Transportation robot

Abstract

The invention relates to the technical field of material transportation, and discloses a transportation robot which comprises vehicle frames and omnidirectional wheels, the vehicle frames comprise the first vehicle frame and the second vehicle frame, the first vehicle frame comprises a cross beam set and a longitudinal beam set, the cross beam set comprises a plurality of cross beams, the longitudinal beam set comprises a plurality of longitudinal beams, and the cross beams intersect with at least one longitudinal beam; the two cross beams and the two longitudinal beams are connected to form a rectangular frame, the second frame is arranged on the periphery of the first frame in a surrounding mode, the second frame is fixedly connected with the first frame, and the second frame is of an octagonal structure. The technical problem that it is difficult for a transportation robot to transport heavy materials is solved.

Description

Technical Field

[0001] The present application relates to the technical field of material transportation, and in particular to a transportation robot. Background Art

[0002] With the construction and development of automated factories, the application of automatic material transport robots is becoming more and more widespread. In the material transport process of the factory, the material transport path is planned, and then the materials are automatically transported by transport robots. However, in the related technology, the body structure rigidity of the transport robot is poor, and the transport robot is difficult to transport heavy materials. Summary of the invention

[0003] The present application provides a transport robot, which solves the technical problem that it is difficult for a transport robot to transport heavy materials.

[0004] In order to achieve the above objectives, the main technical solutions adopted in this application include:

[0005] An embodiment of the present application provides a transport robot, which includes a frame and omnidirectional wheels. The frame includes a first frame and a second frame. The first frame includes a crossbeam group and a longitudinal beam group. The crossbeam group includes a plurality of crossbeams, and the longitudinal beam group includes a plurality of longitudinal beams. The crossbeams intersect with at least one longitudinal beam, and two crossbeams and two longitudinal beams are connected to form a rectangular frame. The second frame is arranged around the outer periphery of the first frame, and the second frame is fixedly connected to the first frame. The second frame is constructed in an octagonal shape.

[0006] The transport robot proposed in the embodiment of the present application has two cross beams and two longitudinal beams connected to form a rectangular frame, the second frame is arranged around the outer periphery of the first frame, and the second frame is fixedly connected to the first frame, and the second frame is constructed in an octagonal shape, which can enhance the carrying capacity of the transport robot as well as the stability and reliability of transportation, so that the transport robot can carry heavy weight cargo.

[0007] Optionally, the multiple longitudinal beams include a first sub-longitudinal beam and a second sub-longitudinal beam, the first sub-longitudinal beam and the second sub-longitudinal beam are spaced apart along the first direction, the first sub-longitudinal beam and the second sub-longitudinal beam both extend along the second direction, along the second direction, two ends of the first sub-longitudinal beam are respectively fixedly connected to the second frame, two ends of the second sub-longitudinal beam are respectively fixedly connected to the second frame, and the first direction is perpendicular to the second direction.

[0008] The two ends of the first sub-longitudinal beam are respectively fixedly connected to the second frame, and the two ends of the second sub-longitudinal beam are respectively fixedly connected to the second frame, which can make the force on the frame more uniform when carrying goods and improve the reliability of the transport robot.

[0009] Optionally, the multiple cross beams include a first sub-cross beam and a second sub-cross beam, both of which extend along a first direction, and along the first direction, two ends of the first sub-cross beam are respectively fixedly connected to the second frame and the first sub-longitudinal beam, and two ends of the second sub-cross beam are respectively fixedly connected to the second frame and the second sub-longitudinal beam.

[0010] The two ends of the first sub-crossbeam are fixedly connected to the second frame and the first sub-longitudinal beam respectively, and the two ends of the second sub-crossbeam are fixedly connected to the second frame and the second sub-longitudinal beam respectively, which improves the stability of the transport robot structure, enhances the carrying capacity of the transport robot, enables the transport robot to carry more goods, and solves the technical problem that the transport robot cannot carry heavy goods.

[0011] Optionally, the multiple cross beams also include a third sub-cross beam and a fourth sub-cross beam, both of which extend along the first direction, and along the first direction, two ends of the third sub-cross beam are fixedly connected to the first sub-longitudinal beam and the second sub-longitudinal beam respectively, and two ends of the fourth sub-cross beam are fixedly connected to the first sub-longitudinal beam and the second sub-longitudinal beam respectively; the third sub-cross beam, the fourth sub-cross beam, the first sub-longitudinal beam and the second sub-longitudinal beam are connected to form a rectangular frame.

[0012] The third sub-crossbeam, the fourth sub-crossbeam, the first sub-longitudinal beam and the second sub-longitudinal beam are connected to form a rectangular frame. This design helps to disperse and resist external loads and improve the structural rigidity of the entire robot. In addition, the addition of the third sub-crossbeam and the fourth sub-crossbeam disperses the load that might have been borne by a single crossbeam or longitudinal beam, which can improve the carrying capacity of the entire structure, allowing the robot to carry heavier objects or withstand greater external forces, thereby improving the carrying capacity of the transport robot.

[0013] Optionally, the plurality of longitudinal beams further include a third sub-longitudinal beam, and along the second direction, two ends of the third sub-longitudinal beam are respectively fixedly connected to the third sub-cross beam and the second frame.

[0014] Both ends of the third sub-longitudinal beam are respectively fixedly connected to the third sub-cross beam and the second frame, which can enhance the stability of the connection between the first frame and the second frame, thereby improving the carrying capacity of the transport robot.

[0015] Optionally, the transport robot further includes a first bearing plate, which is disposed on an upper surface of the first frame and is fixedly connected to at least one longitudinal beam and at least one transverse beam.

[0016] The first bearing plate is arranged on the upper surface of the first frame, and the first bearing plate is fixedly connected to at least one longitudinal beam and at least one cross beam, so as to improve the carrying capacity of the transport robot.

[0017] Optionally, the transport robot further includes a first driving member, which is disposed on the first supporting plate or the first frame, and a power output end of the first driving member is connected to at least one omnidirectional wheel.

[0018] The first driving member is arranged on the first supporting plate or the first frame, which can make the center of gravity distribution of the transport robot more balanced and improve the stability of the structure of the transport robot. On the other hand, the power output end of the first driving member is connected to at least one omnidirectional wheel, which can provide a more accurate power source for the omnidirectional wheel and realize precise control of the movement of the omnidirectional wheel.

[0019] Optionally, the transport robot further includes a lifting bracket and a lifting assembly, wherein the lifting bracket is disposed on the first supporting plate, the lifting assembly is fixed to the first supporting plate via the lifting bracket, and the lifting assembly has a lifting end, which is movable relative to the lifting bracket in a vertical direction.

[0020] The lifting assembly has a lifting end, which is movable relative to the lifting bracket in a vertical direction, thereby improving the efficiency of the transport robot in transferring and transmitting materials.

[0021] Optionally, the transport robot also includes a moving assembly, which includes a first main body and a first moving part. The first main body is connected to the lifting end, and the first moving part is movably arranged on the first main body along the horizontal direction, and the horizontal direction is perpendicular to the vertical direction.

[0022] Specifically, the first movable part is movably disposed on the first main body part along the horizontal direction, and the horizontal direction is perpendicular to the vertical direction, which can expand the transportation range of the transport robot and improve the transportation efficiency of the transport robot.

[0023] Optionally, the transport robot includes a first tooling, which is detachably arranged at the lifting end, and the first tooling is suitable for clamping the goods transported by the transport robot.

[0024] The first tooling is suitable for clamping the goods transported by the transport robot, and can make the transport robot more stable and reliable when carrying materials.

[0025] Optionally, the lifting assembly also includes a first accommodating cavity, which passes through the lifting end in the vertical direction. The transport robot also includes a first detection mechanism, which is arranged in the first accommodating cavity. When the first tooling clamps the goods, the first detection mechanism is used to identify information of the goods.

[0026] The first detection mechanism is disposed in the first accommodating cavity. When the first tooling clamps the goods, the first detection mechanism is used to identify the information of the goods, so that the transport robot can accurately locate and transport the goods according to the information of the goods, thereby improving the transport efficiency of the transport robot.

[0027] Optionally, the transport robot also includes a first bearing seat and a first bearing, the first bearing seat has a first upper bearing seat and a first lower bearing seat, and the first upper bearing seat and the first lower bearing seat are both fixed to the second frame, the first bearing is arranged between the first upper bearing seat and the first lower bearing seat, and the power output end is constructed as a first drive shaft, and the first drive shaft is provided with a bearing to be connected to the omnidirectional wheel.

[0028] The power output end is constructed as a first drive shaft, and the first drive shaft passes through a first bearing to be connected to the omnidirectional wheel and is effectively connected to the omnidirectional wheel, thereby reducing errors and energy losses in the transmission process and improving the movement accuracy and efficiency of the robot.

[0029] Optionally, the transport robot further includes a radar, wherein the radar is multiple and is arranged at intervals along the circumference of the second frame on the outer periphery of the second frame.

[0030] The transport robot also includes a plurality of radars, which are arranged at intervals along the circumference of the second frame on the outer periphery of the second frame, thereby improving the safety of the transport robot's transportation.

[0031] Optionally, the transport robot further includes an anti-collision bracket, which is arranged on the outer periphery of the second frame, and the anti-collision bracket is spaced apart from at least a portion of the second frame to form an anti-collision space, and the radar is arranged in the anti-collision space.

[0032] The transport robot also includes an anti-collision bracket, which is arranged on the outer periphery of the second frame. An anti-collision space is arranged between the anti-collision bracket and the second frame. The radar is arranged in the anti-collision space, so that even if the transport robot collides with an obstacle, the radar will not be directly damaged, thereby reducing the probability of radar failure, reducing the maintenance and replacement costs caused by equipment damage, and effectively avoiding direct contact between the transport robot and the external environment, thereby reducing the risk of equipment damage caused by collision, scratches, etc. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] In order to more clearly illustrate the specific implementation methods of the present application or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0034] Figure 1 A schematic diagram of the structure of a transport robot provided in an embodiment of the present application;

[0035] Figure 2 A top view of the structure of the transport robot provided by an embodiment of the present application;

[0036] Figure 3 A bottom view of the structure of the transport robot provided by an embodiment of the present application;

[0037] Figure 4 A side view of the structure of the transport robot provided by an embodiment of the present application;

[0038] Figure 5 A side view of the structure of the transport robot provided by an embodiment of the present application from another perspective;

[0039] Figure 6 A first bearing seat is shown;

[0040] Figure 7 An omnidirectional wheel is shown.

[0041] [Description of Reference Numerals]

[0042] Transport robot 100; frame 110; first frame 120; crossbeam 121; longitudinal beam 122; second frame 130; omnidirectional wheel 131; first sub-longitudinal beam 140; second sub-longitudinal beam 150; third sub-longitudinal beam 160; first sub-crossbeam 170; second sub-crossbeam 180; third sub-crossbeam 190; fourth sub-crossbeam 200; first bearing plate 210; first driving member 220; first driving shaft 221; lifting bracket 230; lifting assembly 240; first accommodating chamber 241; lifting End 242; first detection mechanism 270; first bearing seat 280; first upper bearing seat 281; first lower bearing seat 282; first bearing 290; radar 300; anti-collision bracket 310; anti-collision space 311; first bracket 320; display screen 321; battery pack 330; second bracket 340; voice announcer 341; third bracket 350; wireless communication module 351; electromagnetic charger 360; rectangular frame 370; first direction X; second direction Y; vertical direction Z. DETAILED DESCRIPTION

[0043] In order to make the purpose, technical solution and advantages of the embodiments of the present application clearer, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present application.

[0044] Unless otherwise defined, all technical and scientific terms used in this application have the same meaning as those commonly understood by technicians in the technical field of this application; the terms used in the specification of this application are only for the purpose of describing specific embodiments and are not intended to limit this application; the terms "including" and "having" in the specification and claims of this application and the above-mentioned drawings and any variations thereof are intended to cover non-exclusive inclusions. The terms "first", "second", etc. in the specification and claims of this application or the above-mentioned drawings are used to distinguish different objects, rather than to describe a specific order or a primary and secondary relationship.

[0045] Reference to "embodiments" in this application means that a particular feature, structure, or characteristic described in conjunction with the embodiments may be included in at least one embodiment of the present application. The appearance of the phrase in various locations in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described in this application may be combined with other embodiments.

[0046] In the description of this application, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", and "attached" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a direct connection, or an indirect connection through an intermediate medium, or it can be the internal communication of two elements. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0047] The term "and / or" in this application is only a description of the association relationship of associated objects, indicating that there can be three relationships. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. In addition, the character " / " in this application generally indicates that the associated objects before and after are in an "or" relationship.

[0048] The term "multiple" as used in this application refers to more than two (including two). Similarly, "multiple groups" refers to more than two groups (including two groups), and "multiple sheets" refers to more than two sheets (including two sheets).

[0049] AGV is the abbreviation of Automated Guided Vehicle, which means "autonomous mobile robot". It refers to a transport vehicle equipped with an electromagnetic or optical automatic guidance device, which can travel along a specified guide path and has safety protection and various transfer functions. AGV belongs to the category of wheeled mobile transport robots. Transport robots can be flexibly adjusted according to production needs and environment, and adapt to various complex production scenarios.

[0050] When transferring materials in a factory, especially in automobile companies, because the workstations and processes will change with the development of new models, transport robots are used to transfer materials. When the workstations and processes change, the transport path of the transport robot can be changed so that the transport robot can transport the materials to the designated location.

[0051] However, in the related art, the quality of materials in the factory varies. For materials with heavier weight, it is difficult for the transport robot to transport the materials with heavier weight.

[0052] In view of this, an embodiment of the present application proposes a transport robot, which includes a frame and omnidirectional wheels. The frame includes a first frame and a second frame. The first frame includes a crossbeam group and a longitudinal beam group. The crossbeam group includes multiple crossbeams, and the longitudinal beam group includes multiple longitudinal beams. The crossbeams intersect with at least one longitudinal beam, and two of the crossbeams are connected with two of the longitudinal beams to form a rectangular frame; the second frame is arranged around the outer periphery of the first frame, and the second frame is fixedly connected to the first frame. The omnidirectional wheels are arranged on the second frame, and the second frame is constructed as an octagonal structure.

[0053] In the above scheme, two cross beams and two longitudinal beams are connected to form a rectangular frame, the second frame is arranged around the outer periphery of the first frame, and the second frame is fixedly connected to the first frame. The second frame is constructed in an octagonal shape, which can enhance the carrying capacity of the transport robot as well as the stability and reliability of transportation, so that the transport robot can carry heavy weight cargo.

[0054] For the convenience of description, the following embodiments are described by taking a transport robot according to an embodiment of the present application as an example.

[0055] Please refer to Figures 1 to 7 , Figure 1 A schematic diagram of the structure of a transport robot 100 provided in an embodiment of the present application; Figure 2 A top view of the structure of the transport robot 100 provided in an embodiment of the present application;

[0056] Figure 3 A bottom view of the structure of the transport robot 100 provided in an embodiment of the present application; Figure 4 A side view of the structure of the transport robot 100 provided in an embodiment of the present application; Figure 5 A side view of the structure of the transport robot 100 provided in an embodiment of the present application from another perspective; Figure 6 A first bearing seat 280 is shown; Figure 7 An omnidirectional wheel 131 is shown.

[0057] In this embodiment, the transport robot 100 includes a frame 110 and omnidirectional wheels 131. The frame 110 includes a first frame 120 and a second frame 130. The first frame 120 includes a crossbeam group and a longitudinal beam group. The crossbeam group includes multiple crossbeams 121, and the longitudinal beam group includes multiple longitudinal beams 122. The crossbeams 121 intersect with at least one longitudinal beam 122. The second frame 130 is arranged around the outer periphery of the first frame 120, and the second frame 130 is fixedly connected to the first frame 120. The omnidirectional wheels 131 are arranged on the second frame 130. There are multiple omnidirectional wheels 131, and the multiple omnidirectional wheels 131 are arranged at intervals along the circumference of the second frame 130.

[0058] The transport robot 100 includes a frame 110 and omnidirectional wheels 131. As the name implies, the design of the omnidirectional wheels 131 allows the transport robot 100 to translate and rotate in any direction within a plane. The omnidirectional wheels 131 are generally composed of a wheel hub and driven wheels (or rollers). The wheel hub is the main support of the entire wheel, while the driven wheels are mounted on the outer circumference of the wheel hub and are evenly distributed. The radial direction of the driven wheels is perpendicular to the tangent direction of the outer circumference of the wheel hub, which enables the omnidirectional wheels 131 to roll freely in multiple directions.

[0059] The first frame 120 includes a cross beam group and a longitudinal beam group. The cross beams in the cross beam group and the longitudinal beams in the longitudinal beam group can be arranged perpendicular to each other, which can improve the bearing capacity of the first frame 120, enable the transport robot 100 to bear a larger load, and at the same time ensure the stability and safety of the transport robot 100 during transportation and improve the structural stability and reliability of the first frame 120. The cross beam group includes a plurality of cross beams 121, and the longitudinal beam group includes a plurality of longitudinal beams 122. The cross beams 121 intersect with at least one longitudinal beam 122, and the cross beams 121 are arranged to intersect with the longitudinal beams, which can improve the bearing capacity of the first frame 120.

[0060] The second frame 130 is arranged around the periphery of the first frame 120. Exemplarily, the second frame 130 can be set to an octagon. The octagonal frame 110 has a higher structural strength than other shapes (such as a quadrilateral, a hexagon, etc.) because the octagon has more sides and corners. These sides and corners can more effectively disperse and resist pressure when subjected to external forces, thereby improving the overall stability of the frame 110.

[0061] The design of the octagonal frame 110 is highly flexible. The designer can customize the size, shape, and material of the octagon according to the specific needs and uses of the transport robot 100. This design flexibility enables the octagonal frame 110 to be applicable to different types of transport robots 100 and scenarios, meeting diverse needs.

[0062] The omnidirectional wheels 131 are arranged on the second frame 130, and the number of the omnidirectional wheels 131 is multiple, so that when the transport robot 100 needs to turn, the multiple omnidirectional wheels 131 cooperate with each other to jointly complete the turning of the transport robot 100. When the transport path of the transport robot 100 changes, the transport robot 100 does not need to turn around and re-plan the path. The omnidirectional wheels 131 are arranged on the second frame 130, and the number of the omnidirectional wheels 131 is multiple, which improves the transport efficiency of the transport robot 100. In addition, the arrangement of multiple omnidirectional wheels 131 is conducive to sharing the pressure borne by the transport robot 100, reducing the single-point force situation, increasing the service life of the transport robot 100, and making the structure of the transport robot 100 more stable.

[0063] The plurality of omnidirectional wheels 131 are arranged at intervals along the circumference of the second frame 130 , which can form all-round support for the transport robot 100 , effectively disperse the pressure of the vehicle on the ground, and reduce wear and damage to the ground.

[0064] Specifically, the second frame 130 is arranged around the outer periphery of the first frame 120, and the second frame 130 is fixedly connected to the first frame 120. The first frame 120 includes a cross beam group and a longitudinal beam group. This can enhance the carrying capacity of the transport robot 100 as well as the stability and reliability of transportation, so that the transport robot 100 can carry heavy goods. On the other hand, the setting of the omnidirectional wheels 131 can enable the transport robot 100 to move in any direction without turning around, thereby reducing the moving time of the transport robot 100.

[0065] The two cross beams 121 and the two longitudinal beams 122 are connected to form a rectangular frame 370 . The rectangular structure has high stability and can enhance the stability of the structure of the first frame 120 , so that the first frame 120 can carry more cargo, thereby greatly improving the carrying capacity of the transport robot 100 .

[0066] The second frame 130 is constructed in an octagon. Due to the particularity of the octagonal structure, the second frame 130 is configured in an octagon so that the second frame 130 has better torsional resistance in mechanics, resists torque from all directions, and further improves the structural stability of the transport robot 100.

[0067] In addition, setting the second frame 130 as an octagonal structure can also provide more possibilities for the functional expansion of the transport robot 100, for example, display screens, alarms and other devices can be installed on each side.

[0068] In some embodiments, the number of omnidirectional wheels 131 can be three. On the one hand, the setting of the three omnidirectional wheels 131 forms a triangular stable structure for the transport robot 100, and the transport robot 100 can carry and transport goods more stably. On the other hand, it can provide sufficient flexibility while ensuring the transportation stability of the transport robot 100. The transport robot 100 can move in any direction without performing complicated operations of the steering mechanism, which greatly enhances the adaptability of the transport robot 100 in complex environments.

[0069] In some embodiments, the first frame 120 is mainly used to bear the weight of the electronic components of the transport robot 100 and the weight of the cargo. The first frame 120 and the second frame 130 can be welded together by argon arc welding. The multiple cross beams 121 and the multiple longitudinal beams 122 in the first frame 120 can also be welded together by argon arc welding.

[0070] In some embodiments, the second frame 130 may be formed of square tube steel, which is cut by a tube cutting machine to ensure the dimensional accuracy of the square tube steel, and then welded into an octagonal structure using a two-protection welding technique to form the second frame 130. The second frame 130 may also be cut into the shape by wire cutting steel material, and the second frames 130 are all manufactured using the same manufacturing method, thereby reducing the processing error of the second frame 130.

[0071] In some embodiments, the first frame 120 can be cut by wire cutting and machined to ensure that the first frame 120 and the second frame 130 are on the same side and on the same horizontal plane. The manufacturing method of the second frame 130 is not limited to wire cutting, and can also be formed by forging, and can also be made by welding square tube steel, etc.

[0072] Exemplarily, the second frame 130 may be made of a standard square tube steel with a size of 40*40*3.75 mm.

[0073] Please refer to Figures 1 to 7 In this embodiment, the plurality of longitudinal beams 122 include a first sub-longitudinal beam 140 and a second sub-longitudinal beam 150. The first sub-longitudinal beam 140 and the second sub-longitudinal beam 150 are spaced apart along the first direction X. The first sub-longitudinal beam 140 and the second sub-longitudinal beam 150 both extend along the second direction Y. Along the second direction Y, both ends of the first sub-longitudinal beam 140 are respectively fixedly connected to the second frame 130, and both ends of the second sub-longitudinal beam 150 are respectively fixedly connected to the second frame 130. The first direction X is perpendicular to the second direction Y.

[0074] The plurality of longitudinal beams 122 include a first sub-longitudinal beam 140 and a second sub-longitudinal beam 150. The first sub-longitudinal beam 140 and the second sub-longitudinal beam 150 are spaced apart along the first direction X. The first sub-longitudinal beam 140 and the second sub-longitudinal beam 150 both extend along the second direction Y. That is, the length directions of the first sub-longitudinal beam 140 and the second sub-longitudinal beam 150 are parallel to the second direction Y. Such a layout can greatly enhance the stability and torsional resistance of the frame 110 in multiple directions.

[0075] Along the second direction Y, both ends of the first sub-longitudinal beam 140 and both ends of the second sub-longitudinal beam 150 extend along the second direction Y, so that when the first frame 120 carries goods, it can be connected to the second frame 130 through the two ends of the first sub-longitudinal beam 140 and the second sub-longitudinal beam 150, so that the bearing force of the first frame 120 is dispersed to the second frame 130, reducing the potential damage risk caused by stress concentration, and improving the use stability and durability of the transport robot 100.

[0076] Since both ends of the first sub-longitudinal beam 140 and the second sub-longitudinal beam 150 are fixedly connected to the second frame 130, this design increases the number of connection points between the components of the frame 110, thereby improving the connection strength and rigidity of the overall structure, which helps to ensure that the transport robot 100 maintains stable performance in complex and harsh working environments.

[0077] Specifically, both ends of the first sub-longitudinal beam 140 are fixedly connected to the second frame 130 , and both ends of the second sub-longitudinal beam 150 are fixedly connected to the second frame 130 , which can make the force on the frame 110 more uniform when carrying goods, thereby improving the reliability of the transport robot 100 .

[0078] Please refer to Figures 1 to 7 In this embodiment, the plurality of cross beams 121 include a first sub-cross beam 170 and a second sub-cross beam 180. The first sub-cross beam 170 and the second sub-cross beam 180 both extend along the first direction X. Along the first direction X, two ends of the first sub-cross beam 170 are respectively fixedly connected to the second frame 130 and the first sub-longitudinal beam 140, and two ends of the second sub-cross beam 180 are respectively fixedly connected to the second frame 130 and the second sub-longitudinal beam 150.

[0079] The plurality of cross beams 121 include a first sub-cross beam 170 and a second sub-cross beam 180. The first sub-cross beam 170 and the second sub-cross beam 180 both extend along the first direction X, that is, the length directions of the first sub-cross beam 170 and the second sub-cross beam 180 are parallel to the first direction X and perpendicular to the second direction Y. Along the first direction X, the two ends of the first sub-cross beam 170 are respectively fixedly connected to the second frame 130 and the first sub-longitudinal beam 140. Exemplarily, the first sub-cross beam 170 can be connected to the second frame 130 and the first sub-longitudinal beam 140 by welding. The two ends of the second sub-cross beam 180 are respectively fixedly connected to the second frame 130 and the second sub-longitudinal beam 150. It can be understood that along the first direction X, the first sub-cross beam 170 and the second sub-cross beam 180 are spaced apart, and the first sub-cross beam 170 and the second sub-cross beam 180 can also be arranged relative to each other along the first direction X.

[0080] By introducing the first sub-crossbeam 170 and the second sub-crossbeam 180 and extending them along the first direction X while ensuring that they are fixedly connected to the second frame 130 and the corresponding sub-longitudinal beam 122 respectively, such a design significantly enhances the rigidity of the frame 110 in the longitudinal direction (i.e., the first direction X), which helps to resist the force and torque from this direction and improves the stability of the transport robot 100 when it is loaded with heavy loads or moving at high speeds.

[0081] The addition of the first sub-crossbeam 170 and the second sub-crossbeam 180, and their fixed connection with the second frame 130 and the sub-longitudinal beam 122, makes the stress distribution on the frame 110 more uniform. This reduces the potential risk of damage caused by stress concentration and extends the service life of the frame 110. Although additional crossbeams 121 and connection points are added, this modular design makes the assembly and disassembly of the frame 110 relatively easy, and when maintenance or upgrades are required, specific parts can be more easily accessed and replaced, reducing maintenance costs and time.

[0082] Specifically, the two ends of the first sub-crossbeam 170 are fixedly connected to the second frame 130 and the first sub-longitudinal beam 140 respectively, and the two ends of the second sub-crossbeam 180 are fixedly connected to the second frame 130 and the second sub-longitudinal beam 150 respectively, which improves the stability of the structure of the transport robot 100, enhances the carrying capacity of the transport robot 100, enables the transport robot 100 to carry more goods, and solves the technical problem that the transport robot 100 cannot carry heavy goods.

[0083] Please refer to Figures 1 to 7In this embodiment, the plurality of cross beams 121 further include a third sub-cross beam 190 and a fourth sub-cross beam 200. The third sub-cross beam 190 and the fourth sub-cross beam 200 both extend along the first direction X. Along the first direction X, two ends of the third sub-cross beam 190 are respectively fixedly connected to the first sub-longitudinal beam 140 and the second sub-longitudinal beam 150, and two ends of the fourth sub-cross beam 200 are respectively fixedly connected to the first sub-longitudinal beam 140 and the second sub-longitudinal beam 150; the third sub-cross beam 190, the fourth sub-cross beam 200, the first sub-longitudinal beam 140 and the second sub-longitudinal beam 150 are connected to form a rectangular frame 370.

[0084] The plurality of cross beams 121 further include a third sub-cross beam 190 and a fourth sub-cross beam 200. The third sub-cross beam 190 and the fourth sub-cross beam 200 both extend along the first direction X. The third sub-cross beam 190 and the fourth sub-cross beam 200 are spaced apart along the second direction Y, so that the stability of the structure of the first frame 120 can be improved and the bearing capacity of the first frame 120 can be improved. The two ends of the third sub-cross beam 190 are respectively fixedly connected to the first sub-longitudinal beam 140 and the second sub-longitudinal beam 150, and the two ends of the fourth sub-cross beam 200 are respectively fixedly connected to the first sub-longitudinal beam 140 and the second sub-longitudinal beam 150. For example, the third sub-cross beam 190 can be welded to the first sub-longitudinal beam 140 and the second sub-longitudinal beam 150, and the fourth sub-cross beam 200 can also be welded to the first sub-longitudinal beam 140 and the second sub-longitudinal beam 150.

[0085] Specifically, a more stable frame structure is formed by extending the third sub-crossbeam 190 and the fourth sub-crossbeam 200 along the first direction X and fixedly connected to the first sub-longitudinal beam 140 and the second sub-longitudinal beam 150. This design helps to disperse and resist external loads and improve the structural rigidity of the entire robot. In addition, the addition of the third sub-crossbeam 190 and the fourth sub-crossbeam 200 disperses the load that may have been borne by a single crossbeam 121 or longitudinal beam 122, which can improve the carrying capacity of the entire structure, allowing the robot to carry heavier objects or withstand greater external forces, thereby improving the carrying capacity of the transport robot.

[0086] The third sub-crossbeam 190, the fourth sub-crossbeam 200, the first sub-longitudinal beam 140 and the second sub-longitudinal beam 150 are connected to form a rectangular frame 370. Please refer to the attached Figure 2 The rectangular frame 370 is roughly arranged in the middle position of the transport robot 100, that is, the load-bearing center of the first frame 120. Since the structure of the rectangular frame 370 is relatively stable, the third sub-crossbeam 190, the fourth sub-crossbeam 200, the first sub-longitudinal beam 140 and the second sub-longitudinal beam are connected to form the rectangular frame 370, which can improve the structural stability and reliability of the transport robot 100.

[0087] Please refer to Figures 1 to 7In this embodiment, the plurality of longitudinal beams 122 further include a third sub-longitudinal beam 160 . Along the second direction Y, two ends of the third sub-longitudinal beam 160 are fixedly connected to the third sub-cross beam 190 and the second frame 130 , respectively.

[0088] The plurality of longitudinal beams 122 include a third sub-longitudinal beam 160, the third sub-longitudinal beam 160 extends along the second direction Y, the length extension direction of the third sub-longitudinal beam 160 is parallel to the second direction Y, one end of the third sub-longitudinal beam 160 is connected to the third sub-cross beam 190, for example, one end of the third sub-longitudinal beam 160 can be connected to the middle position of the third sub-cross beam 190, and the other end of the third sub-longitudinal beam 160 can be connected to the second frame 130. Exemplarily, the third sub-longitudinal beam 160 can be welded to the third sub-cross beam 190 and the second frame 130 respectively.

[0089] Specifically, both ends of the third sub-longitudinal beam 160 are fixedly connected to the third sub-crossbeam 190 and the second frame 130 , respectively, which can enhance the stability of the connection between the first frame 120 and the second frame 130 , thereby improving the carrying capacity of the transport robot 100 .

[0090] Please refer to Figures 1 to 7 In this embodiment, the transport robot 100 further includes a first load-bearing plate 210 , which is disposed on an upper surface of the first frame 120 , and the first load-bearing plate 210 is fixedly connected to at least one longitudinal beam 122 and at least one transverse beam 121 .

[0091] The first load-bearing plate 210 is disposed on the upper surface of the first frame 120. For example, the first load-bearing plate 210 can cover the upper surface of the first frame 120. In this way, the first load-bearing plate 210, as an additional support surface, can disperse more loads of the transport robot 100, thereby improving the carrying capacity of the transport robot 100, enabling the transport robot 100 to carry heavier goods, meet diverse transportation needs, reduce the shaking and tilting of the transport robot 100 during transportation, and improve the stability and safety of transportation. Moreover, the configuration of the first load-bearing plate 210 can also expand the carrying area of ​​the transport robot 100, enabling the transport robot 100 to carry larger volumes of goods.

[0092] Specifically, the first bearing plate 210 is disposed on the upper surface of the first frame 120 , and the first bearing plate 210 is fixedly connected to at least one longitudinal beam 122 and at least one transverse beam 121 , which can improve the carrying capacity of the transport robot 100 .

[0093] Please refer to Figures 1 to 7 In this embodiment, the transport robot 100 further includes a first driving member 220 , which is disposed on the first supporting plate 210 or the first frame 120 , and a power output end of the first driving member 220 is connected to at least one omnidirectional wheel 131 .

[0094] The transport robot 100 further includes a first driving member 220, which is disposed on the first bearing plate 210 or the first frame 120. Exemplarily, the first driving member 220 can be configured as a driving motor. The power output end of the first driving member 220 is connected to at least one omnidirectional wheel 131, and the first driving member 220 provides a power source for the omnidirectional wheel 131. By precisely controlling the power output of the first driving member 220, precise control of the movement of the omnidirectional wheel 131 can be achieved, which enables the robot to maintain a high degree of accuracy and stability when performing complex tasks.

[0095] Specifically, the first driving member 220 is arranged on the first supporting plate 210 or the first frame 120, which can make the center of gravity distribution of the transport robot 100 more balanced and improve the stability of the structure of the transport robot 100. On the other hand, the power output end of the first driving member 220 is connected to at least one omnidirectional wheel 131, which can provide a more accurate power source for the omnidirectional wheel 131 and realize precise control of the movement of the omnidirectional wheel 131.

[0096] Please refer to Figures 1 to 7 In this embodiment, the transport robot 100 also includes a lifting bracket 230 and a lifting assembly 240. The lifting bracket 230 is arranged on the first supporting plate 210. The lifting assembly 240 is fixed to the first supporting plate 210 through the lifting bracket 230. The lifting assembly 240 has a lifting end 242, and the lifting end 242 is movable relative to the lifting bracket 230 along the vertical direction Z.

[0097] The transport robot 100 further includes a lifting bracket 230 and a lifting assembly 240. The lifting bracket 230 is arranged on the first bearing plate 210, and the lifting bracket 230 can also be directly arranged on the first frame 120. The lifting assembly 240, as the name implies, is a component used for lifting materials. The lifting assembly 240 has a lifting end 242. Along the vertical direction Z, the lifting assembly 240 has another end, and the other end of the lifting assembly 240 is arranged opposite to the lifting end 242. The other end of the lifting assembly 240 can be fixedly connected to the lifting bracket 230. Along the vertical direction Z, the lifting end 242 is movable relative to the lifting bracket 230, that is, the lifting end 242 is movable in the vertical direction Z relative to the first bearing plate 210.

[0098] For factory storage of materials, the materials need to be stored on different material racks. The materials can be set on the lifting end 242. When the transport robot 100 transports materials, the lifting end 242 is movable relative to the lifting bracket 230. The lifting end 242 can be moved to make the materials reach different material racks. The addition of the lifting bracket 230 and the lifting assembly 240 enables the transport robot 100 to not only have the ability of horizontal transportation, but also vertical lifting of goods, which expands the application scenarios of the robot and enables it to complete more diverse handling tasks.

[0099] In some warehouses or factories with a high degree of automation, the transport robot 100 usually needs to work in conjunction with other automated equipment (such as conveyor lines, robotic arms, etc.). The design of the lifting bracket 230 and the lifting assembly 240 enables the robot to dock and cooperate with other equipment more easily, thereby achieving a more efficient automated production process.

[0100] Specifically, the lifting assembly 240 has a lifting end 242 , and the lifting end 242 is movable relative to the lifting bracket 230 along the vertical direction Z, which can improve the efficiency of the transport robot 100 in transferring and transmitting materials.

[0101] In some embodiments, the lifting assembly 240 can be a screw differential gear mechanism or a connecting rod differential gear mechanism, which is used as the carrying mechanism, flipping mechanism and other actuators or other functional components of the transport robot 110, or even as a carrier for the objects to be transported. The actuators used by the transport robot 110 meet the basic requirements of the operation.

[0102] Please refer to Figures 1 to 7 In this embodiment, the transport robot 100 also includes a moving assembly, which includes a first main body and a first moving part. The first main body is connected to the lifting end 242. The first moving part is movably arranged on the first main body along the horizontal direction, and the horizontal direction is perpendicular to the vertical direction Z.

[0103] The transport robot 100 also includes a moving assembly, which has a first main body and a first moving part. The first main body is arranged above the lifting assembly 240, and the first main body is connected to the lifting end 242 of the lifting assembly 240. Along the horizontal direction, the first moving part is movably arranged on the first main body, that is, the first moving part can move relative to the first main body.

[0104] The material can be set on the first moving part, and the moving assembly is used in conjunction with the lifting assembly 240. The lifting assembly 240 can move the material in the vertical direction Z, and the moving assembly can move the material in the horizontal direction. For example, through the horizontal movement function, the robot can quickly move goods between different work areas to improve the handling efficiency. The robot can lift the goods to an appropriate height as needed and transport them to a designated location through the horizontal movement function. This design enables the robot to cooperate more closely with other automated equipment (such as conveyor lines, shelves, etc.), thereby optimizing the entire workflow.

[0105] Specifically, the first movable part is movably disposed on the first main body part along the horizontal direction, and the horizontal direction is perpendicular to the vertical direction Z, which can expand the transportation range of the transport robot 100 and improve the transportation efficiency of the transport robot 100 .

[0106] Please refer to Figures 1 to 7 In this embodiment, the transport robot 100 includes a first tooling, which is detachably disposed at the lifting end 242 , and is suitable for clamping the goods transported by the transport robot 100 .

[0107] When the transport robot 100 is transporting materials, the materials can be set on the lifting end 242 through the first tooling. The first tooling can be designed to fit the shape of the materials. The transport robot 100 can quickly replace different tooling as needed to adapt to goods of different shapes, sizes and weights, making the transport robot 100 more flexible and efficient when carrying different types of goods.

[0108] The design of the first tooling usually takes into account the characteristics of the goods and the handling requirements, and can ensure the stability and safety of the goods during the handling process. By clamping the goods by the first tooling, the robot can reduce the risk of shaking and damage of the goods during the handling process and improve the accuracy of the handling.

[0109] Specifically, the first tooling is suitable for clamping the goods transported by the transport robot 100, which can make the transport robot 100 more stable and reliable when carrying materials.

[0110] Please refer to Figures 1 to 7 In the present embodiment, the lifting assembly 240 further includes a first accommodating cavity 241, and along the vertical direction Z, the first accommodating cavity 241 penetrates the lifting end 242, and the transport robot 100 further includes a first detection mechanism 270, and the first detection mechanism 270 is disposed in the first accommodating cavity 241, and when the first tooling clamps the goods, the first detection mechanism 270 is used to identify the information of the goods.

[0111] The lifting assembly 240 includes a first accommodating chamber 241, which is disposed in the middle area of ​​the lifting assembly 240 and passes through the lifting end 242. The first detection mechanism 270 is disposed in the first accommodating chamber 241. Exemplarily, the first detection mechanism 270 can be configured as a QR code detection mechanism or a visual recognition mechanism. The first detection mechanism 270 can identify the type and information of the material. The transport robot 100 transports the type or information of the material to the target area along a preset planned path according to the type and information of the material.

[0112] The first accommodating cavity 241 may also penetrate the first carrying plate 210, and the first detection mechanism 270 is configured as a two-dimensional code detection mechanism or a visual recognition mechanism, which is used to identify the path navigation and provide navigation services for the transport robot 100. In addition, the transport robot 100 may also autonomously operate according to a specified map by constructing an operation map.

[0113] Specifically, the first detection mechanism 270 is disposed in the first accommodating cavity 241 . When the first tooling clamps the cargo, the first detection mechanism 270 is used to identify the cargo information, so that the transport robot 100 can accurately locate and transport the cargo according to the cargo information, thereby improving the transport efficiency of the transport robot 100 .

[0114] In some embodiments, a magnetic strip may be provided on the factory floor, and the first detection mechanism 270 may sense the magnetic strip on the factory floor, thereby realizing path navigation planning.

[0115] In some embodiments, there can be two QR code detection mechanisms, one QR code detection mechanism is used to identify the QR code route planned on the site, and the other QR code detection mechanism is used to locate the upper lifted goods. The dual code recognition mechanism is used so that the center of the loaded goods can be consistent with the center of the transport robot 110, ensuring that the center of gravity of the transport robot 110 after loading is still at the center of the plane of the transport robot.

[0116] Please refer to Figures 1 to 7 In this embodiment, the transport robot 100 also includes a first bearing seat 280 and a first bearing 290. The first bearing seat 280 has a first upper bearing seat 281 and a first lower bearing seat 282, and the first upper bearing seat 281 and the first lower bearing seat 282 are both fixed to the second frame 130. The first bearing 290 is arranged between the first upper bearing seat 281 and the first lower bearing seat 282. The power output end is constructed as a first drive shaft 221, and the first drive shaft 221 is provided with a bearing to be connected to the omnidirectional wheel 131.

[0117] The transport robot 100 further includes a first bearing seat 280 and a first bearing 290. The first bearing 290 is disposed in the first bearing seat 280. The first bearing seat 280 has a first upper bearing seat 281 and a first lower bearing seat 282. The first upper bearing seat 281 and the first lower bearing seat 282 are both fixed on the second frame 130. The first lower bearing seat 282 is fixedly connected to the upper surface of the second frame 130. The first upper bearing seat 281 is fixedly connected to the first lower bearing, so as to ensure the flatness of the first lower bearing seat 282 and the upper surface of the second frame 130, thereby making the installation positions of the multiple omnidirectional wheels 131 consistent in the vertical direction Z. If the first bearing 290 or the first bearing seat 280 fails or wears out, it can be replaced separately without disassembling or repairing the entire robot, thereby reducing maintenance costs and time.

[0118] Specifically, the power output end is constructed as a first drive shaft 221, and the first drive shaft 221 passes through a first bearing 290 to connect with the omnidirectional wheel 131, and is effectively connected with the omnidirectional wheel 131, thereby reducing errors and energy losses in the transmission process and improving the movement accuracy and efficiency of the robot.

[0119] In some embodiments, a speed reducer may be provided between the omnidirectional wheel 131 and the first driving member 220 , and the first driving member 220 may transmit power to the omnidirectional wheel 131 through the speed reducer.

[0120] In some embodiments, the first lower bearing seat 282 can be connected to the upper surface of the second frame 130 through a bearing seat bracket. The contact surfaces of the bearing seat bracket and the first lower bearing seat 282 are ground and then polished and rust-proofed to ensure the flatness of the bearing seat bracket and the first lower bearing seat 282. There can be three first bearing seat 280, bearing seat bracket and first bearing 290. The three bearing seat brackets and the second frame 130 can be positioned by a tooling fixture and connected by two-way welding, which ensures that the three planes of the three first lower bearing seats 282 are on the same plane.

[0121] In some embodiments, the first lower bearing seat 282 and the first upper bearing seat 281 are provided with threaded holes and pin holes, and the first lower bearing seat 282 and the first upper bearing seat 281 can be connected by bolts and positioned by pins. Along the circumference of the second frame 130, the threaded holes provided on the multiple first lower bearing seats 282 and the multiple first upper bearing seats 281 are arranged at intervals of 120 degrees, that is, the multiple first lower bearing seats 282 and the multiple first upper bearing seats 281 are arranged at intervals of 120 degrees. Similarly, the pin holes provided on the multiple first lower bearing seats 282 and the multiple first upper bearing seats 281 are arranged at intervals of 120 degrees.

[0122] The distances between the plurality of first lower bearing seats 282 and the plurality of first upper bearing seats 281 and the center position of the transport robot 110 may be equal.

[0123] In some embodiments, the first upper bearing seat 281 is provided with relevant grooves for installing the bearing drive. There can be two relevant grooves for installing the bearing. By installing two bearings, the transmission of the first driving member 220 is smoother, thereby improving the transportation stability of the transport robot 110.

[0124] In some embodiments, the clearance of the installed bearing is controlled by a shaft shoulder on the first drive shaft 221 and a bearing steel ring installed on the first drive shaft 221 .

[0125] Please refer to Figures 1 to 7 In this embodiment, the transport robot 100 further includes a radar 300 , and there are multiple radars 300 , which are arranged at intervals along the circumference of the second frame 130 on the outer periphery of the second frame 130 .

[0126] The multiple radars 300 are arranged at intervals along the circumference of the second frame 130, which can form an all-round perception of the robot's surrounding environment, so that the robot can obtain information such as the position, distance and speed of surrounding obstacles in real time during driving, so as to make more accurate obstacle avoidance and path planning decisions. It can also significantly improve the robot's obstacle avoidance ability and reduce failures and downtime caused by collisions.

[0127] Specifically, the transport robot 100 further includes a plurality of radars 300 , which are arranged at intervals along the circumference of the second frame 130 on the outer periphery of the second frame 130 , thereby improving the safety of the transport robot 100 .

[0128] Please refer to Figures 1 to 7 In this embodiment, the transport robot 100 also includes an anti-collision bracket 310, which is arranged on the outer periphery of the second frame 130, and the anti-collision bracket 310 is spaced apart from at least part of the second frame 130 to form an anti-collision space 311, and the radar 300 is arranged in the anti-collision space 311.

[0129] The transport robot 100 also includes an anti-collision bracket 310, which is arranged on the outer periphery of the second frame 130. An anti-collision space 311 is arranged between the anti-collision bracket 310 and the second frame 130. The radar 300 is arranged in the anti-collision space 311. In this way, even if the transport robot 100 collides with an obstacle, the radar 300 will not be directly damaged, which reduces the probability of failure of the radar 300, can reduce the maintenance and replacement costs caused by equipment damage, and also effectively avoids direct contact between the transport robot 100 and the external environment, thereby reducing the risk of equipment damage caused by collision, scratches, etc.

[0130] In some embodiments, the transport robot 100 also includes a first bracket 320 and a display device. The first bracket 320 is arranged on the second frame 130, and the display device is arranged on the first bracket 320. The first bracket 320 is used to install the display device. The display device is used to display the operating status of the transport robot 100 and whether the transport robot 100 is faulty. When the transport robot 100 fails, an alarm can be issued through the display device.

[0131] The display device is arranged on the first bracket 320, so that the maintenance personnel can inspect the running status of the equipment. The fixed position of the equipment should be conducive to the maintenance personnel to view the screen. The display screen 321 is used to display images, videos, etc. The display screen 321 can also integrate a touch function. The display screen 321 can adopt a liquid crystal display 321 (liquid crystal display, LCD), an organic light-emitting diode (organic light-emitting diode, OLED), an active matrix organic light-emitting diode or an active matrix organic light-emitting diode (active-matrix organic light emitting diode, AMOLED), a flexible light-emitting diode (flex light-emitting diode, FLED), Miniled, MicroLed, Micro-oLed, quantum dot light emitting diodes (quantum dotlight emitting diodes, QLED), etc.

[0132] In some embodiments, the transport robot 100 also includes a second bracket 340 and a voice announcer 341. The second bracket 340 is set on the second frame 130, and the voice announcer 341 is set on the second bracket 340. The voice announcer 341 can report faults and feedback relevant information to inform maintenance personnel so that they can quickly carry out repairs.

[0133] In some embodiments, the transport robot 100 also includes a third bracket 350 and a wireless communication module 351. The third bracket 350 is set on the second frame 130, and the wireless communication module 351 is set on the third bracket 350 for communicating with the scheduling host computer and transmitting relevant equipment information to the host computer.

[0134] A warning light may also be provided on the second frame 130. The warning light is mainly used in dark environments to warn pedestrians to stay away from automatically running equipment. The three extended lines of the warning light need to form a triangle.

[0135] In some embodiments, the transport robot 100 is further provided with a battery pack 330 . There may be two battery packs 330 . The two battery packs 330 may be symmetrically arranged on both sides of the lifting assembly 240 to improve the operating stability of the lifting assembly 240 .

[0136] In some embodiments, the transport robot 100 also includes an electromagnetic charger 360, and the battery charger is connected to the battery pack 330. When the power of the transport robot 100 is consumed, the transport robot 100 automatically navigates to the charging station, and the electromagnetic charger 360 cooperates with the electromagnetic induction interface of the charging station to complete the automatic charging of the transport robot 100, thereby improving the automation efficiency of the transport robot 100.

[0137] In some embodiments, in order to ensure the internal voltage stability of the transport robot 110, the transport robot 110 is equipped with two capacitors to stabilize the voltage of the electrical system of the transport robot 110, and is also equipped with a voltage control assembly to supply power to the transport robot 110 of different voltages and stabilize the voltage and current of the entire circuit. In order to ensure the control stability of the transport robot 110, the transport robot 110 is equipped with a controller assembly to operate all circuits inside the transport robot 110 and upload and display the operating status of the transport robot 110.

[0138] In some embodiments, the transport robot 100 further includes a remote control receiver for receiving external remote control signals, and manually controlling the transport robot 110 is achieved by receiving the remote control signals.

[0139] It should also be noted that the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, commodity or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, commodity or device. In the absence of more restrictions, the elements defined by the sentence "comprises a ..." do not exclude the existence of other identical elements in the process, method, commodity or device including the elements.

[0140] Each embodiment in this specification is described in a progressive manner, and the same or similar parts between the embodiments can be referred to each other, and each embodiment focuses on the differences from other embodiments. In particular, for the system embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment.

[0141] The above is only an embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the present application may have various changes and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the scope of the claims of the present application.

[0142] Although the embodiments of the present application have been described in conjunction with the accompanying drawings, those skilled in the art may make various modifications and variations without departing from the spirit and scope of the present application, and such modifications and variations are all within the scope defined by the appended claims.

Claims

1. A transport robot, characterized in that: include: A vehicle frame, comprising a first vehicle frame and a second vehicle frame, wherein the first vehicle frame comprises a cross beam group and a longitudinal beam group, wherein the cross beam group comprises a plurality of cross beams, the longitudinal beam group comprises a plurality of longitudinal beams, the cross beams intersect with at least one of the longitudinal beams, and two of the cross beams are connected with two of the longitudinal beams to form a rectangular frame; The second frame is arranged around the outer periphery of the first frame, and the second frame is fixedly connected to the first frame, and the second frame is constructed as an octagonal structure.

2. The transport robot according to claim 1, characterized in that: The plurality of longitudinal beams include a first sub-longitudinal beam and a second sub-longitudinal beam; The first sub-longitudinal beam and the second sub-longitudinal beam are spaced apart along a first direction, and both the first sub-longitudinal beam and the second sub-longitudinal beam extend along a second direction. Along the second direction, two ends of the first sub-longitudinal beam are respectively fixedly connected to the second frame, and two ends of the second sub-longitudinal beam are respectively fixedly connected to the second frame, and the first direction is perpendicular to the second direction.

3. The transport robot according to claim 2, characterized in that: The multiple cross beams include a first sub-cross beam and a second sub-cross beam, the first sub-cross beam and the second sub-cross beam both extend along the first direction, along the first direction, two ends of the first sub-cross beam are respectively fixedly connected to the second frame and the first sub-longitudinal beam, and two ends of the second sub-cross beam are respectively fixedly connected to the second frame and the second sub-longitudinal beam.

4. The transport robot according to claim 3, characterized in that: The plurality of cross beams further include a third sub-cross beam and a fourth sub-cross beam, the third sub-cross beam and the fourth sub-cross beam both extend along the first direction, and along the first direction, two ends of the third sub-cross beam are respectively fixedly connected to the first sub-longitudinal beam and the second sub-longitudinal beam, and two ends of the fourth sub-cross beam are respectively fixedly connected to the first sub-longitudinal beam and the second sub-longitudinal beam; The third sub-cross beam, the fourth sub-cross beam, the first sub-longitudinal beam, and the second sub-longitudinal beam are connected to form the rectangular frame.

5. The transport robot according to claim 4, characterized in that: The plurality of longitudinal beams further include a third sub-longitudinal beam, and along the second direction, two ends of the third sub-longitudinal beam are respectively fixedly connected to the third sub-cross beam and the second frame.

6. The transport robot according to claim 1, characterized in that: The transport robot further includes a first bearing plate, which is disposed on an upper surface of the first frame and is fixedly connected to at least one of the longitudinal beams and at least one of the transverse beams.

7. The transport robot according to claim 6, characterized in that: The transport robot also includes a lifting bracket and a lifting assembly, wherein the lifting bracket is arranged on the first supporting plate, the lifting assembly is fixed to the first supporting plate through the lifting bracket, and the lifting assembly has a lifting end, and the lifting end is movable relative to the lifting bracket along the vertical direction.

8. The transport robot according to claim 7, characterized in that: The transport robot also includes a moving assembly, which includes a first main body and a first moving part. The first main body is connected to the lifting end. The first moving part is movably arranged on the first main body along a horizontal direction. The horizontal direction is perpendicular to the vertical direction.

9. The transport robot according to claim 7, characterized in that: The transport robot comprises a first tooling, which is detachably arranged at the lifting end and is suitable for clamping the goods transported by the transport robot.

10. The transport robot according to claim 9, characterized in that: The lifting assembly further includes a first accommodating cavity, and along the vertical direction, the first accommodating cavity penetrates the lifting end; The transport robot further includes a first detection mechanism, which is disposed in the first accommodating cavity. When the first tooling clamps goods, the first detection mechanism is used to identify information of the goods.

11. The transport robot according to claim 1, characterized in that: The transport robot further includes a first bearing seat and a first bearing, wherein the first bearing seat includes a first upper bearing seat and a first lower bearing seat, and the first upper bearing seat and the first lower bearing seat are both fixed to the second frame, and the first bearing is arranged between the first upper bearing seat and the first lower bearing seat; The transport robot further includes a first driving member, a power output end of which is connected to the omnidirectional wheel, and the power output end is configured as a first driving shaft, and the first driving shaft passes through the first bearing to be connected to the omnidirectional wheel.

12. The transport robot according to claim 1, characterized in that: The transport robot further includes a radar, wherein the number of the radars is plural and the radars are arranged at intervals on the outer periphery of the second frame along the circumferential direction of the second frame.

13. The transport robot according to claim 12, characterized in that: The transport robot further includes an anti-collision bracket, which is disposed on the outer periphery of the second frame. The anti-collision bracket is spaced apart from at least a portion of the second frame to form an anti-collision space, and the radar is disposed in the anti-collision space.

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