can rotate relative to the second connecting member 70 about a second axis S2 , which is arranged along the vertical direction.

[0084] In one embodiment, there are two second connecting members 70 and they are connected to the third connecting rods 52 in a one-to-one correspondence. The second auxiliary wheel assemblies 53 correspond to the second connecting members 70 in a one-to-one correspondence and are both rotatably connected to the second connecting member 70. The two second auxiliary wheel assemblies 53 are arranged at intervals along the left and right directions of the frame 10.

[0085] In one embodiment, the driving wheel 51 is a powered wheel, and the first auxiliary wheel 32 and the second auxiliary wheel 532 are non-powered wheels. Of course, in other embodiments, the first auxiliary wheel 32 and the second auxiliary wheel 532 can also be configured as powered wheels.

[0086] As shown in FIG6 , in a specific embodiment, the number of each of the connecting rod mechanism 20, the third connecting rod 52, and the driving wheel 51 is two, the number of each of the first connecting member 41, the first auxiliary wheel assembly 30, the second connecting member 70, and the second auxiliary wheel assembly 53 is one, and the two driving wheels 51 are respectively arranged on the left and right sides of the frame 10. The first connecting member 41 is connected between the two connecting rod mechanisms 20, the first auxiliary wheel assembly 30 is connected to the first connecting member 41, the second connecting member 70 is connected between the two third connecting rods 52, and the second auxiliary wheel assembly 53 is connected to the second connecting member 70.

[0087] As shown in FIG7 , in another specific embodiment, the number of each of the connecting rod mechanism 20, the third connecting rod 52, the driving wheel 51, the first connecting member 41, and the first auxiliary wheel assembly 30 is two, the number of each of the second connecting member 70 and the second auxiliary wheel assembly 53 is one, the two driving wheels 51 are respectively provided on the left and right sides of the frame 10, the two first connecting members 41 are connected to the two connecting rod mechanisms 20 in a one-to-one correspondence, the two first auxiliary wheel assemblies 30 are connected to the two first connecting members 41 in a one-to-one correspondence, the second connecting member 70 is connected between the two third connecting rods 52, and the second auxiliary wheel assembly 53 is connected to the second connecting member 70.

[0088] As shown in FIG8 , in another specific embodiment, the number of each of the connecting rod mechanism 20, the third connecting rod 52, the driving wheel 51, the second connecting member 70, and the second auxiliary wheel assembly 53 is two, the number of each of the first connecting member 41 and the first auxiliary wheel assembly 30 is one, the two driving wheels 51 are respectively arranged on the left and right sides of the frame 10, the first connecting member 41 is connected between the two connecting rod mechanisms 20, the first auxiliary wheel assembly 30 is connected to the first connecting member 41, the two second connecting members 70 are connected to the two third connecting rods 52 in a one-to-one correspondence, and the two second auxiliary wheel assemblies 53 are connected to the two second connecting members 70 in a one-to-one correspondence.

[0089] As shown in FIG9 , in another specific embodiment, the number of the connecting rod mechanism 20, the third connecting rod 52, the driving wheel 51, the first connecting member 41, the first auxiliary wheel assembly 30, the second connecting member 70, and the second auxiliary wheel assembly 53 are all two. The two driving wheels 51 are respectively provided on the left and right sides of the frame 10. The two first connecting members 41 are connected to the two connecting rod mechanisms 20 in a one-to-one correspondence. The two first auxiliary wheel assemblies 30 are connected to the two first connecting members 41 in a one-to-one correspondence. The two second connecting members 70 are connected to the two third connecting rods 52 in a one-to-one correspondence. The two second auxiliary wheel assemblies 53 are connected to the two second connecting members 70 in a one-to-one correspondence.

[0090] As shown in Figures 4 and 10, in one embodiment, the chassis device 100 further includes a shock-absorbing device 80, which includes a sleeve mechanism 81, a movable rod 82, a first elastic member 83, and a locking mechanism 84. The movable rod 82 is configured to move relative to the sleeve mechanism 81. The sleeve mechanism 81 is connected to the frame 10, and the movable rod 82 is connected to the connecting rod mechanism 20. The first elastic member 83 is used to reset the movable rod 82 after relative movement between the sleeve mechanism 81. The locking mechanism 84 has an unlocked state and a locked state. When the locking mechanism 84 is in the unlocked state, the movable rod 82 can move freely relative to the sleeve mechanism 81. When the locking mechanism 84 is in the locked state, the locking mechanism 84 can limit the relative movement between the sleeve mechanism 81 and the movable rod 82.

[0091] It should be noted that the movable rod 82 is not limited to being connected to the connecting rod mechanism 20. For example, in another embodiment, the movable rod 82 is configured to be connected to the first auxiliary wheel assembly 30. For example, the movable rod 82 is configured to be connected to the connecting assembly 40, and the movable rod 82 is connected to the first auxiliary wheel assembly 30 via the connecting assembly 40. It should also be noted that the sleeve mechanism 81 and the movable rod 82 can be reversed, that is, the sleeve mechanism 81 can be connected to the connecting rod mechanism 20 or the first auxiliary wheel assembly 30, while the movable rod 82 is connected to the frame 10. The specific configuration can be determined based on actual design requirements.

[0092] The chassis device 100 proposed in this embodiment firstly includes a shock absorber 80 disposed between the frame 10 and the first auxiliary wheel assembly 30. When the chassis device 100 operates on uneven ground, the shock absorber 80 can absorb the vibration caused by the uneven ground, allowing the chassis device 100 to operate smoothly. Secondly, the shock absorber 80 includes a locking mechanism 84, which can lock the sleeve mechanism 81 and the movable rod 82, thereby preventing the chassis device 100 from nodding or tilting forward during sudden braking or downhill descents. It is understandable that when the proposed chassis device 100 is used in a logistics robot, if the chassis device 100 nods or tilts forward during sudden braking or downhill descents, it can easily cause items to slide widely, which is detrimental to the safe transportation of items.

[0093] In one embodiment, there are two linkage mechanisms 20, which are located at the front side of the frame 10 and spaced apart along the left-right direction of the frame 10. The shock absorber 80 is located at the front side of the frame 10 and between the two linkage mechanisms 20. Alternatively, there are two shock absorbers 80, which are spaced apart along the left-right direction of the frame 10. Of course, the number of shock absorbers 80 is not limited to two, and may be one or more, depending on actual design requirements.

[0094] In one embodiment, the shock absorber 80 extends obliquely upward from the linkage mechanism 20 or the first auxiliary wheel assembly 30 toward the rear side of the frame 10. Of course, the arrangement is not limited to the above. For example, in other embodiments, the shock absorber 80 may extend vertically or horizontally along the front-to-back direction of the frame 10, depending on actual design requirements.

[0095] As shown in Figures 10 and 11, in one embodiment, the locking mechanism 84 includes a piston 841 and a valve core 842. The piston 841 is disposed within the movable rod 82 and is used to separate the inner cavity of the movable rod 82 into a first chamber C1 and a second chamber C2, which are arranged along the direction of movement of the movable rod 82. The first chamber C1 is located near the first auxiliary wheel assembly 30 or the connecting rod mechanism 20 and is filled with an incompressible liquid. The piston 841 is provided with a channel D for connecting the first chamber C1 and the second chamber C2. The piston 841 is connected to the sleeve mechanism 81 and moves synchronously with the sleeve mechanism 81. The valve core 842 is movably provided in the inner cavity of the movable rod 82, and is used to block the channel D or open the channel D. When the channel D is in the open state, the liquid can flow between the first chamber C1 and the second chamber C2, so that the piston member 841 can move relative to the movable rod 82, and thereby the sleeve mechanism 81 and the movable rod 82 can move relative to each other. When the channel D is in the closed state, the liquid cannot flow between the first chamber C1 and the second chamber C2 and the liquid in the first chamber C1 cannot be compressed, and the movement of the piston in the movable rod 82 is restricted, thereby restricting the relative movement of the sleeve mechanism 81 and the movable rod 82.

[0096] As shown in Figures 10 and 12, in one embodiment, the locking mechanism 84 further includes a coil 843 and an iron core 844. The iron core 844 cooperates with the coil 843 to enable the iron core 844 to move relative to the coil 843. One of the coil 843 and the iron core 844 is connected to the valve core 842, and is used to drive the valve core 842 to block or open the channel D. Specifically, when the coil 843 is energized, relative movement occurs between the coil 843 and the iron core 844, thereby driving the valve core 842 to block or open the channel D. In this embodiment, the valve core 842 is driven to block or open the channel D by the cooperation of the coil 843 and the iron core 844, which can effectively reduce costs. Of course, the driving of the valve core 842 is not limited to the method of the coil 843 and the iron core 844. For example, in other embodiments, the valve core 842 can be driven by a pneumatic cylinder, a hydraulic cylinder, an electric push rod, or a motor in conjunction with a transmission mechanism.

[0097] As shown in Figure 10, in one embodiment, the locking mechanism 84 also includes a driving rod 845, and one of the coil 843 and the iron core 844 is connected to the valve core 842 through the driving rod 845. The coil 843 and the iron core 844 are used to drive the driving rod 845 to block the channel D or open the channel D.

[0098] As shown in Figures 10 and 12, in one embodiment, the shock-absorbing device 80 also includes a positioning member 85, and the iron core 844 is located between the positioning member 85 and the driving rod 845. The iron core 844 includes a first end and a second end opposite to the first end. The first end of the iron core 844 is connected to the driving rod 845, and the second end of the iron core 844 is provided with a conical protrusion 8441. The positioning member 85 is provided with a conical groove 851 on the side facing the iron core 844. The conical protrusion 8441 and the conical groove 851 cooperate to position the iron core 844, and then position the driving rod 845, so as to avoid the problem that the driving rod 845 is offset and the valve core 842 is offset, which ultimately leads to poor sealing effect of the valve core 842.

[0099] It should be noted that the positions of the conical protrusion 8441 and the conical groove 851 can be interchanged, that is, the second end of the iron core 844 is provided with a conical groove 851, and the positioning member 85 is also provided with a conical protrusion 8441 on the side facing the iron core 844. The specific arrangement can be determined according to actual design requirements.

[0100] As shown in FIG10 , in one embodiment, a floating member 821 is further disposed within the movable rod 82. The floating member 821 is positioned within the second chamber C2 and serves to separate the second chamber C2 into an air chamber C21 communicating with the outside world and a liquid chamber C22 communicating with the first chamber C1. Both the liquid chamber C22 and the first chamber C1 are filled with an incompressible liquid. The locking mechanism 84 also includes a push rod 846. One end of the push rod 846 is fixed to the sleeve mechanism 81, and the other end is connected to the piston 841, configured to propel the piston 841 within the movable rod 82. At least a portion of the push rod 846 is located outside the movable rod 82. As the push rod drives the piston 841 toward the first chamber C1, the volume of liquid entering the movable rod 82 increases, and liquid enters the second chamber C2 from the first chamber C1, driving the floating member 821 to expand the liquid chamber C22. In this embodiment, the floating member 821 can not only adjust the volume of the air chamber C21 and the liquid chamber C22, but also prevent the liquid from leaking out from the inside of the movable rod 82.

[0101] Of course, the present invention is not limited to the above-mentioned embodiment. For example, in another embodiment, the floating member 821 is not provided on the inner side of the movable rod 82 , and the second chamber C2 is communicated with the outside.

[0102] As shown in FIG. 11 , in one embodiment, a protrusion 822 is provided on the inner side wall of the movable rod 82 , and the piston 841 is located on the side of the protrusion 822 facing away from the floating member 821 . The protrusion 822 is used to limit the stroke of the piston 841 .

[0103] As shown in Figures 10 and 11, in one embodiment, the push rod 846 is a hollow rod, and the driving rod 845 is movably disposed inside the push rod 846. In this embodiment, the structure of the shock-absorbing device 80 is relatively compact.

[0104] As shown in Figure 11, in one embodiment, the piston member 841 is provided with a through hole 8411 along the moving direction, and the driving rod 845 passes through the through hole 8411 and is connected to the valve core 842, wherein the inner diameter of the through hole 8411 is larger than the outer diameter of the driving rod 845, so that the piston member 841 and the driving rod 845 are spaced apart to form the above-mentioned channel D connecting the first chamber C1 and the second chamber C2.

[0105] As shown in Figure 11, in one embodiment, valve core 842 includes a valve body 8421 and a sealing member 8422. A driving rod 845 is connected to valve body 8421. A slot is provided on the side of valve body 8421 facing piston member 841, and sealing member 8422 is embedded in the slot. When driving rod 845 drives valve body 8421 toward piston member 841, it drives sealing member 8422 toward piston member 841, thereby sealing passage D of piston member 841.

[0106] As shown in Figures 10 and 11, in one embodiment, the locking mechanism 84 also includes a second elastic member 847, which is sleeved on the push rod 846, one end of the second elastic member 847 abuts the piston member 841, and the other end of the elastic member abuts the valve core 842, for providing a driving force for the valve core 842 to move away from the piston member 841.

[0107] As shown in FIG13 , an embodiment of the present application further provides a chassis device 100. The chassis device 100 includes a frame 10, a lifting mechanism 200, and a first auxiliary wheel assembly 30. The lifting mechanism 200 includes a lifting component 210 and a limiting component 220. The lifting component 210 is connected to the frame 10. The first auxiliary wheel assembly 30 is mechanically coupled to the lifting component 210 and is rotatable relative to the lifting component 210 about a first axis S1. The lifting component 210 is configured to simultaneously change the horizontal and vertical displacements of the first auxiliary wheel assembly 30 relative to the frame 10 when the chassis device 100 is in motion and encounters an obstacle. The limiting component 220 is connected to the frame 10 and mechanically coupled to the first auxiliary wheel assembly 30 or the lifting component 210. The limiting component 220 is configured to maintain the extension direction of the first axis S1 during the motion of the first auxiliary wheel assembly 30. When the chassis device 100 is in motion and the first auxiliary wheel assembly 30 encounters an obstacle, the first auxiliary wheel assembly 30 is tilted upward by the lifting member 210 while maintaining the extension direction of the first axis S1 unchanged.

[0108] The chassis device 100 proposed in this embodiment maintains the orientation of the first axis S1 unchanged when the lifting component 210 drives the first auxiliary wheel assembly 30 to move by providing the limiting component 220 , so that the first auxiliary wheel assembly 30 can maintain normal operation.

[0109] As shown in FIG13 , in one embodiment, the lifting component 210 includes a first connecting rod 21 . One end of the first connecting rod 21 is hinged to the frame 10 via a first hinge point A1, and the other end of the first connecting rod 21 is hinged to the first auxiliary wheel assembly 30 via a second hinge point A2. The first connecting rod 21 can drive the first auxiliary wheel assembly 30 to rotate, so that the horizontal and vertical displacements of the first auxiliary wheel assembly 30 relative to the frame 10 change simultaneously.

[0110] As shown in FIG13 , in one embodiment, the limiting component 220 includes a connecting assembly 40 and a second connecting rod 22. The first auxiliary wheel assembly 30 is connected to the lifting component 210 via the connecting assembly 40. The connecting assembly 40 includes a first connecting portion 101, and the frame 10 includes a second connecting portion 102. One end of the first connecting rod 21 is hinged to the second connecting portion 102 via a first hinge point A1, and the other end of the first connecting rod 21 is hinged to the first connecting portion 101 via a second hinge point A2. One end of the second connecting rod 22 is hinged to the second connecting portion 102 via a third hinge point A3, and the other end of the second connecting rod 22 is hinged to the first connecting portion 101 via a fourth hinge point A4. The line connecting the first hinge point A1 and the second hinge point A2 is parallel or approximately parallel to the line connecting the third hinge point A3 and the fourth hinge point A4, and the line connecting the first hinge point A1 and the third hinge point A3 is parallel or approximately parallel to the line connecting the second hinge point A2 and the fourth hinge point A4.

[0111] It should be noted that, in this embodiment, the first connecting portion 101 may be the first structural member 42 , or may be any other structure on the connecting assembly 40 .

[0112] It should be noted that the position-limiting component 220 is not limited to the above-described configuration. For example, in another embodiment, as shown in FIG14 , the position-limiting component 220 includes a motorized push rod 848, one end of which is hingedly connected to the frame 10, and the other end of which is hingedly connected to the first auxiliary wheel assembly 30. When the lifting component 210 drives the first auxiliary wheel assembly 30 to rise or fall, the motorized push rod 848 extends and retracts to maintain the orientation of the first axis S1 of the first auxiliary wheel assembly 30. Of course, the position-limiting component 220 is not limited to the motorized push rod 848. For example, in another embodiment, the position-limiting component 220 may utilize a motor in conjunction with a ball screw pair, or a motor in conjunction with a rack and pinion pair.

[0113] In one embodiment, the first axis S1 extends in a vertical direction, so that the first auxiliary wheel assembly 30 is a wheel assembly that can rotate about a vertical direction.

[0114] The structures, connection relationships and beneficial effects of other components of the chassis device 100 proposed in this embodiment can refer to all the aforementioned embodiments and will not be described in detail here.

[0115] As shown in Figures 15 and 16 , an embodiment of the present application further provides a movable platform 1000, which includes a material storage and retrieval device 900 and the aforementioned chassis device 100, wherein the material storage and retrieval device 900 is connected to the chassis device 100. The movable platform 1000 may be, but is not limited to, a logistics robot or a transport robot.

[0116] As shown in Figures 15 to 17, in one embodiment, a material storage and retrieval device 900 includes a body 91, a shielding assembly 92, and a retrieval device 93. The body 91 is provided with multiple cargo compartments 911, each having a window 912 for material entry or exit. The shielding assembly 92 is configured to shield the window 912. The shielding assembly 92 is movably connected to the body 91 and configured to open or close the window 912 of a target cargo compartment. The target cargo compartment 911 is the cargo compartment 911 to be retrieved. The retrieval device 93 is movably mounted on the body 91 and has a first operating mode and a second operating mode. As shown in Figures 15 and 17, in the first operating mode, the retrieval device 93 automatically transfers material into and out of the target cargo compartment window 912 after the window 912 of the target cargo compartment is unblocked. The shielding assembly 92 shields all windows 912 other than the target window 912. As shown in Figure 16, in the second working mode, the picking and placing device 93 is used to cover the windows 912 of several cargo holds 911, and the covering assembly 92 is used to cover the windows 912 of several other cargo holds 911, and the window 912 of the target cargo hold is exposed between the picking and placing device 93 and the covering assembly 92 for the materials in the target cargo hold to be taken out.

[0117] The material storage and retrieval device 900 proposed in this embodiment can be used for material storage and retrieval at a fixed location, and can also be used to move between different target locations to achieve material movement and distribution. By setting the pick-up and placement device 93 in a first working mode, the shielding component 92 can block other windows 912 except the target window 912. When the pick-up and placement device 93 is in a second working mode, the pick-up and placement device 93 and the shielding component 92 can together block other windows 912 except the target window 912. That is, when the materials in the target warehouse are taken out, the other windows 912 are in a blocked state, which can effectively protect the internal privacy of other warehouses and reduce the risk of loss of materials in other warehouses. The material storage and retrieval device 900 can automatically pick up, transport, and unload goods in an open environment. In addition, by setting up multiple warehouses for storing multiple materials, the material storage and transportation capacity of the material storage and retrieval device 900 can be improved. Each warehouse is provided with a storage space. The storage space size of different warehouses can be set to be the same or different, so that different warehouses can be used to store different materials.

[0118] In one embodiment, during the material transfer process, the shielding assembly 92 releases the shielding of the window 912 of the target warehouse, and after the material transfer is completed, the shielding assembly 92 shields the window 912 of the target warehouse.

[0119] For example, in the scenario of building delivery, autonomous goods delivery can be achieved through the material storage and retrieval device 900 without the participation of service personnel. Once the user is unable to receive the goods in time, the material storage and retrieval device 900 can be moved to the receiving location specified by the user. Then, the blocking component 92 removes the blocking of the window 912 of the target warehouse, and the picking and placing device 93 transfers the goods out of the target warehouse. The blocking component 92 blocks the window 912 of the target warehouse again, and then the picking and placing device 93 places the goods on the ground or storage surface corresponding to the receiving location (such as a table or shelf, etc.), thereby realizing automatic delivery of goods. The process is simple and efficient.

[0120] For another example, in the scenario of express delivery, the user does not need to wait for the courier to come to the door, but only needs to put the package on the ground at the door of the room or on a predetermined storage surface (such as a desktop or shelf, etc.), the material storage and retrieval device 900 moves to the location of the package to be picked up, and the package on the ground or the predetermined storage surface is extracted by the pick-up and placement device 93. The shielding component 92 removes the shielding of the window 912 of the target warehouse, and the pick-up and placement device 93 transfers the package into the target warehouse. The shielding component 92 again blocks the window 912 of the target warehouse to complete the package collection operation, enabling the user to send the package on the go. The material storage and retrieval device 900 of the present application can realize the autonomous collection of the package and effectively protect the privacy of the user. It should be noted that in the embodiment of the present application, the user can also put the material into the pick-up and placement device 93, and then the pick-up and placement device 93 automatically transfers the material into the warehouse, or the pick-up and placement device 93 transfers the material out of the warehouse, and the user takes the material out of the pick-up and placement device 93. The material transfer method of the pick-and-place device 93 may be conveyor belt transmission, mechanical gripping, suction cup absorption, etc.

[0121] As shown in Figure 15, in one embodiment, the retrieval device 93 includes a supporting mechanism 931 and a lifting mechanism 932 for driving the supporting mechanism 931 to move to the window 912 of any cargo hold 911. The supporting mechanism 931 can rotate relative to the fuselage 91 to switch between an extended state and a stowed state. In a first operating mode, the supporting mechanism 931 is in an extended state, used to support and transfer materials. In a second operating mode, the supporting mechanism 931 is in a stowed state, used to cooperate with the shielding assembly 92 to close windows 912 other than the window 912 of the target cargo hold.

[0122] When materials need to be transferred, the supporting mechanism 931 can be used to support the materials to be transferred. For example, the supporting mechanism 931 can automatically collect materials from the ground or a storage surface, or the user can directly drop materials onto the supporting mechanism 931. The supporting mechanism 931 then transfers the materials back to the target warehouse, or transfers materials out of the target warehouse. Specifically, the materials can be transferred to the ground or a storage surface, or the materials can remain on the supporting mechanism 931, waiting for the user to remove them. In the embodiment of the present application, when the supporting mechanism 931 moves to the corresponding target position, the shielding assembly 92 correspondingly releases the shielding of the target warehouse window 912. Therefore, the shielding assembly 92 is linked to the pick-and-place device 93. When the supporting mechanism 931 is at the target position corresponding to the target warehouse, the shielding assembly 92 releases the shielding of the target warehouse window 912. After the pick-and-place device 93 transfers the materials, the shielding assembly 92 automatically re-shields the target warehouse window 912, thereby achieving both smooth material transfer and protecting the warehouse.

[0123] It should be noted that the supporting mechanism 931 is movably connected to the fuselage 91. The supporting mechanism 931 has a certain carrying capacity and can carry materials and move along the fuselage 91 so as to move to the target position corresponding to the target warehouse.

[0124] As shown in Figures 15 and 17 , in one embodiment, the shielding assembly 92 includes a first curtain assembly 921 and a second curtain assembly 922, which are arranged along the movement direction of the support mechanism 931. In a first operating mode, an opening and closing end is formed between the first curtain assembly 921 and the second curtain assembly 922, which can be opened to expose the target cargo hold window 912 or closed to block the target cargo hold window 912. The shielding assembly 92 is configured to move relative to the fuselage 91 to adjust the position of the opening and closing end relative to the fuselage 91. In response to the support mechanism 931 moving to the corresponding target position, the opening and closing end also moves to the vicinity of the target position, releasing the obstruction of the target cargo hold window 912. The support mechanism 931 is used to transfer materials into and out of the target cargo hold.

[0125] As shown in Figures 16 and 17 , in one embodiment, the shielding assembly 92 includes a first curtain assembly 921 and a second curtain assembly 922, which are arranged along the movement direction of the support mechanism 931. In the second operating mode, an opening and closing end is formed between the first curtain assembly 921 and the retrieval device 93, which is used to open to expose the target cargo hold window 912 or close to shield the target cargo hold window 912. The first curtain assembly 921 shields a portion of the cargo hold windows 912 except the target cargo hold window 912, and the retrieval device 93 alone shields the remaining windows 912 except the target cargo hold window 912. Alternatively, the retrieval device 93 and the second curtain assembly 922 connected to the retrieval device 93 can be combined to block the remaining windows 912 except the target cargo hold window 912.

[0126] As shown in FIG18 , in one embodiment, a first curtain assembly 921 may include a first curtain 9211 and a curtain driving mechanism 9212. The curtain driving mechanism 9212 is mounted to the machine body 91, and the first curtain 9211 is connected to the curtain driving mechanism 9212. The first curtain 9211 can move relative to the machine body 91, and the curtain driving mechanism 9212 can drive the first curtain 9211 to move relative to the machine body 91. In this way, during the material transfer process, the movement of the first curtain 9211 can change the relative position of the first curtain 9211 and the cargo hold, so that the first curtain 9211 can cover the cargo hold window 912, or release the cover of the corresponding cargo hold window 912.

[0127] Optionally, the first curtain body 9211 is a roll-up sheet structure, a curtain fabric structure, or a venetian blind structure. In the embodiment of the present application, the first curtain body 9211 can be configured as any of the roll-up sheet structure, the curtain fabric structure, or the venetian blind structure, which facilitates the curling and unfolding of the first curtain body 9211 and facilitates the installation layout of the first curtain body 9211 on the fuselage 91. It also has a simple structure and low manufacturing cost.

[0128] As shown in Figure 17, in one embodiment, the second curtain assembly 922 includes a second curtain 9221. One end of the second curtain 9221 is connected to the fuselage 91, and the other end is connected to a supporting mechanism 931. The supporting mechanism 931 is capable of driving the movement of the second curtain 9221. Specifically, the second end of the second curtain 9221 moves relative to the fuselage 91 along with the supporting mechanism 931. As the supporting mechanism 931 moves, the second curtain 9221 can partially block the cargo hold window 912, achieving a coordinated effect between the retrieval device 93 and the shielding assembly 92. In this embodiment, the second curtain 9221 can rise and fall relative to the fuselage 91 along with the supporting mechanism 931. This rational and ingenious structural design reduces manufacturing costs and control difficulties.

[0129] Optionally, the second curtain body 9221 is a roll-up sheet structure, a curtain structure, or a venetian blind structure. In the embodiment of the present application, the second curtain body 9221 can be configured as any of the roll-up sheet structure, the curtain structure, or the venetian blind structure, which facilitates the curling and unfolding of the first curtain body 9211 and the installation layout of the second curtain body 9221 on the fuselage 91. It also has a simple structure and low manufacturing cost.

[0130] In one embodiment, the material storage device further includes a partition, which is provided in the cargo hold 911 to separate the cargo hold 911 into at least two compartments arranged on the left and right, and the pick-up and placement devices 93 and the shielding assembly 92 are used in conjunction with the compartments in a one-to-one correspondence. For example, the partition separates the cargo hold 911 into two compartments arranged on the left and right, and the number of the shielding assemblies 92 and the pick-up and placement devices 93 are both two, two shielding assemblies 92 are arranged on the left and right, and two pick-up and placement devices 93 are arranged on the left and right. When it is necessary to take out the materials in the right compartment, keep the shielding assembly 92 and the pick-up and placement device 93 on the left stationary. In the first working mode, the pick-up and placement device 93 on the right releases the obstruction of the right target hatch, the shielding assembly 92 blocks other windows 912 except the target window 912, and the materials in the right compartment are automatically transferred to the pick-up and placement device 93. In the second operating mode, the right retrieval device 93 is used to block windows 912 of several right cargo holds 911, while the right shielding assembly 92 is used to block windows 912 of several other right cargo holds 911. The window 912 of the target cargo hold is exposed between the retrieval device 93 and the shielding assembly 92, allowing materials to be removed from the target cargo hold. With this embodiment, the number of compartments is multiplied, allowing for storage of greater quantities and a wider variety of materials, thereby enhancing the material storage and transportation capabilities of the material storage and retrieval device 900.

[0131] The structures, connection relationships and beneficial effects of other components of the movable platform 1000 proposed in this embodiment can refer to all the aforementioned embodiments and will not be described in detail here.

[0132] As shown in Figures 10 to 12, embodiments of the present application further provide a shock-isolating device 80 for providing shock isolation between the frame 10 and the first auxiliary wheel assembly 30 connected to the frame 10 via the linkage mechanism 20. The shock-isolating device 80 includes a sleeve mechanism 81, a movable rod 82, a first elastic member 83, and a locking mechanism 84. The movable rod 82 is configured to move relative to the sleeve mechanism 81. One of the sleeve mechanism 81 and the movable rod 82 is connected to the frame 10, while the other is connected to the linkage mechanism 20 or the first auxiliary wheel assembly 30. The first elastic member 83 is configured to reset the movable rod 82 after relative movement with the sleeve mechanism 81. The locking mechanism 84 has an unlocked state and a locked state. When the locking mechanism 84 is in the unlocked state, the movable rod 82 can move freely relative to the sleeve mechanism 81. When the locking mechanism 84 is in the locked state, the locking mechanism 84 restricts relative movement between the sleeve mechanism 81 and the movable rod 82.

[0133] In one embodiment, the locking mechanism 84 includes a piston 841 and a valve core 842. The piston 841 is disposed within the movable rod 82 and is used to separate the inner cavity of the movable rod 82 into a first chamber C1 and a second chamber C2 arranged along the movement direction of the movable rod 82. The first chamber C1 is disposed near the first auxiliary wheel assembly 30 or the connecting rod mechanism 20 and is filled with an incompressible liquid. The piston 841 is provided with a channel D for connecting the first chamber C1 and the second chamber C2. The piston 841 is connected to the sleeve mechanism 81 and moves synchronously with the sleeve mechanism 81. The valve core 842 is movably provided in the inner cavity of the movable rod 82, and is used to block the channel D or open the channel D. When the channel D is in the open state, the liquid can flow between the first chamber C1 and the second chamber C2, so that the piston member 841 can move relative to the movable rod 82, and thereby the sleeve mechanism 81 and the movable rod 82 can move relative to each other. When the channel D is in the closed state, the liquid cannot flow between the first chamber C1 and the second chamber C2 and the liquid in the first chamber C1 cannot be compressed, and the movement of the piston in the movable rod 82 is restricted, thereby restricting the relative movement of the sleeve mechanism 81 and the movable rod 82.

[0134] In one embodiment, the locking mechanism 84 also includes a coil 843 and an iron core 844. The iron core 844 cooperates with the coil 843 to enable the iron core 844 to move relative to the coil 843. One of the coil 843 and the iron core 844 is connected to the valve core 842, and is used to drive the valve core 842 to block the channel D or open the channel D.

[0135] In one embodiment, the locking mechanism 84 further includes a driving rod 845, and one of the coil 843 and the iron core 844 is connected to the valve core 842 through the driving rod 845, and the coil 843 and the iron core 844 are used to drive the driving rod 845 to block the channel D or open the channel D.

[0136] In one embodiment, a floating member 821 is further disposed within the movable rod 82. The floating member 821 is disposed within the second chamber C2 and is used to separate the second chamber C2 into an air chamber C21 communicating with the outside world and a liquid chamber C22 communicating with the first chamber C1. Both the liquid chamber C22 and the first chamber C1 are filled with an incompressible liquid. The locking mechanism 84 also includes a push rod 846. One end of the push rod 846 is fixed relative to the sleeve mechanism 81, and the other end is connected to the piston 841, which is used to push the piston 841 to move within the movable rod 82. At least a portion of the push rod 846 is located outside the movable rod 82. As the push rod drives the piston 841 toward the first chamber C1, the volume of liquid entering the movable rod 82 increases, and liquid enters the second chamber C2 from the first chamber C1, driving the floating member 821 to move, thereby increasing the volume of the liquid chamber C22.

[0137] In one embodiment, the locking mechanism 84 also includes a second elastic member 847, which is sleeved on the push rod 846, one end of the second elastic member 847 abuts the piston member 841, and the other end of the elastic member abuts the valve core 842, for providing a driving force for the valve core 842 to move away from the piston member 841.

[0138] The structures, connection relationships and beneficial effects of other components of the shock-absorbing device 80 proposed in this embodiment can refer to the above embodiments and will not be described in detail here.

[0139] As shown in Figures 15 to 17, an embodiment of the present application further provides a material storage and retrieval device 900. The material storage and retrieval device 900 includes a fuselage 91, a shielding assembly 92, and a retrieval device 93. The fuselage 91 is provided with multiple cargo compartments 911, each of which has a window 912 for allowing material to enter or exit. The shielding assembly 92 is used to shield the window 912. The shielding assembly 92 is movably connected to the fuselage 91 and is configured to open or close the window 912 of a target cargo compartment. The target cargo compartment refers to the cargo compartment 911 to be retrieved. The retrieval device 93 is movably provided on the fuselage 91 and has a first operating mode and a second operating mode. In the first operating mode, the retrieval device 93 is used to automatically transfer material in and out through the window 912 of the target cargo compartment after the window 912 of the target cargo compartment is unblocked. The shielding assembly 92 shields the windows 912 other than the target window 912. In the second working mode, the picking and placing device 93 is used to cover the windows 912 of several cargo holds 911, and the covering assembly 92 is used to cover the windows 912 of several other cargo holds 911, and the window 912 of the target cargo hold is exposed between the picking and placing device 93 and the covering assembly 92 for the materials in the target cargo hold to be taken out.

[0140] In one embodiment, the retrieval device 93 includes a supporting mechanism 931 and a lifting mechanism 932 for driving the supporting mechanism 931 to move to the window 912 of any cargo hold 911. The supporting mechanism 931 can rotate relative to the fuselage 91 to switch between an extended state and a stowed state. In a first operating mode, the supporting mechanism 931 is in an extended state, used to support and transfer materials. In a second operating mode, the supporting mechanism 931 is in a stowed state, used to cooperate with the shielding assembly 92 to seal windows 912 other than the window 912 of the target cargo hold.

[0141] In one embodiment, the shielding assembly 92 includes a first curtain assembly 9211 and a second curtain assembly 9221. The first curtain assembly 921 and the second curtain assembly 9221 are arranged along the movement direction of the support mechanism 931. In a first operating mode, an opening and closing end is formed between the first curtain assembly 9211 and the second curtain assembly 9221, 922, for opening to expose the target cargo hold window 912 or closing to block the target cargo hold window 912. The shielding assembly 92 is configured to move relative to the fuselage 91 to adjust the position of the opening and closing end relative to the fuselage 91. In response to the support mechanism 931 moving to the corresponding target position, the opening and closing end also moves to the vicinity of the target position, releasing the obstruction of the target cargo hold window 912. The support mechanism 931 is used to transfer materials into and out of the target cargo hold.

[0142] In one embodiment, the shielding assembly 92 includes a first curtain body 9211 assembly 921 and a second curtain body 9221 assembly 922, which are arranged along the movement direction of the support mechanism 931. In a second operating mode, an opening and closing end is formed between the first curtain body 9211 assembly 921 and the retrieval device 93, which is used to open to expose the target cargo hold window 912 or close to shield the target cargo hold window 912. The first curtain body 9211 assembly 921 shields a portion of the cargo hold windows 912 except the target cargo hold window 912, and the retrieval device 93 alone shields the remaining windows 912 except the target cargo hold window 912. Alternatively, the retrieval device 93 and the second curtain body 9221 assembly 922 connected to the retrieval device 93 can be combined to block the remaining windows 912 except the target cargo hold window 912.

[0143] The structures, connection relationships and beneficial effects of other components of the material storage and retrieval device 900 proposed in this embodiment can refer to all the aforementioned embodiments and will not be described in detail here.

[0144] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, i.e., they may be located in one location or distributed across multiple network units. Some or all of the modules may be selected based on actual needs to achieve the objectives of the present embodiment. Persons of ordinary skill in the art will be able to understand and implement the present invention without inventive effort.

[0145] References herein to "one embodiment," "an embodiment," or "one or more embodiments" mean that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one embodiment of the present application. Furthermore, please note that instances of the phrase "in one embodiment" do not necessarily all refer to the same embodiment.

[0146] In the description provided herein, a large number of specific details are described. However, it is understood that the embodiments of the present application can be practiced without these specific details. In some instances, well-known methods, structures, and techniques are not shown in detail so as not to obscure the understanding of this description.

[0147] In the claims, any reference signs placed between brackets shall not be construed as limiting the claim. The word "comprising" does not exclude the presence of elements or steps not listed in the claim. The word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements. The present application may be implemented by means of hardware comprising several different elements and by means of a suitably programmed computer. In a unit claim enumerating several means, several of these means may be embodied by one and the same item of hardware. The use of the words first, second, and third etc. does not indicate any order. These words may be interpreted as names.

[0148] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A chassis device, characterized in that, it includes a frame, a linkage mechanism, and a first auxiliary wheel assembly. Among them, the linkage mechanism includes: a first connecting rod, one end of the first connecting rod is hinged to the frame through a first hinge point, and the other end of the first connecting rod is hinged to the first auxiliary wheel assembly through a second hinge point; and a second connecting rod, one end of the second connecting rod is hinged to the frame through a third hinge point, and the other end of the second connecting rod is hinged to the first auxiliary wheel assembly through a fourth hinge point; wherein, the line connecting the first hinge point and the second hinge point is parallel or approximately parallel to the line connecting the third hinge point and the fourth hinge point, and the line connecting the first hinge point and the third hinge point is parallel or approximately parallel to the line connecting the second hinge point and the fourth hinge point.

2. The chassis device according to claim 1, characterized in that, in response to the climbing of the first auxiliary wheel assembly, the second hinge point is located above the first hinge point in the vertical direction.

3. The chassis device according to claim 1 or 2, characterized in that, it further includes a connection assembly. The first auxiliary wheel assembly is connected to the linkage mechanism through the connection assembly, and the first connecting rod and the second connecting rod are hinged to the connection assembly; the first auxiliary wheel assembly includes a first base and a first auxiliary wheel that can roll relative to the first base, and the first base is connected to the connection assembly and can rotate relative to the connection assembly around a first axis, and the first axis extends along the vertical direction.

4. The chassis device according to claim 3, characterized in that, the line connecting the first hinge point and the third hinge point extends along the vertical direction, and the line connecting the second hinge point and the fourth hinge point is parallel to the line connecting the first hinge point and the third hinge point.

5. The chassis device according to claim 3, characterized in that, the frame includes a front side and a rear side opposite to the front side, and the linkage mechanism is provided on the front side and / or the rear side of the frame.

6. The chassis device according to claim 5, characterized in that, the linkage mechanism is provided on the front side of the frame, and the number of the linkage mechanisms is at least two, and the at least two linkage mechanisms are arranged at intervals in the left-right direction of the frame; and / or, the linkage mechanism is provided on the rear side of the frame, and the number of the linkage mechanisms is at least two, and the at least two linkage mechanisms are arranged at intervals in the left-right direction of the frame.

7. The chassis device according to claim 6, characterized in that, the connection assembly includes a first connecting piece and at least two first structural members connected to the first connecting piece, the first structural members are connected to the linkage mechanisms one by one, and the first base is connected to the first connecting piece and can rotate relative to the first connecting piece around the first axis.

8. The chassis device according to claim 6, characterized in that, The number of the connection components is at least two and they are connected to the link mechanism in one-to-one correspondence. The number of the first auxiliary wheel components is at least two and they are connected to the connection components in one-to-one correspondence. The at least two first auxiliary wheel components are arranged at intervals in the left-right direction of the frame.

9. The chassis device according to claim 1, wherein, the chassis device further includes a balance frame structure, and the balance frame structure includes a driving wheel, a third link and a second auxiliary wheel component; the third link is hinged to the frame through a fifth hinge point. The driving wheel and the second auxiliary wheel component are arranged on the third link and on both sides of the fifth hinge point. The first auxiliary wheel component, the driving wheel and the second auxiliary wheel component are arranged in sequence in the front-back direction of the frame; wherein, one end of the third link close to the link mechanism is movably connected to the link mechanism through a matching structure.

10. The chassis device according to claim 9, wherein, the matching structure includes a first matching part and a second matching part. Among them, the first matching part is arranged on the link mechanism, the second matching part is arranged on the third link, and the first matching part and the second matching part are in sliding fit and rotational fit.

11. The chassis device according to claim 10, wherein, the link mechanism further includes a connecting part. The connecting part is connected to the first link and extends from the first hinge point towards the third link. The first matching part is arranged on the connecting part; the third link includes a first extension section and a second extension section connected to the first extension section. The fifth hinge point is located at the connection of the first extension section and the second extension section. The second auxiliary wheel component is connected to the first extension section, the driving wheel is connected to the second extension section. The connection point of the driving wheel and the second extension section divides the second extension section into a first sub-extension section and a second sub-extension section. The first sub-extension section is connected to the first extension section, and the second matching part is arranged on the second sub-extension section.

12. The chassis device according to claim 9, wherein, it further includes a connection component and a second connecting piece. The connection component includes a first connecting piece; the number of the link mechanism, the third link and the driving wheel is two; the number of the first connecting piece, the first auxiliary wheel component, the second connecting piece and the second auxiliary wheel component is one; the two third links are respectively arranged on the left and right sides of the frame. The two driving wheels are respectively arranged on the left and right sides of the frame. The two link mechanisms are arranged at intervals in the left-right direction of the frame, the first connecting piece is connected between the two link mechanisms. The first auxiliary wheel component is connected to the first connecting piece. The second connecting piece is located at the rear side of the frame. The second connecting piece is connected between the two third links. The second auxiliary wheel component is connected to the second connecting piece.

13. The chassis device according to claim 9, wherein, It further includes a connection assembly and a second connection member, and the connection assembly includes a first connection member; The number of the link mechanism, the third link, the driving wheel, the first connection member and the first auxiliary wheel assembly is two each; The number of the second connection member and the second auxiliary wheel assembly is one each; The two third links are respectively arranged on the left and right sides of the frame, the two driving wheels are respectively arranged on the left and right sides of the frame, the two link mechanisms are arranged at intervals in the left-right direction of the frame, the two first connection members are correspondingly connected to the two link mechanisms one by one, the two first auxiliary wheel assemblies are correspondingly connected to the two first connection members one by one, the second connection member is located at the rear side of the frame, the second connection member is connected between the two third links, and the second auxiliary wheel assembly is connected to the second connection member.

14. The chassis device according to claim 9, wherein, It further includes a connection assembly and a second connection member, and the connection assembly includes a first connection member; The number of the link mechanism, the third link, the driving wheel, the second connection member and the second auxiliary wheel assembly is two each; The number of the first connection member and the first auxiliary wheel assembly is one each; The two third links are respectively arranged on the left and right sides of the frame, the two driving wheels are respectively arranged on the left and right sides of the frame, the two link mechanisms are arranged at intervals in the left-right direction of the frame, the first connection member is connected between the two link mechanisms, the first auxiliary wheel assembly is connected to the first connection member, the two second connection members are located at the rear side of the frame and are correspondingly connected to the two third links one by one, and the two second auxiliary wheel assemblies are correspondingly connected to the two second connection members one by one.

15. The chassis device according to claim 9, wherein, It further includes a connection assembly and a second connection member, and the connection assembly includes a first connection member; The number of the link mechanism, the third link, the driving wheel, the first connection member, the first auxiliary wheel assembly, the second connection member and the second auxiliary wheel assembly is two each; The two third links are respectively arranged on the left and right sides of the frame, the two driving wheels are respectively arranged on the left and right sides of the frame, the two link mechanisms are arranged at intervals in the left-right direction of the frame, The two first connection members are correspondingly connected to the two link mechanisms one by one, the two first auxiliary wheel assemblies are correspondingly connected to the two first connection members one by one, the two second connection members are located at the rear side of the frame and are correspondingly connected to the two third links one by one, and the two second auxiliary wheel assemblies are correspondingly connected to the two second connection members one by one.

16. The chassis device according to claim 1, wherein, It further includes a shock absorption device, and the shock absorption device includes: A sleeve mechanism; A movable rod member, the movable rod member is configured to be able to move relative to the sleeve mechanism, and one of the sleeve mechanism and the movable rod member is connected to the frame, and the other of the sleeve mechanism and the movable rod member is connected to the link mechanism or the first auxiliary wheel assembly; A first elastic member, which is used to reset the relative movement between the movable rod and the sleeve mechanism; and, A locking mechanism, which has an unlocked state and a locked state; When the locking mechanism is in the unlocked state, the movable rod can move freely relative to the sleeve mechanism; When the locking mechanism is in the locked state, the locking mechanism can restrict the relative movement between the sleeve mechanism and the movable rod.

17. The chassis device according to claim 16, wherein, the locking mechanism includes: A piston member, which is arranged inside the movable rod and is used to divide the inner cavity of the movable rod into a first chamber and a second chamber arranged along the movement direction of the movable rod. The first chamber is arranged close to the first auxiliary wheel assembly or the link mechanism, and the first chamber is filled with an incompressible liquid; a channel for communicating the first chamber and the second chamber is arranged inside the piston member; the piston member is connected to the sleeve mechanism and moves synchronously with the sleeve mechanism; A valve core, which is movably arranged inside the inner cavity of the movable rod and is used to block or open the channel; When the channel is in the open state, the liquid can flow between the first chamber and the second chamber, so that the piston member can move relative to the movable rod, and further the relative movement between the sleeve mechanism and the movable rod can be realized; When the channel is in the closed state, the liquid cannot flow between the first chamber and the second chamber and the liquid in the first chamber cannot be compressed, and the movement of the piston in the movable rod is restricted, thereby restricting the relative movement between the sleeve mechanism and the movable rod.

18. The chassis device according to claim 17, wherein, the locking mechanism further includes: A coil and an iron core, which are used in cooperation so that the iron core can move relative to the coil. One of the coil and the iron core is connected to the valve core and is used to drive the valve core to block or open the channel.

19. The chassis device according to claim 18, wherein, the locking mechanism further includes: A driving rod, one of the coil and the iron core is connected to the valve core through the driving rod, and the coil and the iron core are used to drive the driving rod to block or open the channel.

20. The chassis device according to claim 17, wherein, A floating member is further arranged inside the movable rod. The floating member is arranged in the second chamber and is used to divide the second chamber into an air chamber communicating with the outside and a liquid chamber for communicating with the first chamber. Both the liquid chamber and the first chamber are filled with an incompressible liquid; The locking mechanism further includes a push rod, one end of which is fixed relative to the sleeve mechanism, and the other end is connected to the piston member and is used to push the piston member to move inside the inner cavity of the movable rod. At least a part of the push rod is located outside the movable rod; As the push rod drives the piston member to move towards the first chamber, the volume of the push rod entering the inner cavity of the movable rod member increases, and the liquid enters the second chamber from the first chamber to drive the floating member to move so that the liquid chamber increases.

21. The chassis device according to claim 20, characterized in that the locking mechanism further includes a second elastic member sleeved on the push rod, one end of the second elastic member abuts against the piston member, and the other end of the elastic member abuts against the valve core to provide a driving force for the valve core to move away from the piston member.

22. A chassis device, characterized in that it includes a frame, a lifting mechanism and a first auxiliary wheel assembly, wherein the lifting mechanism includes: a lifting member connected to the frame, the first auxiliary wheel assembly is mechanically coupled to the lifting member and the first auxiliary wheel assembly can rotate relative to the lifting member about a first axis, and the lifting member is used for when the chassis device is in motion and the first auxiliary wheel assembly encounters an obstacle, enabling the first auxiliary wheel assembly to simultaneously change its horizontal displacement and vertical displacement relative to the frame; a limiting member connected to the frame and mechanically coupled to the first auxiliary wheel assembly or the lifting member, and the limiting member is used for keeping the extending direction of the first axis unchanged during the movement of the first auxiliary wheel assembly; wherein, during the movement of the chassis device and when the first auxiliary wheel assembly encounters an obstacle, the first auxiliary wheel assembly is tilted and lifted upward under the action of the lifting member while keeping the extending direction of the first axis unchanged.

23. The chassis device according to claim 22, characterized in that the lifting member includes a first connecting rod, one end of the first connecting rod is hinged to the frame through a first hinge point, and the other end of the first connecting rod is hinged to the first auxiliary wheel assembly through a second hinge point, and the first connecting rod can enable the first auxiliary wheel assembly to simultaneously change its horizontal displacement and vertical displacement relative to the frame.

24. The chassis device according to claim 22, characterized in that the limiting member includes a connecting component and a second connecting rod, the first auxiliary wheel assembly is connected to the lifting member through the connecting component, the connecting component is provided with a first connecting portion, and the frame is provided with a second connecting portion; one end of the first connecting rod is hinged to the second connecting portion through a first hinge point, and the other end of the first connecting rod is hinged to the first connecting portion through a second hinge point; and one end of the second connecting rod is hinged to the second connecting portion through a third hinge point, and the other end of the second connecting rod is hinged to the first connecting portion through a fourth hinge point; wherein, the line connecting the first hinge point and the second hinge point is parallel or approximately parallel to the line connecting the third hinge point and the fourth hinge point, and the line connecting the first hinge point and the third hinge point is parallel or approximately parallel to the line connecting the second hinge point and the fourth hinge point.

25. The chassis device according to claim 22, characterized in that The first axis extends along the vertical direction.

26. A movable platform characterized in that it includes: a material access device; and a chassis device as described in any one of claims 1 to 25; wherein, the material access device is connected to the chassis device.

27. The movable platform as described in claim 26, characterized in that the material access device includes: a fuselage provided with a plurality of cargo compartments, and the cargo compartments have windows for materials to enter or exit; a shielding assembly for shielding the windows, the shielding assembly is movably connected to the fuselage and is configured to be able to open or close the window of the target cargo compartment, and the target cargo compartment refers to the cargo compartment to be picked up; and a picking and placing device movably arranged on the fuselage, and the picking and placing device has a first working mode and a second working mode; In the first working mode, after the shielding of the window of the target cargo compartment is removed, the picking and placing device is used to automatically transfer the material in and out through the window of the target cargo compartment, and the shielding assembly shields other windows except the target window; In the second working mode, the picking and placing device is used to shield the windows of several of the cargo compartments, the shielding assembly is used to shield the windows of several other cargo compartments, and the window of the target cargo compartment is exposed between the picking and placing device and the shielding assembly for the material in the target cargo compartment to be taken out.

28. The movable platform as described in claim 27, characterized in that the picking and placing device includes a supporting mechanism and a lifting mechanism for driving the supporting mechanism to move to the window of any cargo compartment, and the supporting mechanism can rotate relative to the fuselage to switch between an unfolded state and a retracted state; In the first working mode, the supporting mechanism is in the unfolded state, used to support the material and transfer the material; In the second working mode, the supporting mechanism is in the retracted state, used to cooperate with the shielding assembly to close the windows except the window of the target cargo compartment.

29. The movable platform as described in claim 28, characterized in that the shielding assembly includes: a first curtain body assembly and a second curtain body assembly, and the first curtain body assembly and the second curtain body assembly are arranged along the moving direction of the supporting mechanism; In the first working mode, an opening and closing end is formed between the first curtain body assembly and the second curtain body assembly for opening to expose the window of the target cargo compartment or closing to shield the window of the target cargo compartment, and the shielding assembly is configured to be able to move relative to the fuselage to adjust the position of the opening and closing end relative to the fuselage; in response to the supporting mechanism moving to the corresponding target position, the opening and closing end also moves to the vicinity of the target position, the opening and closing end removes the shielding of the window of the target cargo compartment, and the supporting mechanism is used to transfer the material in and out of the target cargo compartment.

30. The movable platform as described in claim 28, characterized in that the shielding assembly includes: a first curtain body assembly and a second curtain body assembly, and the first curtain body assembly and the second curtain body assembly are arranged along the moving direction of the supporting mechanism; In the second working mode, an opening and closing end is formed between the first curtain assembly and the picking and placing device, which can be opened to expose the window of the target cargo hold or closed to block the window of the target cargo hold. The first curtain assembly blocks a part of the windows of the cargo hold except for the window of the target cargo hold, and the picking and placing device alone blocks the remaining windows except for the window of the target cargo hold, or the picking and placing device and a second curtain assembly connected to the picking and placing device are combined to enclose the remaining windows except for the window of the target cargo hold.

31. A shock absorption device for forming shock absorption between a frame and a first auxiliary wheel assembly connected to the frame through a linkage mechanism Characterized in that The shock absorption device includes: A sleeve mechanism; A movable rod member, the movable rod member is configured to be able to move relative to the sleeve mechanism, one of the sleeve mechanism and the movable rod member is connected to the frame, and the other of the sleeve mechanism and the movable rod member is connected to the linkage mechanism or the first auxiliary wheel assembly; A first elastic member, the first elastic member is used to reset the relative movement between the movable rod member and the sleeve mechanism; and A locking mechanism, the locking mechanism has an unlocked state and a locked state; When the locking mechanism is in the unlocked state, the movable rod member can move freely relative to the sleeve mechanism; When the locking mechanism is in the locked state, the locking mechanism can limit the relative movement between the sleeve mechanism and the movable rod member.

32. The shock absorption device according to claim 31, Characterized in that The locking mechanism includes: A piston member, which is arranged inside the movable rod member and is used to divide the inner cavity of the movable rod member into a first chamber and a second chamber arranged along the movement direction of the movable rod member. The first chamber is arranged close to the first auxiliary wheel assembly or the linkage mechanism, and the first chamber is filled with an incompressible liquid; a channel for communicating the first chamber and the second chamber is arranged inside the piston member; the piston member is connected to the sleeve mechanism and moves synchronously with the sleeve mechanism; A valve core, the valve core is movably arranged inside the inner cavity of the movable rod member and is used to block the channel or open the channel; When the channel is in the open state, the liquid can flow between the first chamber and the second chamber, so that the piston member can move relative to the movable rod member, and further the sleeve mechanism and the movable rod member can move relative to each other; When the channel is in the closed state, the liquid cannot flow between the first chamber and the second chamber and the liquid in the first chamber cannot be compressed, and the movement of the piston in the movable rod member is restricted, thereby restricting the relative movement between the sleeve mechanism and the movable rod member.

33. The shock absorption device according to claim 32, Characterized in that The locking mechanism further includes: A coil and an iron core, the iron core being used in cooperation with the coil such that the iron core can move relative to the coil, and one of the coil and the iron core being connected to the valve core for driving the valve core to block the passage or open the passage.

34. The shock absorber device according to claim 33, characterized in that the locking mechanism further comprises: a driving rod, one of the coil and the iron core being connected to the valve core through the driving rod, the coil and the iron core being used for driving the driving rod to block the passage or open the passage.

35. The shock absorber device according to claim 32, characterized in that a floating member is further provided inside the movable rod member, the floating member being disposed in the second chamber for dividing the second chamber into an air chamber communicating with the outside and a liquid chamber for communicating with the first chamber, and both the liquid chamber and the first chamber are filled with an incompressible liquid; the locking mechanism further comprises a push rod, one end of the push rod being fixed relative to the sleeve mechanism and the other end being connected to the piston member for pushing the piston member to move in the inner cavity of the movable rod member, and at least a part of the push rod is located outside the movable rod member; as the push rod drives the piston member to move towards the first chamber, the volume of the push rod entering the inner cavity of the movable rod member increases, and the liquid enters the second chamber from the first chamber to drive the floating member to move so that the liquid chamber increases.

36. The shock absorber device according to claim 35, characterized in that the locking mechanism further comprises a second elastic member, the second elastic member being sleeved on the push rod, one end of the second elastic member abutting against the piston member and the other end of the elastic member abutting against the valve core for providing a driving force for the valve core to move away from the piston member.

37. A material access device, characterized in that it comprises: a fuselage provided with a plurality of cargo compartments, the cargo compartments having windows for materials to enter or exit; a shielding assembly for shielding the windows, the shielding assembly being movably connected to the fuselage and being configured to be able to open or close the windows of a target cargo compartment, the target cargo compartment referring to the cargo compartment from which goods are to be taken; and a picking and placing device movably disposed on the fuselage, the picking and placing device having a first working mode and a second working mode; in the first working mode, after the shielding of the window of the target cargo compartment is removed, the picking and placing device is used to automatically transfer the material in and out through the window of the target cargo compartment, and the shielding assembly shields the other windows except the target window; in the second working mode, the picking and placing device is used to shield the windows of several of the cargo compartments, the shielding assembly is used to shield the windows of several other cargo compartments, and the window of the target cargo compartment is exposed between the picking and placing device and the shielding assembly for the material in the target cargo compartment to be taken out.

38. The material access device according to claim 37, characterized in that The picking and placing device includes a supporting mechanism and a lifting mechanism for driving the supporting mechanism to move to the window of any cargo hold. The supporting mechanism can rotate relative to the fuselage to switch between an unfolded state and a stored state; In the first working mode, the supporting mechanism is in the unfolded state, for supporting the material and and for transferring the material; In the second working mode, the supporting mechanism is in the stored state, for cooperating with the shielding component to close the windows other than the window of the target cargo hold.

39. The material access device according to claim 38, characterized in that the shielding component includes: a first curtain body component and a second curtain body component, and the first curtain body component and the second curtain body component are arranged along the moving direction of the supporting mechanism; In the first working mode, an opening and closing end is formed between the first curtain body component and the second curtain body component for opening to expose the window of the target cargo hold or closing to shield the window of the target cargo hold. The shielding component is configured to be able to move relative to the fuselage to adjust the position of the opening and closing end relative to the fuselage; in response to the supporting mechanism moving to the corresponding target position, the opening and closing end also moves to the vicinity of the target position, the opening and closing end releases the shielding of the window of the target cargo hold, and the supporting mechanism is used to transfer the material in and out of the target cargo hold.

40. The material access device according to claim 38, characterized in that the shielding component includes: a first curtain body component and a second curtain body component, and the first curtain body component and the second curtain body component are arranged along the moving direction of the supporting mechanism; In the second working mode, an opening and closing end is formed between the first curtain body component and the picking and placing device for opening to expose the window of the target cargo hold or closing to shield the window of the target cargo hold. The first curtain body component shields a part of the windows of the cargo hold other than the window of the target cargo hold, and the picking and placing device alone shields the remaining windows other than the window of the target cargo hold, or the picking and placing device and the second curtain body component connected to the picking and placing device are combined to close the remaining windows other than the window of the target cargo hold.

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