CN207121166U - Chassis assembly, motion chassis are with piling up equipment - Google Patents

Abstract

The utility model proposes a kind of chassis assembly, a kind of motion chassis and one kind to pile up equipment, wherein, chassis assembly includes：Chassis；Superstructure, it is arranged on chassis；Cradle head mechanism, it is arranged on chassis, is connected with superstructure, for drives superstructure to be moved relative to chassis.Chassis assembly provided by the utility model, by driving superstructure to move in cradle head mechanism, realize transverse shifting of the superstructure relative to chassis, the short slab of motion chassis top bottom-disc component transverse movement inconvenience is supplied, improve the flexibility of chassis assembly, also, the positioning precision of chassis assembly is improved, reduces the control difficulty of chassis assembly.

Description

Chassis assembly, motion chassis are with piling up equipment

Technical field

Automatic material flow technical field is the utility model is related to, in particular to a kind of chassis assembly, a kind of motion bottom Disk piles up equipment with one kind.

Background technology

At present, with the horizontal development of China's economic, the cost of labor in production is constantly lifted, and industry-by-industry all starts to lift Rise and artificial automatic improving upsurge is replaced with robot.As what robot automation applied gos deep into, conventional fixed-type Robot mounting means is difficult to meet the needs of some complicated applications occasions.In this case, can carry robot or The motion chassis that some special plane equipment move operation has obtained increasing application.And crawler type motion chassis carries because of it The advantages that weight is big, low to ground pressure, and terrain adaptability is stronger and obtain more application, however, conventional wheeled or carry out Belt motion chassis lengthwise movement ability is relatively good, but its steering and lateral motion capability seem and limited to very much, and a lot Application scenario requires that motion chassis has good omnidirectional's stationkeeping ability.

In the related art, caterpillar chassis 1 ' is used with the robot of the carrying on its upper strata or some special plane equipment and fixed The mode of connection is attached, and chassis mainly provides supporting and mobile effect, and the kinematic accuracy of superstructure depends entirely on The kinematic accuracy of caterpillar chassis 1 ', when superstructure needs to carry out the adjustment of displacement of longitudinal direction, only it need to pass through caterpillar chassis 1 ' forward-reverse can be completed, still, when superstructure needs to carry out horizontal adjustment of displacement, it is necessary to caterpillar chassis 1 ', which carries out complicated maneuver, can just complete.

The steering of caterpillar chassis 1 ' is realized by the differential of both sides crawler belts.Therefore, the horizontal stroke of caterpillar chassis 1 ' Generally there are following two methods of operation to movement：

First, as shown in figure 1, to realize transverse shifting, 90 degree are first turned to, walking needs traversing distance, then turns round again 90 degree, however, such method is only applicable to openr region, in the place that position is more long and narrow, caterpillar chassis 1 ' is not It is enough to complete 90 degree of methods for turning to such steering walking and does not apply to；

2nd, as shown in Fig. 2 when the steering angle of caterpillar chassis 1 ' is restricted, it usually needs motor-driven complete by V-type Into transverse shifting, however, space is narrower, the permission steering angle of caterpillar chassis 1 ' is then smaller, to realize with equidistant From it is traversing the vertical range such as need more, control is got up also more difficult.

Also, for the mode of both the above transverse shifting, if the required precision to lateral displacement is higher, often need Wanting caterpillar chassis 1 ' to move repeatedly just can reluctantly in place, and not only control algolithm is complicated, and can take considerable time, can more add The abrasion of acute crawler belt.

Therefore, how to improve the located lateral ability on motion chassis turns into technical problem urgently to be resolved hurrily.

Utility model content

The utility model is intended at least solve one of technical problem present in prior art.

Therefore, according to first aspect embodiment of the present utility model, the utility model provides one kind and is easy to located lateral Chassis assembly.

Second aspect embodiment of the present utility model, the utility model provide a kind of motion bottom for being easy to located lateral Disk.

Third aspect embodiment of the present utility model, the utility model, which provides, a kind of is easy to piling up for located lateral to set It is standby.

In view of this, a kind of chassis assembly is provided according to first aspect embodiment of the present utility model, the utility model, Including：Chassis；Superstructure, it is arranged on chassis；Cradle head mechanism, it is arranged on chassis, is connected with superstructure, for drives Dynamic superstructure moves relative to chassis.

Chassis assembly provided by the utility model, by driving superstructure to move in cradle head mechanism, realize superstructure Relative to the transverse shifting on chassis, the short slab of motion chassis top bottom-disc component transverse movement inconvenience is supplied, has improved chassis group The flexibility of part, and so that chassis assembly can be positioned more accurately, improved the control accuracy of chassis assembly, realized Remained stationary as on chassis and be rapidly completed superstructure transverse shifting in the case of ground, at the same time it can also avoid unnecessary machinery mill Damage, the service life on lifter motion chassis.

In addition, the chassis assembly in above-described embodiment provided by the utility model can also have following supplementary technology special Sign：

In the above-mentioned technical solutions, it is preferable that cradle head mechanism includes：Head drive component, is arranged on chassis, and with it is upper Rotating fields are connected；Head guidance set, is arranged on chassis, and is connected with superstructure.

In the technical scheme, upper strata mechanism kinematic is driven by head drive component, and by head guidance set to upper Rotating fields are oriented to and positioning, so as to ensure stationarity of the superstructure in motion.

In any of the above-described technical scheme, it is preferable that head drive component includes：Motor, it is arranged on chassis；Transmission group Part, one end of transmission component are connected with motor, and the other end is connected with superstructure, for driving superstructure to move.

In the technical scheme, transmission component is driven to move by the motor on chassis, so as to drive upper strata to tie Structure moves, and realizes the transverse shifting of superstructure, also, by controlling the control to motor to realize to superstructure shift length Control, and then realize the accurate control to superstructure shift length.

In any of the above-described technical scheme, it is preferable that transmission component includes：Screw mandrel, it is connected with the output shaft of motor；Silk Stem nut, it is adapted with screw mandrel, and is connected with superstructure；Wherein, motor drive screw bidirectional rotation.

In the technical scheme, the power of motor is transferred to by superstructure by screw mandrel and feed screw nut, realized to upper The driving of Rotating fields, also, motor can drive screw bidirectional rotation, realize the way moving of superstructure.

In any of the above-described technical scheme, it is preferable that transmission component includes：Gear, it is connected with the output shaft of motor；Tooth Bar, it is meshed with gear, and is connected with superstructure；Wherein, motor-driven gear bidirectional rotation.

In the technical scheme, the power of motor is transferred to by superstructure by wheel and rack, realizes and upper strata is tied The driving of structure, also, motor can drive gear bidirectional rotation, realize the way moving of superstructure.

In any of the above-described technical scheme, it is preferable that transmission component includes：Belt wheel, it is connected with the output shaft of motor；Together Band is walked, is adapted with belt wheel, is connected with superstructure；Wherein, motor driven belts wheel bidirectional rotation.

In the technical scheme, the power of motor is transferred to by superstructure by belt wheel and timing belt, realized to upper strata The driving of structure, also, motor can driving pulley bidirectional rotation, realize the way moving of superstructure.

In any of the above-described technical scheme, it is preferable that head drive component also includes：Speed changer, one end of speed changer with Motor is connected, and the other end is connected with transmission component, and speed changer is arranged on chassis.

In the technical scheme, by adding speed changer between motor and transmission component, realize to motor output speed Regulation, according to control accuracy needed for motor and working environment, the speed of service of superstructure is lifted using accelerator, or adopt The speed of service of superstructure is reduced with decelerator, and then expands the range of choice of motor, reduces production cost.

In any of the above-described technical scheme, it is preferable that head drive component includes：Electric rotating machine or linear electric motors.

In the technical scheme, head drive component can by electric rotating machine via transmission component by motor rotary motion It is converted into the linear motion of superstructure；And then the transverse shifting of superstructure is realized, can also be straight by being installed on chassis Line motor, direct drive superstructure is moved along a straight line, also, its is simple in construction, and assembly difficulty is low.

In any of the above-described technical scheme, it is preferable that head guidance set includes：Guide rail, it is arranged on chassis, the bottom of positioned at The both ends of disk；Sliding block, it is adapted, is arranged in superstructure with guide rail.

In the technical scheme, slided by the sliding block in superstructure on the guide rail on chassis, Realize the guiding to superstructure and positioning so that the motion of superstructure is more steady, also, shares superstructure to head The gravity that drive component applies, ensure that the mobile effect of superstructure.

In any of the above-described technical scheme, it is preferable that sliding block passes through the first installing plate and the second installing plate with superstructure It is connected, for increasing the connection area between sliding block and superstructure.

In the technical scheme, by setting sectional area to be more than the first installing plate of sliding block sectional area on sliding block, upper Rotating fields set the second installing plate being adapted with the first installing plate, so as to expand the contact surface between sliding block and superstructure Product, adds the bonding strength between sliding block and superstructure, avoids superstructure in motion, sliding block and superstructure it Between collapse out, improve superstructure motion when reliability and security.

In any of the above-described technical scheme, it is preferable that head guidance set includes following at least one：Spherical guide, rolling Take turns guide rail and Magnetically suspended guide rail.

In the technical scheme, head guidance set can use spherical guide, rolling wheel guide rails or Magnetically suspended guide rail.

According to the utility model second aspect embodiment, the utility model provides a kind of motion chassis, including：Crawler belt； And the chassis assembly as any one of above-mentioned technical scheme；Wherein, crawler belt is arranged on chassis.

The utility model proposes motion chassis, because including chassis assembly as any one of above-mentioned technical scheme, Therefore, possess whole beneficial effects of the chassis assembly as any one of above-mentioned technical scheme, no longer state one by one herein.

According to the utility model third aspect embodiment, the utility model provides one kind and piles up equipment, including：Pile up group Part, for store items；Such as the chassis assembly any one of above-mentioned technical scheme；Or such as any one of above-mentioned technical scheme Described motion chassis；Wherein, component is piled up to be arranged on chassis assembly or motion chassis.

The utility model proposes pile up equipment, because including chassis assembly as any one of above-mentioned technical scheme, Or the motion chassis as any one of above-mentioned technical scheme, therefore, possess as any one of above-mentioned technical scheme Chassis assembly, or whole beneficial effects on the motion chassis as any one of above-mentioned technical scheme, it is no longer old one by one herein State.

Additional aspect and advantage of the present utility model will become obvious in following description section, or new by this practicality The practice of type is recognized.

Brief description of the drawings

Of the present utility model above-mentioned and/or additional aspect and advantage will in the description from combination accompanying drawings below to embodiment Become obvious and be readily appreciated that, wherein：

Fig. 1 shows a kind of process schematic of transverse shifting of caterpillar chassis in correlation technique；

Fig. 2 shows the process schematic of another transverse shifting of caterpillar chassis in correlation technique；

Fig. 3 shows the structural representation for the chassis assembly that the utility model one embodiment provides；

Fig. 4 shows the explosive view of chassis assembly as shown in Figure 3；

Fig. 5 shows the structural representation on the motion chassis that the utility model one embodiment provides；

Fig. 6 shows the structural representation for piling up equipment that the utility model one embodiment provides.

Wherein, the corresponding relation in Fig. 1 and Fig. 2 between reference and component names is：

1 ' caterpillar chassis；

Wherein, corresponding relations of the Fig. 3 into Fig. 6 between reference and component names is：

1 piles up equipment, 10 motion chassis, 100 chassis assemblies, 102 chassis, 104 superstructures, 106 motors, 108 transmissions Component, 1082 screw mandrels, 1084 feed screw nuts, 110 speed changers, 112 head guidance sets, 1122 guide rails, 1124 sliding blocks, 114 One installing plate, 116 second installing plates, 120 crawler belts, 20 pile up component.

Embodiment

In order to be more clearly understood that above-mentioned purpose of the present utility model, feature and advantage, below in conjunction with the accompanying drawings and tool The utility model is further described in detail body embodiment.It should be noted that in the case where not conflicting, this Shen The feature in embodiment and embodiment please can be mutually combined.

Many details are elaborated in the following description in order to fully understand the utility model, still, this practicality New to be different from other modes described here using other to implement, therefore, the scope of protection of the utility model is simultaneously Do not limited by following public specific embodiment.

Referring to chassis assembly 100 of Fig. 3 to Fig. 6 descriptions according to the utility model some embodiments offer, motion bottom Disk 10 is with piling up equipment 1.

As shown in Figure 3 and Figure 4, a kind of bottom is provided according to first aspect embodiment of the present utility model, the utility model Disk component 100, including：Chassis 102；Superstructure 104, it is arranged on chassis 102；Cradle head mechanism, it is arranged on chassis 102, It is connected with superstructure 104, for driving superstructure 104 to be moved relative to chassis 102.

Chassis assembly 100 provided by the utility model, by driving superstructure 104 to move in cradle head mechanism, in realization Rotating fields 104 have supplied the transverse movement inconvenience of motion 10 top bottom-disc component of chassis 100 relative to the transverse shifting on chassis 102 Short slab, the flexibility of chassis assembly 100 is improved, and so that chassis assembly 100 can be positioned more accurately, improve bottom The control accuracy of disk component 100, realize the transverse direction for being remained stationary as on chassis 102 and superstructure 104 being rapidly completed in the case of ground It is mobile, at the same time it can also avoid unnecessary mechanical wear, the service life on lifter motion chassis 10.Wherein, superstructure 104 moving direction can be arranged to move the fortune of crawler belt 120 in chassis 10 with crawler type according to the actual conditions of working environment Into more than 0 degree between dynamic direction, and it is less than the angle of unspecified angle in 180 degree.

Chassis assembly 100 provided by the utility model, the crawler type motion chassis 10 in face correlation technique are improved, It is complicated based on the turning process of crawler belt 120, the defects of transverse shifting inconvenience, it is optimized, head machine is set on chassis 102 Structure, drive the transverse shifting of superstructure 104, and then realize without using crawler belt 120 turn can complete transverse shifting, especially It is under the working environment of relatively narrower, the small lateral that superstructure 104 is realized by cradle head mechanism moves, and realizes pair The accurate control that chassis assembly 100 moves.

In one embodiment of the present utility model, it is preferable that as shown in Figure 3 and Figure 4, cradle head mechanism includes：Head drives Dynamic component, is arranged on chassis 102, and be connected with superstructure 104；Head guidance set 112, it is arranged on chassis 102, And it is connected with superstructure 104.

In this embodiment, upper strata mechanism kinematic is driven by head drive component, and by head guidance set 112 to upper Rotating fields 104 are oriented to and positioning, so as to ensure stationarity of the superstructure 104 in motion.

Certainly, in a particular embodiment, head drive component, can also be arranged in superstructure 104, and and chassis 102 are connected；It head guidance set 112, can also be arranged in superstructure 104, and be connected with chassis 102.

In one embodiment of the present utility model, it is preferable that as shown in Figure 3 and Figure 4, head drive component includes：Electricity Machine 106, it is arranged on chassis 102；Transmission component 108, one end of transmission component 108 are connected with motor 106, the other end with it is upper Rotating fields 104 are connected, for driving superstructure 104 to move.

In this embodiment, transmission component 108 is driven to move by the motor 106 on chassis 102, so as to drive Superstructure 104 is moved, and realizes the transverse shifting of superstructure 104, also, by controlling the control realization pair to motor 106 The control of the shift length of superstructure 104, and then realize the accurate control to the shift length of superstructure 104.Wherein, preferably Ground, motor are electric rotating machine.

In one embodiment of the present utility model, it is preferable that motor 106 is servomotor.

In one embodiment of the present utility model, it is preferable that as shown in Figure 3 and Figure 4, transmission component 108 includes：Screw mandrel 1082, it is connected with the output shaft of motor 106；Feed screw nut 1084, are adapted with screw mandrel 1082, and with the phase of superstructure 104 Connection；Wherein, the bidirectional rotation of 106 drive screw of motor 1082.

In this embodiment, it is by the convert rotational motion that motor 106 exports with feed screw nut 1084 by screw mandrel 1082 Linear motion, to drive superstructure 104 laterally to move linearly, also, motor 106 can the bidirectional rotation of drive screw 1082, Realize the way moving of superstructure 104.

In another embodiment of the present utility model, it is preferable that transmission component 108 includes：Gear, with motor 106 Output shaft is connected；Rack, it is meshed with gear, and is connected with superstructure 104；Wherein, the drive gear of motor 106 is two-way Rotation.

In this embodiment, the convert rotational motion exported motor 106 by wheel and rack is linear motion, to drive The laterally rectilinear movement of dynamic superstructure 104, also, motor 106 can drive gear bidirectional rotation, realize superstructure 104 Way moving.

In another embodiment of the present utility model, it is preferable that transmission component 108 includes：Belt wheel, with motor 106 Output shaft is connected；Timing belt, it is adapted with belt wheel, is connected with superstructure 104；Wherein, the driving pulley of motor 106 is two-way Rotation.

In this embodiment, the convert rotational motion exported motor 106 by belt wheel and timing belt is linear motion, with Drive the laterally rectilinear movement of superstructure 104, also, motor 106 can driving pulley bidirectional rotation, realize superstructure 104 Way moving.Wherein, the quantity at least two of belt wheel, to drive timing belt to move.

In one embodiment of the present utility model, it is preferable that as shown in Figure 3 and Figure 4, head drive component also includes： Speed changer 110, one end of speed changer 110 are connected with motor 106, and the other end is connected with transmission component 108, speed changer 110 On chassis 102.

In this embodiment, by adding speed changer 110 between motor 106 and transmission component 108, realize to motor The regulation of 106 output speeds, according to control accuracy needed for motor 106 and working environment, superstructure is lifted using accelerator 104 speed of service, or the speed of service using decelerator reduction superstructure 104, and then expand the selection model of motor 106 Enclose, reduce production cost.

In one embodiment of the present utility model, it is preferable that head drive component is linear electric motors.

In this embodiment, by installing linear electric motors on chassis 102, direct drive superstructure 104 carries out straight line Motion, also, its is simple in construction, and assembly difficulty is low.

In one embodiment of the present utility model, it is preferable that as shown in Figure 3 and Figure 4, head guidance set 112 includes： Guide rail 1122, it is arranged on chassis 102, positioned at the both ends on chassis 102；Sliding block 1124, it is adapted, is arranged on guide rail 1122 On Rotating fields 104.

In this embodiment, by the sliding block 1124 in superstructure 104 in the guide rail on chassis 102 To be slided on 1122, realize the guiding to superstructure 104 and positioning so that the motion of superstructure 104 is more steady, also, The gravity that superstructure 104 applies to head drive component is shared, ensure that the mobile effect of superstructure 104, meanwhile, use The pair of guide rail 1122 can also reduce superstructure 104 it is traversing when frictional force, reduce power demand.

In a particular embodiment, guide rail 1122 can select different models from sliding block 1124 according to the size of load, And guide rail 1122 is arranged on chassis 102 by bolt, according to different loading conditions, by that can determine to lead after mechanical analysis The usage quantity of rail 1122, sliding block 1124.Wherein it is preferred at least two sliding blocks 1124 are set on a guide rail 1122, with Ensure the smooth sliding of superstructure 104.

In one embodiment of the present utility model, it is preferable that as shown in Figure 3 and Figure 4, sliding block 1124 and superstructure 104 are connected by the first installing plate 114 with the second installing plate 116, for increasing between sliding block 1124 and superstructure 104 Connection area.

In this embodiment, superstructure 104 is usually provided with the pedestal of frame-type, then on support mounting robot or Other equipment, therefore, sliding block 1124 need by bolt to be connected with the framework of pedestal, sliding block 1124 and pedestal thus be present The less problem of contact area, and the bolt on same sliding block 1124 is closer to the distance, influences the connection of sliding block 1124 and pedestal Intensity, therefore, added between sliding block 1124 and pedestal the first installing plate 114 and the second installing plate 116 increase sliding block 1124 with Bonding strength between pedestal, to avoid superstructure 104 from collapsing out, carry between sliding block 1124 and superstructure 104 in motion Reliability and security when superstructure 104 is moved is risen.Wherein it is preferred to the first installing plate 114 and superstructure 104 Between by being welded to connect, or be integral type structure.

In one embodiment of the present utility model, it is preferable that head guidance set 112 includes following at least one：Rolling Pearl guide rail, rolling wheel guide rails and Magnetically suspended guide rail.

In this embodiment, head guidance set 112 can use spherical guide, rolling wheel guide rails or Magnetically suspended guide rail.

In a particular embodiment, head guidance set 112 plays a part of guiding, is not restricted to spherical guide, roller The guide frame of guide rail or Magnetically suspended guide rail or other forms.

In a particular embodiment, superstructure 104 can be mechanical arm, carrying platform, or other kinds of robot With equipment.

As shown in figure 5, according to the utility model second aspect embodiment, the utility model provides a kind of motion chassis 10, including：Crawler belt 120；And the chassis assembly 100 such as the offer of above-mentioned any embodiment；Wherein, crawler belt 120 is arranged on chassis On 102.

Motion chassis 10 provided by the utility model, because including the chassis assembly 100 of such as above-mentioned any embodiment offer, because This, possesses whole beneficial effects of the chassis assembly 100 provided such as above-mentioned any embodiment, no longer states one by one herein.

Wherein, the angle between the direction of motion of the direction of motion of crawler belt 120 and superstructure 104 is more than 0 degree, and is less than 180 degree.

In a particular embodiment, motion chassis 10 provided by the utility model can be AGV formulas automatic running motion chassis 10, so by the positioning action of transverse shifting superstructure 104, reduce the difficulty of control algolithm, improve response speed With positioning precision, or manual remote control type motion chassis 10, artificial operation difficulty is reduced, improves motion chassis 10 Operational efficiency.

As shown in fig. 6, according to the utility model third aspect embodiment, the utility model provides one kind and piles up equipment 1, Including：Component 20 is piled up, for store items；The chassis assembly 100 provided such as above-mentioned any embodiment；Or any reality as described above The motion chassis 10 of example offer is provided；Wherein, component is piled up to be arranged on chassis assembly or motion chassis 10.

The utility model proposes pile up equipment 1, because including as above-mentioned any embodiment provide chassis assembly 100, or Such as the motion chassis 10 that above-mentioned any embodiment provides, therefore, possess the chassis assembly 100 provided such as above-mentioned any embodiment, Or whole beneficial effects on the motion chassis 10 such as the offer of above-mentioned any embodiment, no longer state one by one herein.

In summary, chassis assembly 100 provided by the utility model, motion chassis 10 are with piling up equipment 1, by head Mechanism driving superstructure 104 is moved, and is realized transverse shifting of the superstructure 104 relative to chassis 102, has been supplied motion chassis The short slab of the transverse movement of 10 top bottom-disc component 100 inconvenience, improves the flexibility of chassis assembly 100, and so that chassis assembly 100 can more accurately position, and improve the control accuracy of chassis assembly 100, realize and ground situation is remained stationary as on chassis 102 Under be rapidly completed the transverse shifting of superstructure 104, at the same time it can also avoid unnecessary mechanical wear, lifter motion chassis 10 service life.Wherein, the moving direction of superstructure 104 can be arranged to and crawler belt according to the actual conditions of working environment Into more than 0 degree between the direction of motion of crawler belt 120 in formula motion chassis 10, and it is less than the angle of 180 degree.

In the utility model, term " first ", " second " are only used for the purpose of description, and it is not intended that instruction or dark Show relative importance, the term such as term " installation ", " connected ", " connection ", " fixation " all should be interpreted broadly, for example, " connection " Can be fixedly connected or be detachably connected, or be integrally connected；" connected " can be joined directly together, and can also lead to Intermediary is crossed to be indirectly connected.For the ordinary skill in the art, above-mentioned term can be understood as the case may be Concrete meaning in the utility model.

In the description of this specification, the description of term " one embodiment ", " some embodiments ", " specific embodiment " etc. Mean that combining specific features, structure, material or feature that the embodiment or example describe is contained in of the present utility model at least one In individual embodiment or example.In this manual, identical embodiment is not necessarily referring to the schematic representation of above-mentioned term Or example.Moreover, specific features, structure, material or the feature of description can be in any one or more embodiments or example In combine in an appropriate manner.

Preferred embodiment of the present utility model is the foregoing is only, is not limited to the utility model, for this For the technical staff in field, the utility model can have various modifications and variations.It is all in the spirit and principles of the utility model Within, any modification, equivalent substitution and improvements made etc., it should be included within the scope of protection of the utility model.

Claims (13)

1. A kind of 1. chassis assembly, it is characterised in that including：

   Chassis；

   Superstructure, it is arranged on the chassis；

   Cradle head mechanism, be arranged on the chassis, be connected with the superstructure, for drive the superstructure relative to The chassis movement.
2. 2. chassis assembly according to claim 1, it is characterised in that

   The cradle head mechanism includes：

   Head drive component, it is arranged on the chassis, and is connected with the superstructure；

   Head guidance set, it is arranged on the chassis, and is connected with the superstructure.
3. 3. chassis assembly according to claim 2, it is characterised in that

   The head drive component includes：

   Motor, it is arranged on the chassis；

   Transmission component, one end of the transmission component are connected with the motor, and the other end is connected with the superstructure, use Moved in driving the superstructure.
4. 4. chassis assembly according to claim 3, it is characterised in that

   The transmission component includes：

   Screw mandrel, it is connected with the output shaft of the motor；

   Feed screw nut, it is adapted with the screw mandrel, and is connected with the superstructure；

   Wherein, the motor drives the screw mandrel bidirectional rotation.
5. 5. chassis assembly according to claim 3, it is characterised in that

   The transmission component includes：

   Gear, it is connected with the output shaft of the motor；

   Rack, it is meshed with the gear, and is connected with the superstructure；

   Wherein, the motor drives the gear bidirectional rotation.
6. 6. chassis assembly according to claim 3, it is characterised in that

   The transmission component includes：

   Belt wheel, it is connected with the output shaft of the motor；

   Timing belt, it is adapted with the belt wheel, is connected with the superstructure；

   Wherein, the motor drives the belt wheel bidirectional rotation.
7. 7. the chassis assembly according to any one of claim 4 to 6, it is characterised in that

   The head drive component also includes：

   Speed changer, one end of institute's speed changer are connected with the motor, and the other end is connected with the transmission component, the speed change Device is arranged on the chassis.
8. 8. the chassis assembly according to any one of claim 2 to 6, it is characterised in that

   The head drive component includes：Electric rotating machine or linear electric motors.
9. 9. the chassis assembly according to any one of claim 2 to 6, it is characterised in that

   The head guidance set includes：

   Guide rail, it is arranged on the chassis, positioned at the both ends on the chassis；

   Sliding block, it is adapted, is arranged in the superstructure with the guide rail.
10. 10. chassis assembly according to claim 9, it is characterised in that

    The sliding block is connected with the superstructure by the first installing plate with the second installing plate, for increase the sliding block with Connection area between the superstructure.
11. 11. the chassis assembly according to any one of claim 2 to 6, it is characterised in that

    The head guidance set includes following at least one：Spherical guide, rolling wheel guide rails and Magnetically suspended guide rail.
12. 12. one kind motion chassis, it is characterised in that including：

    Crawler belt；And

    Chassis assembly as any one of claim 1 to 11；

    Wherein, the crawler belt is arranged on the chassis.
13. 13. one kind piles up equipment, it is characterised in that including：

    Component is piled up, for store items；

    Chassis assembly as any one of claim 1 to 11；Or

    Motion chassis as claimed in claim 12；

    Wherein, the component of piling up is arranged on the chassis assembly or the motion chassis.