Mobile robot chassis frame, base body, chassis and chassis frame production method

Abstract

The embodiment of the invention provides a chassis frame of a mobile robot, a base body, a chassis and a chassis frame production method. The chassis frame comprises a left storage groove body, a right storage groove body and a front frame, wherein the left storage groove body and the right storage groove body are oppositely arranged in a spaced mode in the width direction of the frame, and the front frame is connected to the top of the first end of the left storage groove body and the top of the first end of the right storage groove body in a bridging mode. The left storage groove body and the right storage groove body are obtained by processing a storage groove base body which is integrally formed and comprises storage grooves arranged according to various driving forms and sizes according to a target driving form and size; the front frame is obtained by processing a front frame base body which is integrally formed and comprises the front frame arranged according to various driving forms and sizes according to a target driving form and size; therefore, the storage groove base body and the front frame base body only need to use a mold for producing the storage groove base body and a mold for producing the front frame base body, and different molds do not need to be used for producing storage grooves and front frames with different driving forms and sizes, so that the production cost of the chassis frame can be reduced.

Description

Technical Field

[0001] The present application relates to the technical field of warehousing and logistics, and in particular to a mobile robot chassis frame, a base, a chassis and a chassis frame production method. Background Art

[0002] Existing mobile robots can be divided into multiple driving forms such as differential and omnidirectional according to the driving form. Mobile robots with different driving forms are assembled using chassis frames of different sizes.

[0003] However, currently, for chassis frames of different sizes used by different mobile robots, molds need to be opened separately, and then the corresponding molds of the chassis frames of different sizes are used to produce the corresponding chassis frames. However, due to the high cost of mold opening, different chassis frames are produced using different molds in the prior art, which makes the production cost of the chassis frames higher. Summary of the invention

[0004] The purpose of the embodiments of the present application is to provide a mobile robot chassis frame, a base, a chassis and a chassis frame production method to reduce the production cost of the chassis frame. The specific technical solution is as follows:

[0005] In a first aspect, an embodiment of the present invention provides a mobile robot chassis frame, the chassis frame comprising: a front frame, a left storage tank body and a right storage tank body;

[0006] The left storage trough and the right storage trough are arranged relatively spaced apart in the width direction of the frame and are detachably connected through the front frame; the front frame is installed at the first end of the left storage trough along the length direction of the frame and the first end of the right storage trough along the length direction of the frame;

[0007] The left storage slot body is integrally formed and has a first storage slot along the length direction of the frame;

[0008] The right storage slot body is integrally formed and has a second storage slot along the length direction of the frame;

[0009] The front frame is integrally formed and straddles the top of the first end of the left storage tank body and the right storage tank body, and is used to fix and isolate the left storage tank body and the right storage tank body;

[0010] The left storage tank body and the right storage tank body are obtained by processing the integrally formed storage tank base body according to the target driving form and size; the storage tank base body includes the installation and connection structure of the storage tanks set for various driving forms and sizes;

[0011] The front frame is obtained by processing an integrally formed front frame matrix according to target drive forms and sizes; the front frame matrix includes installation and connection structures of the front frame set for various drive forms and sizes.

[0012] In a second aspect, an embodiment of the present invention provides a frame base, the frame base comprising: a storage slot base and a front frame base;

[0013] A receiving slot base body, comprising a mounting and connecting structure for receiving slots set for various drive forms and sizes; used to be processed to form the left receiving slot and the right receiving slot in any one of the first aspects above;

[0014] The front frame substrate comprises a mounting and connecting structure for the front frame arranged for various driving modes and sizes; and is used to be processed to form the front frame in any one of the above-mentioned first aspect.

[0015] In a third aspect, an embodiment of the present invention provides a mobile robot chassis, which includes: a chassis frame and a moving mechanism according to any one of the first aspects above.

[0016] In a fourth aspect, an embodiment of the present invention provides a chassis frame production method for producing the chassis frame of any one of the first aspects above; the method comprises:

[0017] Prepare at least two storage slot bases and at least one front frame base;

[0018] According to the target driving form and target size, the two receiving slot base bodies are processed respectively to obtain a left receiving slot body and a right receiving slot body;

[0019] According to the target driving form and target size, a front frame substrate is processed to obtain the front frame;

[0020] The front frame is detachably mounted on the first end of the left storage slot along the length direction of the frame and the first end of the right storage slot along the length direction of the frame to obtain a target chassis frame.

[0021] Beneficial effects of the embodiments of the present application:

[0022] The embodiments of the present application provide a mobile robot chassis frame, a base, a chassis and a chassis frame production method, wherein the chassis frame includes: a front frame, a left storage slot body and a right storage slot body; the left storage slot body and the right storage slot body are arranged relatively spaced along the width direction of the frame and are detachably connected through the front frame; the front frame is installed at the first end of the left storage slot body along the length direction of the frame and the first end of the right storage slot body along the length direction of the frame; the left storage slot body is integrally formed and has a first storage slot along the length direction of the frame; the right storage slot body is integrally formed and has a second storage slot along the length direction of the frame ; The front frame is integrally formed, straddling the top of the first end of the left storage trough body and the right storage trough body, and is used to fix and isolate the left storage trough body and the right storage trough body; because the left storage trough body and the right storage trough body are obtained by processing the integrally formed storage trough base body according to the target drive form and size; and the storage trough base body includes the installation and connection structure of the storage trough set for various drive forms and sizes; the front frame is obtained by processing the integrally formed front frame base body according to the target drive form and size; and the front frame base body includes the installation and connection structure of the front frame set for various drive forms and sizes.

[0023] Therefore, only one mold for producing the storage slot base and one mold for producing the front frame base are needed for the storage slot base and the front frame base, and there is no need to use different molds for producing storage slots of different drive forms and sizes and front frames of different drive forms and sizes, which can reduce the production cost of the chassis frame. Of course, implementing any product or method of the present application does not necessarily require all of the advantages described above to be achieved at the same time. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application, and for ordinary technicians in this field, other embodiments can also be obtained based on these drawings.

[0025] Figure 1 An exploded schematic diagram of a chassis frame provided by an embodiment of the present invention;

[0026] Figure 2 It is a schematic diagram of the three-dimensional structure of the first viewing angle of the storage slot base in the chassis frame of the mobile robot according to an embodiment of the present invention;

[0027] Figure 3 A schematic diagram of the three-dimensional structure of a storage slot base in a chassis frame of a mobile robot according to an embodiment of the present invention from a second viewing angle;

[0028] Figure 4A schematic diagram of the three-dimensional structure of a storage slot base in a chassis frame of a mobile robot according to an embodiment of the present invention from a third viewing angle;

[0029] Figure 5 A schematic diagram of the three-dimensional structure of a storage slot base in a chassis frame of a mobile robot according to an embodiment of the present invention from a fourth viewing angle;

[0030] Figure 6 It is a structural schematic diagram of a bottom view of a storage slot base in a chassis frame of a mobile robot according to an embodiment of the present invention;

[0031] Figure 7 It is a structural schematic diagram of a top view of a storage slot base in a chassis frame of a mobile robot according to an embodiment of the present invention;

[0032] Figure 8 for Figure 7 AA section view of the top view shown;

[0033] Fig. 9 It is a schematic diagram of the three-dimensional structure of the front frame base in the chassis frame of the mobile robot according to an embodiment of the present invention from a first viewing angle;

[0034] Fig.10 It is a schematic diagram of the three-dimensional structure of the front frame base in the chassis frame of the mobile robot according to an embodiment of the present invention from a second viewing angle;

[0035] Fig.11 It is a structural schematic diagram of a front view of a front frame base in a mobile robot chassis frame according to an embodiment of the present invention;

[0036] Fig.12 It is a structural schematic diagram of a bottom view of a front frame base in a mobile robot chassis frame according to an embodiment of the present invention;

[0037] Fig.13 It is a structural schematic diagram of a top view of a front frame base in a mobile robot chassis frame according to an embodiment of the present invention;

[0038] Fig.14 A diagram showing the corresponding relationship between a storage slot base and a left storage slot body and a right storage slot body in a chassis frame of a mobile robot according to an embodiment of the present invention;

[0039] Fig.15 A diagram showing the corresponding relationship between a front frame base and a front frame in a chassis frame of a mobile robot according to an embodiment of the present invention;

[0040] Fig.16 This is a structural schematic diagram of a first embodiment of a mobile robot chassis according to an embodiment of the present invention;

[0041] Fig.17 for Fig.16 An exploded view of the mobile robot chassis is shown;

[0042] Fig.18 for Fig.16 The structural schematic diagram of the first left storage slot in the mobile robot chassis shown;

[0043] Fig.19 for Fig.16 The structural schematic diagram of the first right storage tank in the mobile robot chassis shown;

[0044] Fig. 20 for Fig.16 A schematic structural diagram of a first front frame in a mobile robot chassis shown;

[0045] Fig.21 To include Fig.16 The structural schematic diagram of the mobile robot chassis, the pallet support table and the mobile robot with narrow pallets shown;

[0046] Fig. 22 for Fig.21 An exploded view of the mobile robot shown;

[0047] Fig.23 This is a structural schematic diagram of a second embodiment of a mobile robot chassis according to an embodiment of the present invention;

[0048] Fig.24 for Fig.23 An exploded view of the mobile robot chassis is shown;

[0049] Fig.25 for Fig.23 The structural schematic diagram of the second left storage tank in the mobile robot chassis shown;

[0050] Fig.26 for Fig.23 The structural schematic diagram of the second right storage tank in the mobile robot chassis shown;

[0051] Fig. 27 for Fig.23 A schematic structural diagram of a second front frame in a mobile robot chassis shown;

[0052] Fig.28 To include Fig.23 The structural schematic diagram of the mobile robot chassis, the pallet support table and the mobile robot with a wide pallet shown;

[0053] Fig.29 for Fig.28 An exploded view of the mobile robot shown;

[0054] Fig.30 It is a structural schematic diagram of a first viewing angle of a third embodiment of a mobile robot chassis according to an embodiment of the present invention;

[0055] Fig.31 for Fig.30 An exploded view of the mobile robot chassis is shown;

[0056] Fig.32 This is a structural schematic diagram of a second viewing angle of a third embodiment of a mobile robot chassis according to an embodiment of the present invention;

[0057] Fig.33 for Fig.32 An exploded view of the mobile robot chassis is shown;

[0058] Fig.34 for Fig.30 The structural schematic diagram of the third left storage tank in the mobile robot chassis shown;

[0059] Fig.35 for Fig.30 The structural schematic diagram of the third right storage tank in the mobile robot chassis shown;

[0060] Fig.36 for Fig.30 A schematic structural diagram of the third front frame in the mobile robot chassis shown;

[0061] Fig.37 To include Fig.30 The structural schematic diagram of the mobile robot chassis, the pallet support table and the mobile robot with narrow pallets shown;

[0062] Fig.38 for Fig.37 An exploded view of the mobile robot shown;

[0063] Fig.39 It is a structural schematic diagram of a first viewing angle of a fourth embodiment of a mobile robot chassis according to an embodiment of the present invention;

[0064] Fig.40 for Fig.39 An exploded view of the mobile robot chassis is shown;

[0065] Fig.41 It is a structural schematic diagram of a second viewing angle of a fourth embodiment of a mobile robot chassis according to an embodiment of the present invention;

[0066] Fig.42 for Fig.41 An exploded view of the mobile robot chassis is shown;

[0067] Fig.43 for Fig.39 The structural schematic diagram of the fourth left storage tank in the mobile robot chassis shown;

[0068] Fig.44 for Fig.39 The structural schematic diagram of the fourth right storage tank in the mobile robot chassis shown;

[0069] Fig.45 for Fig.39 A schematic structural diagram of the fourth front frame in the mobile robot chassis shown;

[0070] Fig.46 To include Fig.39 The structural schematic diagram of the mobile robot chassis, the pallet support table and the mobile robot with narrow pallets shown;

[0071] Fig.47 for Fig.46 An exploded view of the mobile robot is shown.

[0072] Reference numerals:

[0073] Storage slot base 1; original storage rack 12; original fixing plate 13; original storage slot 14;

[0074] The first size original storage rack 121; the second size original storage rack 122; the first original support vertical plate 1211; the first original bridge body installation frame groove 1212; the first step 1213; the first reinforcing rib 1214; the second reinforcing rib 1215; the first connecting bottom plate 1216; the first connecting frame 12121; the first connecting groove 12122; the second original support vertical plate 1221; the second original bridge body installation frame groove 1222; the second step 1223; the third reinforcing rib 1224; the fourth reinforcing rib 1225; the second connecting bottom plate 1226; the second connecting frame 12221; the second connecting groove 12222; the connecting rib plate 131;

[0075] Front frame base 2; original left mounting portion 21; original isolation portion 23; original right mounting portion 22; caster mounting portion 24; extension portion 25; strip boss 26;

[0076] Left storage tank 100; left inner storage rack 1001; left outer storage rack 1002; left storage tank fixing plate 1003; first storage tank 1004;

[0077] Right storage tank 110; right inner storage rack 1101; right outer storage rack 1102; right storage tank fixing plate 1103; second storage tank 1104;

[0078] Front frame 200; left mounting portion 2001; right mounting portion 2003; isolation portion 2002;

[0079] A first left storage slot 101; a second left storage slot 102; a third left storage slot 103; a fourth left storage slot 104;

[0080] A first right storage tank 111; a second right storage tank 112; a third right storage tank 113; a fourth right storage tank 114;

[0081] A first front frame 201; a second front frame 202; a third front frame 203; a fourth front frame 204;

[0082] A first left inner storage rack 1011; a first left outer storage rack 1012; a first left storage tank fixing plate 1013;

[0083] First outer support vertical plate 10121; first installation frame groove 10122; first inner support vertical plate 10111;

[0084] First right inner storage rack 1111; first right outer storage rack 1112; first right storage tank fixing plate 1113;

[0085] Second outer support vertical plate 11121; second installation frame groove 11122; second inner support vertical plate 11111;

[0086] First left mounting portion 2011; first right mounting portion 2012; first isolation portion 2013; first mounting through hole 2014;

[0087] A second left inner storage rack 1021; a second left outer storage rack 1022; a second left storage tank fixing plate 1023;

[0088] The third outer support vertical plate 10221; the third installation frame groove 10222; the third inner support vertical plate 10211;

[0089] The second right inner storage rack 1121; the second right outer storage rack 1122; the second right storage tank fixing plate 1123;

[0090] Fourth outer support vertical plate 11221; fourth installation frame groove 11222; fourth inner support vertical plate 11211;

[0091] A second left mounting portion 2021; a second right mounting portion 2022; a second isolation portion 2023; a second mounting through hole 2024;

[0092] A third left inner storage rack 1031; a third left outer storage rack 1032; a third left storage tank fixing plate 1033;

[0093] The fifth outer support vertical plate 10321; the fifth inner support vertical plate 10311;

[0094] The third right inner storage rack 1131; the third right outer storage rack 1132; the third right storage tank fixing plate 1133;

[0095] Sixth outer support vertical plate 11321; fifth installation frame groove 11322; sixth inner support vertical plate 11311;

[0096] A third left mounting portion 2031; a third right mounting portion 2032; a third isolation portion 2033; a third mounting through hole 2034;

[0097] Fourth left inner storage rack 1041; fourth left outer storage rack 1042; fourth left storage tank fixing plate 1043;

[0098] Ninth inner support vertical plate 10411; Ninth outer support vertical plate 10421;

[0099] Fourth right inner storage rack 1141; fourth right outer storage rack 1142; fourth right storage tank fixing plate 1143;

[0100] Tenth inner support vertical plate 11411; Tenth outer support vertical plate 11421; Seventh installation frame groove 11422;

[0101] Fourth left mounting portion 2041; fourth right mounting portion 2042; fourth isolation portion 2043; fourth mounting through hole 2044;

[0102] Front axle 601; left drive axle 602; right drive axle 603; first caster set 604; drive wheel set 605; third caster set 606;

[0103] Tray support table 3; first tray 4; second tray 5;

[0104] Steering wheel bridge 801; second caster set 802; first steering wheel set 803, fourth caster set 804; second steering wheel set 805. DETAILED DESCRIPTION

[0105] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only 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 ordinary technicians in this field based on the present application belong to the scope of protection of the present application.

[0106] In order to solve the problems existing in the prior art, the embodiments of the present application provide a production method of a mobile robot chassis frame, a base / chassis and a chassis frame, so as to reduce the production cost of the chassis frame.

[0107] The overall concept of reducing the production cost of the chassis frame in the embodiment of the present application is: first, a universal storage slot base 1 and a universal front frame base are prepared through split mold opening; then, the storage slot base 1 and the front frame base are partially fine-processed to form a variety of storage slots and front frames with different structures; finally, the various storage slots and front frames after fine processing are spliced ​​in different combinations to form a variety of chassis frame structures that can adapt to mobile robot chassis with different drive forms and different sizes.

[0108] Below, a mobile robot chassis frame and a base provided by an embodiment of the present invention are first described in detail.

[0109] See also Figure 1 , Figure 1 A schematic diagram of an exploded view of a chassis frame provided by an embodiment of the present invention. Figure 1 As shown, the chassis frame includes: a left storage tank 100, a right storage tank 110 and a front frame 200. The left storage tank 100 and the right storage tank 110 are arranged relatively spaced apart along the width direction of the frame and are detachably connected through the front frame 200; the front frame 200 is installed at the first end of the left storage tank 100 along the length direction of the frame and the first end of the right storage tank 110 along the length direction of the frame. The left storage tank 100 is integrally formed and has a first storage slot 1004 along the length direction of the frame; the right storage tank 110 is integrally formed and has a second storage slot 1104 along the length direction of the frame.

[0110] The first storage slot 1004 and the second storage slot 1104 are used to install functional components for driving the chassis frame. The front frame 200 is integrally formed and straddles the top of the first end of the left storage slot 100 and the right storage slot 110 to fix and isolate the left storage slot 100 and the right storage slot 110.

[0111] Among them, the left storage slot body 100 and the right storage slot body 110 are obtained by processing the integrally formed storage slot base 1 according to the target driving form and size; the storage slot base 1 includes the installation and connection structure of the storage slot set for various driving forms and sizes.

[0112] The front frame 200 is obtained by processing the integrally formed front frame base 2 according to the target drive form and size; the front frame base 2 includes the installation and connection structure of the front frame 200 set for various drive forms and sizes.

[0113] The mobile robot chassis frame of the embodiment of the present invention is obtained by processing the left storage slot body and the right storage slot body according to the target drive form and size of the one-piece storage slot base body; and the storage slot base body includes the installation and connection structure of the storage slot set for multiple drive forms and sizes; the front frame is obtained by processing the one-piece front frame base body according to the target drive form and size; and the front frame base body includes the installation and connection structure of the front frame set for multiple drive forms and sizes. Therefore, for the storage slot base body and the front frame base body, only one mold for producing the storage slot base body and one mold for producing the front frame base body are needed, and there is no need to use different molds for producing storage slots with different drive forms and sizes and front frames with different drive forms and sizes, so the production cost of the chassis frame can be reduced. In addition, by detachably connecting the left storage slot body and the right storage slot body to the front frame, it is convenient to disassemble and repair, saving maintenance costs.

[0114] At present, the driving forms of the mobile robot chassis frame may include: omnidirectional drive and differential drive, and the dimensions of the mobile robot chassis frame may include: wide dimension and narrow dimension, and the wide dimension and narrow dimension may be relative dimensions set according to needs, and the dimensions are not specifically limited.

[0115] Specifically, the storage tank base 1 in the embodiment of the present application can be seen in Figure 2~Figure 8 , Figure 2 A schematic diagram of the three-dimensional structure of a storage slot base in a chassis frame of a mobile robot according to an embodiment of the present invention from a first viewing angle; Figure 3 A schematic diagram of the three-dimensional structure of a storage slot base in a chassis frame of a mobile robot according to an embodiment of the present invention from a second viewing angle; Figure 4 A schematic diagram of the three-dimensional structure of a storage slot base in a chassis frame of a mobile robot according to an embodiment of the present invention from a third viewing angle; Figure 5 A schematic diagram of the three-dimensional structure of a storage slot base in a chassis frame of a mobile robot according to an embodiment of the present invention from a fourth viewing angle; Figure 6 It is a structural schematic diagram of a bottom view of a storage slot base in a chassis frame of a mobile robot according to an embodiment of the present invention; Figure 7 It is a structural schematic diagram of a top view of a storage slot base in a chassis frame of a mobile robot according to an embodiment of the present invention; Figure 8 for Figure 7 AA cross-sectional view of the top view shown.

[0116] like Figure 2~Figure 8 As shown, the storage slot base 1 includes: two original storage racks 12 arranged relatively spaced apart in the width direction, and original fixing plates 13 at both ends of the two original storage racks 12, forming an original storage slot 14; the two original storage racks 12 and the two original fixing plates 13 include installation and connection structures for storage slots set for various drive forms and sizes.

[0117] The two original storage racks 12 of the storage slot base 1 are: a first-size original storage rack 121 located on the first side of the original storage slot 14 of the storage slot base 1, and a second-size original storage rack 122 located on the second side of the original storage slot 14 of the storage slot base 1.

[0118] The first size original storage rack 121 is provided with a first original support vertical plate 1211 arranged along the length direction of the storage slot base 1 and a plurality of first original bridge body installation frame grooves 1212 arranged adjacent to each other and extending outward from the first original support vertical plate 1211 in the width direction, and is used for installing the drive axle or steering wheel axle 801 after processing. Figure 2~Figure 8 As shown, four first original bridge body mounting frame grooves 1212 may be provided.

[0119] The second size original storage rack 122 is provided with a second original support vertical plate 1221 arranged along the length direction of the storage slot base 1 and a plurality of second original bridge body installation frame grooves 1222 arranged adjacent to each other and extending outward from the second original support vertical plate 1221 in the width direction, and is used for installing the drive axle or steering wheel axle 801 after processing. Figure 2~Figure 8 As shown, four second original bridge body mounting frame grooves 1222 may be provided.

[0120] The width of the second original bridge installation frame groove 1222 extending from the second original support vertical plate 1221 is different from the width of the first original bridge installation frame groove 1212 extending from the first original support vertical plate 1211. For example, the width of the second original bridge installation frame groove 1222 extending from the second original support vertical plate 1221 is greater than the width of the first original bridge installation frame groove 1212 extending from the first original support vertical plate 1211.

[0121] Among them, the driving bridge is a first connecting bridge connecting the driving wheel set 605 and the first caster set 604 in a differential driving form; the steering wheel bridge 801 is a second connecting bridge connecting the first steering wheel set 803 and the second caster set 802 in an omnidirectional driving form.

[0122] In some implementations, such as Figure 2~Figure 5As shown, the first-size original storage rack 121 also includes: a first step 1213 arranged on one side facing the original storage slot 14, a plurality of first reinforcing ribs 1214 at the bottom of the first step 1213, and a second reinforcing rib 1215 arranged on one side away from the original storage slot 14; wherein the first step 1213 is located on one side of the first-size original storage rack 121 close to the second-size original storage rack 122; the first reinforcing rib 1214 and the second reinforcing rib 1215 are perpendicular to the length direction of the first-size original storage rack 121, and are arranged on both sides of the length direction of the first-size original storage rack 121; the first reinforcing rib 1214 is arranged on the first step 1213. The first reinforcing rib 1214 and the second reinforcing rib 1215 have different sizes.

[0123] The second size original storage rack 122 also includes: a second step 1223 arranged on one side facing the original storage slot 14, a third reinforcing rib 1224 at the bottom of the second step 1223, and a fourth reinforcing rib 1225 arranged on one side away from the original storage slot 14; wherein the second step 1223 is located on the second size original storage rack 122 on one side close to the first size original storage rack 121; the third reinforcing rib 1224 and the fourth reinforcing rib 1225 are perpendicular to the length direction of the second size original storage rack 122, and are arranged on both sides of the length direction of the second size original storage rack 122; the third reinforcing rib 1224 is arranged on the second step 1223. The third reinforcing rib 1224 and the fourth reinforcing rib 1225 have different sizes. The second step 1223 has different sizes from the first step 1213. For example, the height of the second step 1223 is higher than the height of the first step 1213.

[0124] like Figure 2~Figure 6 As shown, each first original bridge body installation frame groove 1212 extends outward from the middle position of the first original support vertical plate 1211. A first connecting bottom plate 1216 is provided at the bottom of the first original support vertical plate 1211, and each first original bridge body installation frame groove 1212 is fixedly connected to the first connecting bottom plate 1216 and the first original support vertical plate 1211. Each first original bridge body installation frame groove 1212 is connected as a whole, including a plurality of first connection frames 12121 and two first connection grooves 12122 parallel to the length direction of the first original support vertical plate 1211. In the case where the driving form is a differential driving form, the outer first connection groove 12122 is removed, and the inner first connection groove 12122 is used to install the drive axle. When the driving mode is omnidirectional driving mode, when processing the right storage tank body 110, the partition between the two first connecting grooves 12122 is removed to form a wider connecting groove, which is used to install the steering wheel bridge 801; when processing the left storage tank body 100, the two first connecting grooves 12122 are removed.

[0125] like Figure 2 and Figure 3 As shown, each second original bridge body installation frame groove 1222 extends outward from the middle position of the second original support vertical plate 1221. A second connecting bottom plate 1226 is provided at the bottom of the second original support vertical plate 1221, and each second original bridge body installation frame groove 1222 is fixedly connected to the second connecting bottom plate 1226 and the second original support vertical plate 1221. Each second original bridge body installation frame groove 1222 is connected as a whole, including a plurality of second connecting frames 12221 and two second connecting grooves 12222 parallel to the length direction of the second original support vertical plate 1221. In the case where the driving form is a differential driving form, the outer second connecting groove 12222 is removed, and the inner second connecting groove 12222 is used to install the drive axle. When the driving mode is omnidirectional driving mode, when processing the right storage tank body 110, the partition between the two second connecting grooves 12222 is removed to form a wider connecting groove, which is used to install the steering wheel bridge 801; when processing the left storage tank body 100, the two second connecting grooves 12222 are removed.

[0126] like Figure 2 and Figure 3 As shown, a connecting rib plate 131 is provided inside the original receiving groove 14. The connecting rib plate 131 extends along the inner wall of the original receiving groove 14 toward the center of the original receiving groove 14, and the connecting rib plate 131 is connected to the original fixing plate 13, the first original supporting vertical plate 1211 and the second original supporting vertical plate 1221 at both ends of the original receiving groove 14 to strengthen the connection between them.

[0127] like Figure 9~Figure 13 As shown, the front frame base 2 includes: an original left mounting portion 21, an original isolating portion 23 and an original right mounting portion 22 which are connected to each other; the original left mounting portion 21, the original isolating portion 23 and the original right mounting portion 22 include mounting and connecting structures of the front frame 200 set for various drive forms and sizes.

[0128] The original left mounting portion 21 and the original right mounting portion 22 of the front frame base 2 are both provided with adjustable connection structures so that the front frame 200 is adapted to the first size and the second size.

[0129] The original isolation portion 23 of the front frame base 2 is provided with a caster mounting portion 24 extending outwardly along the length direction of the vehicle body; the caster mounting portion 24 is used to install the third caster set 606 in the differential drive form.

[0130] The original left mounting portion 21 or the original right mounting portion 22 of the front frame base 2 is also provided with an extension portion 25 at one end away from the original isolation portion 23, and the extension portion 25 is used to install the second steering wheel assembly 805 in the omnidirectional driving mode.

[0131] As described above, in the embodiment of the present application, the storage slot base 1 and the front frame base 2 can be partially finished to form a variety of storage slots and front frames 200 with different structures.

[0132] Specifically, the storage slot base 1 is partially fine-machined to obtain a variety of left storage slots 100 or right storage slots 110 of the chassis frame. The left storage slot 100 includes: two original storage racks 12 are processed according to the target driving form and size to form a left inner storage rack 1001 and a left outer storage rack 1002; and the original fixing plates 13 at both ends are processed to form a left storage slot fixing plate 1003 connecting the left inner storage rack 1001 and the left outer storage rack 1002; the left inner storage rack 1001, the left outer storage rack 1002 and the left storage slot fixing plate 1003 form a first storage slot 1004.

[0133] The right storage slot 110 may include: two original storage racks 12 are processed separately according to the target driving form and size to form a right inner storage rack 1101 and a right outer storage rack 1102; and the original fixing plates 13 at both ends are processed separately to form a right storage slot fixing plate 1103 connecting the right inner storage rack 1101 and the right outer storage rack 1102; the right inner storage rack 1101, the right outer storage rack 1102 and the right storage slot fixing plate 1103 form a second storage slot 1104.

[0134] For example, see Fig.14 , Fig.14 1 is a diagram showing the corresponding relationship between the storage slot base and the left storage slot body and the right storage slot body in the chassis frame of the mobile robot according to an embodiment of the present invention. Fig.14 As shown, the storage slot base 1 of the same structure can be processed into eight different types of storage slot bodies according to the target drive form and size, including four left storage slot bodies and four right storage slot bodies corresponding to the four left storage slots; the four left storage slot bodies include: a first left storage slot body 101 suitable for differential drive and a first size, a second left storage slot body 102 suitable for differential drive and a second size, a third left storage slot body 103 suitable for omnidirectional drive and a first size, and a fourth left storage slot body 104 suitable for omnidirectional drive and a second size; the four right storage slot bodies corresponding to the four left storage slot bodies are: a first right storage slot body 111 suitable for differential drive and a first size, a second right storage slot body 112 suitable for differential drive and a second size, a third right storage slot body 113 suitable for omnidirectional drive and a first size, and a fourth right storage slot body 114 suitable for omnidirectional drive and a second size.

[0135] As mentioned above, by performing partial finishing on the front frame base 2 , a variety of different front frames 200 can be obtained.

[0136] Specifically, the processed front frame 200 includes: the original left mounting portion 21, the original isolation portion 23 and the original right mounting portion 22 are processed according to the target driving form and size to form the left mounting portion 2001, the right mounting portion 2003 and the isolation portion 2002 located between the left mounting portion 2001 and the right mounting portion 2003. Figure 1 As shown, on the installed chassis frame, the left mounting portion 2001 of the front frame 200 covers the top of the first end of the left storage trough 100; the right mounting portion 2003 covers the top of the first end of the right storage trough 110; so that the isolation portion 2002 is located between the left storage trough 100 and the right storage trough 110 to isolate and fix the left storage trough 100 and the right storage trough 110.

[0137] For example, see Fig.15 , Fig.15 FIG. 1 is a diagram showing the corresponding relationship between the front frame base and the front frame in the chassis frame of the mobile robot according to an embodiment of the present invention; Fig.15 As shown, the front frame base 2 of the same structure can be processed into four different types of front frames, including: a first front frame 201 suitable for differential drive and a first size, a second front frame 202 suitable for differential drive and a second size, a third front frame 203 suitable for omnidirectional drive and a first size, and a fourth front frame 204 suitable for omnidirectional drive and a second size. Among them, the first front frame 201 and the second front frame 202 retain the caster mounting portion 24, which is used to install the third caster set 606 in the differential drive form. The third front frame 203 and the fourth front frame 204 retain the extension portion 25 of the original left mounting portion 21 or the original right mounting portion 22, which is used to install the second steering wheel set 805 in the omnidirectional drive form.

[0138] In this way, different left storage troughs 100 and corresponding right storage troughs 110, as well as a front frame 200 connecting the left storage troughs 100 and the corresponding right storage troughs 110 can be processed according to the requirements of different driving forms and sizes. Then, according to the requirements of different driving forms and sizes, the left storage troughs 100, the corresponding right storage troughs 110 and the corresponding front frame 200 are fixedly connected accordingly, so that a mobile robot chassis frame that meets the requirements of different driving forms and sizes can be obtained.

[0139] The four left storage slots, four right storage slots and four front frames can be assembled to obtain four mobile robot chassis frames. Detailed description will be given below according to the four mobile robot chassis frames.

[0140] Robot chassis embodiment 1

[0141] See also Figure 16~Figure 20 ,in, Fig.16This is a structural schematic diagram of a first embodiment of a mobile robot chassis according to an embodiment of the present invention; Fig.17 for Fig.16 An exploded view of the mobile robot chassis is shown; Fig.18 for Fig.16 The structural schematic diagram of the first left storage slot in the mobile robot chassis shown; Fig.19 for Fig.16 The structural schematic diagram of the first right storage tank in the mobile robot chassis shown; Fig. 20 for Fig.16 The schematic structural diagram of the first front frame in the mobile robot chassis is shown.

[0142] In the first embodiment, the mobile robot chassis includes: a mobile robot chassis frame and a moving mechanism, the target driving form of the chassis frame is a differential driving form, and the target size is a first size; at this time, Figure 1 The left storage tank 100, the left inner storage rack 1001, the left outer storage rack 1002 and the left storage tank fixing plate 1003 are shown in the present embodiment. Fig.16 and 17 The first left storage slot 101 , the first left inner storage rack 1011 , the first left outer storage rack 1012 , and the first left storage slot fixing plate 1013 are shown.

[0143] Figure 1 The right storage tank 110, the right inner storage rack 1101, the right outer storage rack 1102 and the right storage tank fixing plate 1103 are shown in the present embodiment. Fig.16 and 17 The first right storage tank 111 , the first right inner storage rack 1111 , the first right outer storage rack 1112 and the first right storage tank fixing plate 1113 are shown.

[0144] Figure 1 The front frame 200, the left mounting portion 2001, the right mounting portion 2003 and the isolation portion 2002 are shown in this embodiment. Fig.16 and 17 The first front frame 201 , the first left mounting portion 2011 , the first right mounting portion 2012 and the first isolation portion 2013 are shown.

[0145] Specifically, the chassis frame includes: a first front frame 201, a first left storage slot 101 and a first right storage slot 111. The first left storage slot 101 and the first right storage slot 111 are arranged relatively spaced apart in the width direction of the frame and are detachably connected through the first front frame 201; the first front frame 201 is installed at the first end of the first left storage slot 101 along the length direction of the frame and the first end of the first right storage slot 111 along the length direction of the frame;

[0146] The first front frame 201 is connected across the top of the first end of the first left storage tank 101 and the first right storage tank 111 to fix and isolate the first left storage tank 101 and the first right storage tank 111 .

[0147] like Fig.18 As shown, the first left storage slot 101 includes: a first left inner storage rack 1011 and a first left outer storage rack 1012; and a first left storage slot fixing plate 1013 connecting the first left inner storage rack 1011 and the first left outer storage rack 1012; the first left inner storage rack 1011, the first left outer storage rack 1012 and the first left storage slot fixing plate 1013 form a first storage slot 1004.

[0148] Among them, the first left outer storage rack 1012 of the first left storage slot body 101 includes: a first outer support vertical plate 10121, and a first installation frame groove 10122 extending outward in the width direction from the first outer support vertical plate 10121; the first left outer storage rack 1012 is formed by processing the first storage slot base 1 that retains the first original support vertical plate 1211 of the first size original storage rack 121 and a first original bridge body installation frame groove 1212, for example, retaining the first original bridge body installation frame groove 1212 away from the above-mentioned first left storage slot body fixing plate 1013.

[0149] The first left inner storage rack 1011 of the first left storage slot body 101 includes: a first inner supporting vertical plate 10111; the first left inner storage rack 1011 is formed by removing all the second original bridge body mounting frame grooves 1222 from the first storage slot base body 1 and then processing; only the original fixing plate 13 at one end of the first storage slot base body 1 is retained on the first left storage slot body 101 to connect the first left outer storage rack 1012 and the first left inner storage rack 1011.

[0150] like Fig.19 As shown, the first right storage slot 111 includes: a first right inner storage rack 1111 and a first right outer storage rack 1112; and a first right storage slot fixing plate 1113 connecting the first right inner storage rack 1111 and the first right outer storage rack 1112; the first right inner storage rack 1111, the first right outer storage rack 1112 and the first right storage slot fixing plate 1113 form a second storage slot 1104.

[0151] The first right outer storage rack 1112 of the first right storage tank body 111 includes: a second outer support vertical plate 11121 and a second installation frame groove 11122 extending outward from the second outer support vertical plate 11121 in the width direction; the first right outer storage rack 1112 of the first right storage tank body 111 is formed by processing the first original support vertical plate 1211 and a first original bridge body installation frame groove 1212 of the first size original storage rack 121 retained by the second storage tank base 1. For example, the first original bridge body installation frame groove 1212 away from the first right storage tank body fixing plate 1113 is retained.

[0152] The first right inner storage rack 1111 of the first right storage slot body 111 includes: a second inner supporting vertical plate 11111; the first right inner storage rack 1111 is formed by removing all the second original bridge body mounting frame grooves 1222 from the second storage slot base body 1 and then processing; the first right storage slot body 111 only retains the original fixing plate 13 at one end of the second storage slot base body 1 to connect the first right outer storage rack 1112 and the first right inner storage rack 1111.

[0153] The first left storage slot 101 and the first right storage slot 111 are symmetrical with respect to the central axis in the length direction of the frame; the first installation frame slot 10122 and the second installation frame slot 11122 are respectively used for symmetrically installing the drive axle. It can be understood that the central axis extends along the length direction of the frame.

[0154] like Fig. 20 As shown, the first front frame 201 includes: a first left mounting portion 2011, a first right mounting portion 2012 and a first isolating portion 2013 located between the first left mounting portion 2011 and the first right mounting portion 2012; the first left mounting portion 2011 covers the top of the first end of the first left storage slot 101, and the first right mounting portion 2012 covers the top of the first end of the first right storage slot 111; so that the first isolating portion 2013 is located between the first left storage slot 101 and the first right storage slot 111 to isolate and fix the first left storage slot 101 and the first right storage slot 111.

[0155] It can be understood that the first front frame 201 is based on an adjustable connection structure, and is formed by processing a front frame base 2 into a size that matches the first size, removing the extension portion 25 of the front frame base 2 and retaining the caster mounting portion 24, and is capable of mounting a front frame of the third caster set 606.

[0156] Specifically, Fig. 20As shown, the adjustable connection structure of the original left mounting portion 21 and the original right mounting portion 22 of the front frame base 2 is: a strip boss 26 arranged along the width direction of the frame, and the strip boss 26 is used to process mounting through holes corresponding to different sizes; wherein, the strip boss 26 extends along the width direction of the frame.

[0157] The tops of the first left mounting portion 2011 and the first right mounting portion 2012 of the first front frame 201 have first mounting through holes 2014 corresponding to the first size processed by the strip boss 26, and the first mounting through holes are through holes arranged at a position away from the central axis of the frame in the length direction in the width direction;

[0158] The first left storage slot 101 is fixedly connected to the first left mounting portion 2011 via a first mounting through hole 2014 on the first left mounting portion 2011 , and the first right storage slot 111 is fixedly connected to the first right mounting portion 2012 via a first mounting through hole 2014 on the first right mounting portion 2012 .

[0159] like Fig.16 and Fig.17 As shown, the moving mechanism includes: two driving bridges symmetrically arranged on the outside of the first left storage trough 101 and the first right storage trough 111; each driving bridge connects the driving wheel group 605 located in the middle of the outside of the first left storage trough 101 or the first right storage trough 111 and the first caster group 604 located at the second end of the first left storage trough 101 or the first right storage trough 111; the two driving bridges are the left driving bridge 602 and the right driving bridge 603.

[0160] The mobile mechanism further comprises a third caster set 606 disposed on the caster mounting portion 24 of the first front frame 201. The third caster set 606 is mounted on the front axle 601, and the front axle 601 is mounted on the caster mounting portion 24 of the first front frame 201.

[0161] In some embodiments, the present invention also provides a mobile robot, see Fig.21 and Fig. 22 , Fig.21 To include Fig.16 The structural schematic diagram of the mobile robot chassis, the pallet support table and the mobile robot with narrow pallets shown; Fig. 22 for Fig.21 An exploded view of the mobile robot is shown.

[0162] like Fig.21 and Fig. 22 As shown, the mobile robot comprises: Figure 16-17The mobile robot chassis, tray support table 3 and first tray 4 are shown; the tray support table 3 is fixedly connected to the first front frame 201, the first left storage tank 101 and the first right storage tank 111, and the first tray 4 is fixed to the side of the tray support table 3 facing away from the first front frame 201, the first left storage tank 101 and the first right storage tank 111.

[0163] Robot chassis embodiment 2

[0164] See also Figure 23~Figure 29 ,in, Fig.23 This is a structural schematic diagram of a second embodiment of a mobile robot chassis according to an embodiment of the present invention; Fig.24 for Fig.23 An exploded view of the mobile robot chassis is shown; Fig.25 for Fig.23 The structural schematic diagram of the second left storage tank in the mobile robot chassis shown; Fig.26 for Fig.23 The structural schematic diagram of the second right storage tank in the mobile robot chassis shown; Fig. 27 for Fig.23 The schematic structural diagram of the second front frame in the mobile robot chassis is shown.

[0165] In the second embodiment, the mobile robot chassis includes a mobile robot chassis frame and a mobile mechanism. The target drive mode of the chassis frame is a differential drive mode, and the target size is a second size. At this time, Figure 1 The left storage tank 100, the left inner storage rack 1001, the left outer storage rack 1002 and the left storage tank fixing plate 1003 are shown in the present embodiment. Fig.23 and 24 The second left storage slot 102 , the second left inner storage rack 1021 , the second left outer storage rack 1022 , and the second left storage slot fixing plate 1023 are shown.

[0166] Figure 1 The right storage tank 110, the right inner storage rack 1101, the right outer storage rack 1102 and the right storage tank fixing plate 1103 are shown in the present embodiment. Fig.23 and 24 The second right storage tank 112 , the second right inner storage rack 1121 , the second right outer storage rack 1122 and the second right storage tank fixing plate 1123 are shown.

[0167] Figure 1 The front frame 200, the left mounting portion 2001, the right mounting portion 2003 and the isolation portion 2002 are shown in this embodiment. Fig.16 and 17 The second front frame 202 , the second left mounting portion 2021 , the second right mounting portion 2022 and the second isolation portion 2023 are shown.

[0168] Specifically, the chassis frame includes: a second front frame 202, a second left storage slot 102 and a second right storage slot 112; the second left storage slot 102 and the second right storage slot 112 are arranged relatively spaced apart along the width direction of the frame, and are detachably connected through the second front frame 202; the second front frame 202 is installed at the first end of the second left storage slot 102 along the length direction of the frame and the first end of the second right storage slot 112 along the length direction of the frame.

[0169] The second front frame 202 is connected across the top of the first end of the second left storage tank 102 and the second right storage tank 112 to fix and isolate the second left storage tank 102 and the second right storage tank 112 .

[0170] like Fig.25 As shown, the second left storage slot 102 includes: a second left inner storage rack 1021 and a second left outer storage rack 1022; and a second left storage slot fixing plate 1023 connecting the second left inner storage rack 1021 and the second left outer storage rack 1022; the second left inner storage rack 1021, the second left outer storage rack 1022 and the second left storage slot fixing plate 1023 form a first storage slot 1004.

[0171] Among them, the second left outer storage rack 1022 of the second left storage slot body 102 includes: a third outer support vertical plate 10221, and a third installation frame groove 10222 extending outward in the width direction from the third outer support vertical plate 10221; the second left outer storage rack 1022 is formed by processing the first storage slot base 1 to retain the second original support vertical plate 1221 of the second size original storage rack 122 and a second original bridge body installation frame groove 1222, for example, retaining the second original bridge body installation frame groove 1222 away from the above-mentioned second left storage slot body fixing plate 1023.

[0172] The second left inner storage rack 1021 of the second left storage slot body 102 includes: a third inner supporting vertical plate 10211; the second left inner storage rack 1021 is formed by removing all the first original bridge body mounting frame grooves 1212 from the first storage slot base body 1; the second left storage slot body 102 only retains the original fixing plate 13 at one end of the first storage slot base body 1 to connect the second left outer storage rack 1022 and the second left inner storage rack 1021.

[0173] like Fig.26As shown, the second right storage slot 112 includes: a second right inner storage rack 1121 and a second right outer storage rack 1122; and a second right storage slot fixing plate 1123 connecting the second right inner storage rack 1121 and the second right outer storage rack 1122; the second right inner storage rack 1121, the second right outer storage rack 1122 and the second right storage slot fixing plate 1123 form a second storage slot 1104.

[0174] The second right outer storage rack 1122 of the second right storage tank body 112 includes: a fourth outer support vertical plate 11221 and a fourth installation frame groove 11222 extending outward from the fourth outer support vertical plate 11221 in the width direction; the second right outer storage rack 1122 is formed by processing the second storage tank base 1 to retain the second original support vertical plate 1221 of the second size original storage rack 122 and a second original bridge body installation frame groove 1222. For example, the second original bridge body installation frame groove 1222 away from the second right storage tank body fixing plate 1123 is retained.

[0175] The second right inner storage rack 1121 of the second right storage slot body 112 includes: a fourth inner supporting vertical plate 11211; the second right inner storage rack 1121 is formed by removing all the first original bridge body mounting frame grooves 1212 from the second storage slot base 1; the second right storage slot body 112 only retains the original fixing plate 13 at one end of the second storage slot base 1 to connect the second right outer storage rack 1122 and the second right inner storage rack 1121.

[0176] The second left storage slot 102 and the second right storage slot 112 are symmetrical with respect to the central axis of the length direction of the frame; the third installation frame slot 10222 and the fourth installation frame slot 11222 are used for symmetrically installing the drive axle. It can be understood that the central axis extends along the length direction of the frame.

[0177] like Fig. 27 As shown, the second front frame 202 includes: a second left mounting portion 2021, a second right mounting portion 2022 and a second isolating portion 2023 located between the second left mounting portion 2021 and the second right mounting portion 2022; the second left mounting portion 2021 covers the top of the first end of the second left storage slot 102, and the second right mounting portion 2022 covers the top of the first end of the second right storage slot 112; so that the second isolating portion 2023 is located between the second left storage slot 102 and the second right storage slot 112 to isolate and fix the second left storage slot 102 and the second right storage slot 112.

[0178] It can be understood that the second front frame 202 is based on an adjustable connection structure, and is formed by processing a front frame base 2 into a size that matches the second size, removing the extension portion 25 of the front frame base 2 and retaining the caster mounting portion 24, and is capable of mounting a front frame of the third caster set 606.

[0179] Specifically, Fig.28 As shown, the adjustable connection structure of the original left mounting portion 21 and the original right mounting portion 22 of the front frame base 2 is: a strip boss 26 arranged along the width direction of the frame, and the strip boss 26 is used to process mounting through holes corresponding to different sizes; wherein, the strip boss 26 extends along the width direction of the frame.

[0180] The second left mounting portion 2021 and the second right mounting portion 2022 of the second front frame 202 have a second mounting through hole 2024 corresponding to the second size processed by the strip boss 26, and the second mounting through hole 2024 is a through hole arranged at a position close to the central axis of the frame in the length direction along the width direction;

[0181] The second left storage slot 102 is fixedly connected to the second left mounting portion 2021 via a second mounting through hole 2024 on the second left mounting portion 2021 , and the second right storage slot 112 is fixedly connected to the second right mounting portion 2022 via a second mounting through hole 2024 on the second right mounting portion 2022 .

[0182] like Fig.23 and 24 As shown, the moving mechanism includes: two driving bridges symmetrically arranged on the outside of the second left storage trough 102 and the second right storage trough 112; each driving bridge connects a driving wheel group 605 located in the middle of the outside of the second left storage trough 102 or the second right storage trough 112 and a first caster group 604 located at the second end of the second left storage trough 102 or the second right storage trough 112; the two driving bridges are the left driving bridge 602 and the right driving bridge 603.

[0183] The mobile mechanism further comprises a third caster set 606 disposed on the caster mounting portion 24 of the second front frame 202. The third caster set 606 is mounted on the front axle 601, and the front axle 601 is mounted on the caster mounting portion 24 of the second front frame 202.

[0184] In some examples, the embodiments of the present invention further provide a mobile robot, see Fig.28 and Fig.29 , Fig.28 To include Fig.23 The structural schematic diagram of the mobile robot chassis, the pallet support table and the mobile robot with a wide pallet shown; Fig.29 for Fig.28An exploded view of the mobile robot is shown.

[0185] like Fig.28 and Fig.29 As shown, the mobile robot comprises: Figure 23~Figure 24 The mobile robot chassis, tray support table 3 and second tray 5 are shown; the tray support table 3 is fixedly connected to the second front frame 202, the second left storage tank 102 and the second right storage tank 112, and the second tray 5 is fixed to the side of the tray support table 3 facing away from the second front frame 202, the second left storage tank 102 and the second right storage tank 112.

[0186] Robot chassis embodiment 3

[0187] See also Figure 30~Figure 36 , Fig.30 It is a structural schematic diagram of a first viewing angle of a third embodiment of a mobile robot chassis according to an embodiment of the present invention; Fig.31 for Fig.30 An exploded view of the mobile robot chassis is shown; Fig.32 This is a structural schematic diagram of a second viewing angle of a third embodiment of a mobile robot chassis according to an embodiment of the present invention; Fig.33 for Fig.32 An exploded view of the mobile robot chassis is shown; Fig.34 for Fig.30 The structural schematic diagram of the second left storage tank in the mobile robot chassis shown; Fig.35 for Fig.30 The structural schematic diagram of the second right storage tank in the mobile robot chassis shown; Fig.36 for Fig.30 The schematic structural diagram of the second front frame in the mobile robot chassis is shown.

[0188] In the third embodiment, the mobile robot chassis includes a mobile robot chassis frame and a mobile mechanism. The target driving mode of the chassis frame is an omnidirectional driving mode, and the target size is a first size. At this time, Figure 1 The left storage tank 100, the left inner storage rack 1001, the left outer storage rack 1002 and the left storage tank fixing plate 1003 are shown in the present embodiment. Figure 30~Figure 33 The third left storage slot 103 , the third left inner storage rack 1031 , the third left outer storage rack 1032 , and the third left storage slot fixing plate 1033 are shown.

[0189] Figure 1 The right storage tank 110, the right inner storage rack 1101, the right outer storage rack 1102 and the right storage tank fixing plate 1103 are shown in the present embodiment. Figure 30~Figure 33 The third right storage tank 113 , the third right inner storage rack 1131 , the third right outer storage rack 1132 and the third right storage tank fixing plate 1133 are shown.

[0190] Figure 1 The front frame 200, the left mounting portion 2001, the right mounting portion 2003 and the isolation portion 2002 are shown in this embodiment. Figure 30~Figure 33 The third front frame 203 , the third left mounting portion 2031 , the third right mounting portion 2032 and the third isolation portion 2033 are shown.

[0191] Specifically, the chassis frame includes: a third front frame 203, a third left storage slot 103 and a third right storage slot 113; the third left storage slot 103 and the third right storage slot 113 are arranged relatively spaced apart along the width direction of the frame, and are detachably connected through the third front frame 203; the third front frame 203 is installed at the first end of the third left storage slot 103 along the length direction of the frame and the first end of the third right storage slot 113 along the length direction of the frame.

[0192] The third front frame 203 is connected across the top of the first end of the third left storage tank 103 and the third right storage tank 113 to fix and isolate the third left storage tank 103 and the third right storage tank 113 .

[0193] like Fig.34 As shown, the third left storage slot 103 includes: a third left inner storage rack 1031 and a third left outer storage rack 1032; and a third left storage slot fixing plate 1033 connecting the third left inner storage rack 1031 and the third left outer storage rack 1032; the third left inner storage rack 1031, the third left outer storage rack 1032 and the third left storage slot fixing plate 1033 form the first storage slot 1004.

[0194] Among them, the third left outer storage rack 1032 of the third left storage slot body 103 includes: a fifth outer support vertical plate 10321; the third left outer storage rack 1032 is formed by removing all the first original bridge body mounting frame grooves 1212 from the first storage slot base 1, and post-processing the first original support vertical plate 1211 of the first size original storage rack 121.

[0195] The third left inner storage rack 1031 of the third left storage slot body 103 includes: a fifth inner supporting vertical plate 10311; the third left inner storage rack 1031 is formed by removing all the second original bridge body mounting frame grooves 1222 from the first storage slot base 1; the third left storage slot body 103 only retains the original fixing plate 13 at one end of the first storage slot base 1 to connect the third left inner storage rack 1031 and the third left outer storage rack 1032.

[0196] like Fig.35As shown, the third right storage slot 113 includes: a third right inner storage rack 1131 and a third right outer storage rack 1132; and a third right storage slot fixing plate 1133 connecting the third right inner storage rack 1131 and the third right outer storage rack 1132; the third right inner storage rack 1131, the third right outer storage rack 1132 and the third right storage slot fixing plate 1133 form a second storage slot 1104.

[0197] The third right outer storage rack 1132 comprises: a sixth outer support vertical plate 11321 and a fifth installation frame groove 11322 extending outward in the width direction from the sixth outer support vertical plate 11321; the third right outer storage rack 1132 is formed by processing the first original support vertical plate 1211 and a first original bridge body installation frame groove 1212 of the first size original storage rack 121 retained by the second storage slot base body 1; the fifth installation frame groove 11322 is used to install the steering wheel bridge 801;

[0198] The third right inner storage rack 1131 includes: a sixth inner supporting vertical plate 11311; the third right inner storage rack 1131 is formed by removing all the second original bridge body mounting frame grooves 1222 from the second storage slot base 1; the third right left storage slot body 113 only retains the original fixing plate at one end of the second storage slot base 1 to connect the third right outer storage rack 1132 and the third right inner storage rack 1131.

[0199] like Fig.36 As shown, the third front frame 203 includes: a third left mounting portion 2031, a third right mounting portion 2032 and a third isolating portion 2033 located between the third left mounting portion 2031 and the third right mounting portion 2032; the third left mounting portion 2031 covers the top of the first end of the third left storage slot 103, and the third right mounting portion 2032 covers the top of the first end of the third right storage slot 113; so that the third isolating portion 2033 is located between the third left storage slot 103 and the third right storage slot 113 to isolate and fix the third left storage slot 103 and the third right storage slot 113.

[0200] It can be understood that the third front frame 203 is based on an adjustable connection structure, and is formed by processing a front frame base 2 into a size that is compatible with the first size, removing the caster mounting portion 24 of the front frame base 2 and retaining the extension portion 25 of the original left mounting portion 21, and is capable of installing the steering wheel bridge 801 on the outer side of the third right storage slot 113, and installing the fourth caster group 804 and the second steering wheel group 805 on the corresponding position on the other side.

[0201] Specifically, Fig.37As shown, the adjustable connection structure of the original left mounting portion 21 and the original right mounting portion 22 of the front frame base 2 is: a strip boss 26 arranged along the width direction of the frame, and the strip boss 26 is used to process mounting through holes corresponding to different sizes;

[0202] The third left mounting portion 2031 and the third right mounting portion 2032 of the third front frame 203 have third mounting through holes 2034 corresponding to the first size processed by the strip boss 26 at the top thereof, and the third mounting through holes 2034 are through holes arranged at a position away from the central axis in the length direction of the frame in the width direction;

[0203] The third left storage slot 103 is fixedly connected to the third left mounting portion 2031 via a third mounting through hole 2034 on the third left mounting portion 2031 , and the third right storage slot 113 is fixedly connected to the third right mounting portion 2032 via a third mounting through hole 2034 on the third right mounting portion 2032 .

[0204] like Figure 30~Figure 33 As shown, the moving mechanism includes: a steering wheel bridge 801 arranged on the first outer side of the third right storage tank 113; the steering wheel bridge 801 connects the first steering wheel group 803 at the first end of the third right storage tank 113 along the length direction, and the second caster group 802 at the second end of the third right storage tank 113 along the length direction.

[0205] The second steering wheel set 805 and the fourth caster set 804 are arranged on the second outer side of the third left storage tank 103; the second steering wheel set 805 is arranged at a position of the third left storage tank 103 opposite to the second caster set 802 through the extension portion 25 on the third left mounting portion 2031 of the third front frame 203; the fourth caster set 804 is arranged at a position of the third left storage tank 103 opposite to the first steering wheel set 803. Specifically, the fourth caster set 804 can be fixed on a caster set mounting frame 806, and the caster set mounting frame 806 can be fixed on the third left outer storage frame 1032 of the third left storage tank 103 at a position opposite to the first steering wheel set 803.

[0206] In this Figure 30~Figure 33 In the figure, the steering wheel bridge 801 is installed on the fifth mounting frame groove 11322 on the third right outer storage frame 1132 of the third right storage slot 113; the second steering wheel group 805 is installed on the extension portion 25 on the third left mounting portion 2031 of the third front frame 203, and the fourth caster group 804 is installed on the third left storage slot 103 at a position opposite to the first steering wheel group 803.

[0207] In some examples, the embodiments of the present invention further provide a mobile robot, see Fig.37 and Fig.38 , Fig.37 To include Fig.30 The structural schematic diagram of the mobile robot chassis, the pallet support table and the mobile robot with narrow pallets shown; Fig.38 for Fig.37 An exploded view of the mobile robot is shown.

[0208] like Fig.37 and Fig.38 As shown, the mobile robot comprises: Figure 30~Figure 33 The mobile robot chassis, tray support table 3 and first tray 4 are shown; the tray support table 3 is fixedly connected to the third front frame 203, the third left storage tank 103 and the third right storage tank 113, and the first tray 4 is fixed to the side of the tray support table 3 facing away from the third front frame 203, the third left storage tank 103 and the third right storage tank 113.

[0209] In some embodiments, the chassis frame may be Figure 30~Figure 36 The chassis frame is a mirror image of the chassis frame shown in the figure. At this time, the third left outer storage rack 1032 of the third left storage slot body 103 includes: a seventh outer support vertical plate and a sixth installation frame groove extending outward from the seventh outer support vertical plate in the width direction; the third left outer storage rack 1032 is formed by processing the first original support vertical plate 1211 and a first original bridge body installation frame groove 1212 of the first storage slot base body 1 retaining the first size original storage rack 121; in this way, the steering wheel bridge 801 can be installed on the sixth installation frame groove on the third left storage slot body 103 of the chassis frame;

[0210] The third left inner storage rack 1031 of the third left storage slot body 103 includes: a seventh inner supporting vertical plate; the third left inner storage rack 1031 is formed by removing all the second original bridge body mounting frame grooves 1222 from the first storage slot base body 1; the third left storage slot body 103 only retains the original fixing plate 13 at one end of the second storage slot base body 1 to connect the right outer storage rack and the right inner storage rack.

[0211] The third right inner storage rack 1131 of the third right storage slot body 113 includes: an eighth inner support vertical plate; the third right inner storage rack 1131 is formed by removing all the second original bridge body mounting frame grooves 1222 of the second storage slot base body 1 and post-processing the second original support vertical plate 1221 of the second size original storage rack 122;

[0212] The third right outer storage rack 1132 of the third right storage slot body 113 includes: an eighth outer support vertical plate; the third right outer storage rack 1132 is formed by removing all the first original bridge body mounting frame grooves 1212 from the second storage slot base body 1; the third right storage slot body 113 only retains the original fixing plate 13 at one end of the second storage slot base body 1 to connect the third right outer storage rack 1132 and the third right inner storage rack 1131;

[0213] Correspondingly, the third front frame 203 is based on an adjustable connection structure, and is formed by processing a front frame base 2 into a size that matches the first size, removing the caster mounting portion 24 of the front frame base 2 and retaining the extension portion 25 of the original right mounting portion 22. It is a front frame that can install a steering wheel bridge 801 on the outside of the third left storage slot 103, and install a fourth caster group 804 and a second steering wheel group 805 at the corresponding position on the other side.

[0214] Correspondingly, the moving mechanism may include:

[0215] A steering wheel bridge 801 is arranged on the first outer side of the third left storage tank 103; the steering wheel bridge 801 connects a first steering wheel set 803 at a first end of the third left storage tank 103 along the length direction, and a second caster set 802 at a second end of the third left storage tank 103 along the length direction;

[0216] The second steering wheel group 805 and the fourth caster group 804 are arranged on the second outer side of the third right storage tank 113; the second steering wheel group 805 is arranged at a position opposite to the second caster group 802 in the third right storage tank 113 through the extension portion 25 of the third right mounting portion 2032 of the third front frame 203; the fourth caster group 804 is arranged at a position opposite to the third right storage tank 113 and the first steering wheel group 803.

[0217] At this time, the steering wheel bridge 801 is installed on the sixth mounting frame groove 11422 on the third left outer storage frame 1032 of the third left storage slot 103; the second steering wheel group 805 is installed on the extension portion 25 on the fourth right mounting portion 2042 of the fourth front frame 204, and the fourth caster group 804 is installed on the fourth right storage slot 114 at a position opposite to the first steering wheel group 803.

[0218] Robot chassis embodiment 4

[0219] See also Figure 39~Figure 45 , Fig.39 It is a structural schematic diagram of a first viewing angle of a fourth embodiment of a mobile robot chassis according to an embodiment of the present invention; Fig.40 for Fig.39 An exploded view of the mobile robot chassis is shown; Fig.41 It is a structural schematic diagram of a second viewing angle of a fourth embodiment of a mobile robot chassis according to an embodiment of the present invention; Fig.42 for Fig.41 An exploded view of the mobile robot chassis is shown; Fig.43 for Fig.39 The structural schematic diagram of the second left storage tank in the mobile robot chassis shown; Fig.44 for Fig.39 The structural schematic diagram of the second right storage tank in the mobile robot chassis shown; Fig.45 for Fig.39 The schematic structural diagram of the second front frame in the mobile robot chassis is shown.

[0220] In the fourth embodiment, the mobile robot chassis includes a mobile robot chassis frame and a mobile mechanism. The target driving mode of the chassis frame is an omnidirectional driving mode, and the target size is a second size. At this time, Figure 1 The left storage tank 100, the left inner storage rack 1001, the left outer storage rack 1002 and the left storage tank fixing plate 1003 are shown in the present embodiment. Figure 39~Figure 42 The fourth left storage slot 104 , the fourth left inner storage rack 1041 , the fourth left outer storage rack 1042 , and the fourth left storage slot fixing plate 1043 are shown.

[0221] Figure 1 The right storage tank 110, the right inner storage rack 1101, the right outer storage rack 1102 and the right storage tank fixing plate 1103 are shown in the present embodiment. Figure 39~Figure 42 The fourth right storage tank 114 , the fourth right inner storage rack 1141 , the fourth right outer storage rack 1142 and the fourth right storage tank fixing plate 1143 are shown.

[0222] Figure 1 The front frame 200, the left mounting portion 2001, the right mounting portion 2003 and the isolation portion 2002 are shown in this embodiment. Figure 39~Figure 42 The fourth front frame 204 , the fourth left mounting portion 2041 , the fourth right mounting portion 2042 and the fourth isolation portion 2043 are shown.

[0223] Specifically, the chassis frame includes: a fourth front frame 204, a fourth left storage slot 104 and a fourth right storage slot 114; the fourth left storage slot 104 and the fourth right storage slot 114 are arranged relatively spaced apart along the width direction of the frame, and are detachably connected through the fourth front frame 204; the fourth front frame 204 is installed at the first end of the fourth left storage slot 104 along the length direction of the frame and the first end of the fourth right storage slot 114 along the length direction of the frame.

[0224] The fourth front frame 204 is connected across the top of the first end of the fourth left storage slot 104 and the fourth right storage slot 114 to fix and isolate the fourth left storage slot 104 and the fourth right storage slot 114 .

[0225] like Fig.43As shown, the fourth left storage slot 104 includes: a fourth left inner storage rack 1041 and a fourth left outer storage rack 1042; and a fourth left storage slot fixing plate 1043 connecting the fourth left inner storage rack 1041 and the fourth left outer storage rack 1042; the fourth left inner storage rack 1041, the fourth left outer storage rack 1042 and the fourth left storage slot fixing plate 1043 form the first storage slot 1004.

[0226] The fourth left outer storage rack 1042 of the fourth left storage slot body 104 includes: a ninth outer support vertical plate 10421; the fourth left outer storage rack 1042 is formed by removing all the second original bridge body mounting frame grooves 1222 of the first storage slot base body 1 and processing the second original support vertical plate 1221 of the second size original storage rack 122;

[0227] The fourth left inner storage rack 1041 of the fourth left storage slot body 104 includes: a ninth inner supporting vertical plate 10411; the fourth left inner storage rack 1041 is formed by removing all the first original bridge body mounting frame grooves 1212 from the first storage slot base body 1; the fourth left storage slot body 104 only retains the original fixing plate 13 at one end of the first storage slot base body 1 to connect the fourth left outer storage rack 1042 and the fourth left inner storage rack 1041.

[0228] like Fig.44 As shown, the fourth right storage slot 114 includes: a fourth right inner storage rack 1141 and a fourth right outer storage rack 1142; and a fourth right storage slot fixing plate 1143 connecting the fourth right inner storage rack 1141 and the fourth right outer storage rack 1142; the fourth right inner storage rack 1141, the fourth right outer storage rack 1142 and the fourth right storage slot fixing plate 1143 form a second storage slot 1104.

[0229] The fourth right outer storage rack 1142 of the fourth right storage slot body 114 comprises: a tenth outer support vertical plate 11421 and a seventh mounting frame groove 11422 extending outward in the width direction from the eighth outer support vertical plate 11421; the fourth right outer storage rack 1142 is formed by processing the second storage slot base body 1 retaining the second original support vertical plate 1221 of the second size original storage rack 122 and a second original bridge body mounting frame groove 1222; the seventh mounting frame groove 11422 is used to install the steering wheel bridge 801;

[0230] The fourth right inner storage rack 1141 of the fourth right storage slot body 114 includes: a tenth inner supporting vertical plate 11411; the fourth right inner storage rack 1141 is formed by removing all the first original bridge body mounting frame grooves 1212 from the second storage slot base body 1; the fourth right storage slot body 114 only retains the original fixing plate 13 at one end of the second storage slot base body 1 to connect the fourth right outer storage rack 1142 and the fourth right inner storage rack 1141.

[0231] like Fig.45 As shown, the fourth front frame 204 includes: a fourth left mounting portion 2041, a fourth right mounting portion 2042 and a fourth isolating portion 2043 located between the fourth left mounting portion 2041 and the fourth right mounting portion 2042; the fourth left mounting portion 2041 covers the top of the first end of the fourth left storage slot 104, and the fourth right mounting portion 2042 covers the top of the first end of the fourth right storage slot 114; so that the fourth isolating portion 2043 is located between the fourth left storage slot 104 and the fourth right storage slot 114 to isolate and fix the fourth left storage slot 104 and the fourth right storage slot 114.

[0232] It can be understood that the fourth front frame 204 is based on an adjustable connection structure, and is formed by processing a front frame base 2 into a size that is compatible with the second size, removing the caster mounting portion 24 of the front frame base 2 and retaining the extension portion 25 of the original left mounting portion 21, and can install the steering wheel bridge 801 on the outer side of the fourth right storage slot 114, and install the fourth caster group 804 and the second steering wheel group 805 on the corresponding position on the other side.

[0233] Specifically, Fig.45 As shown, the adjustable connection structure of the original left mounting portion 21 and the original right mounting portion 22 of the front frame base 2 is: a strip boss 26 arranged along the width direction of the frame, and the strip boss 26 is used to process mounting through holes corresponding to different sizes;

[0234] The fourth left mounting portion 2041 and the fourth right mounting portion 2042 of the fourth front frame 204 have fourth mounting through holes 2044 corresponding to the first size processed by the strip boss 26 at the top thereof, and the fourth mounting through holes 2044 are through holes arranged at a position away from the central axis in the length direction of the frame in the width direction;

[0235] The fourth left storage slot 104 is fixedly connected to the fourth left mounting portion 2041 via a fourth mounting through hole 2044 on the fourth left mounting portion 2041 , and the fourth right storage slot 114 is fixedly connected to the fourth right mounting portion 2042 via a fourth mounting through hole 2044 on the fourth right mounting portion 2042 .

[0236] like Figure 39~Figure 42 As shown, the moving mechanism includes: a steering wheel bridge 801 arranged on the first outer side of the fourth right storage tank 114; the steering wheel bridge 801 connects a first steering wheel group 803 at a first end of the fourth right storage tank 114 along the length direction, and a second caster group 802 at a second end of the fourth right storage tank 114 along the length direction;

[0237] A second steering wheel group 805 and a fourth caster group 804 are arranged on the second outer side of the fourth left storage slot 104; the second steering wheel group 805 is arranged on the fourth left storage slot 104 at a position opposite to the second caster group 802 through the extension portion 25 on the fourth left mounting portion 2041 of the fourth front frame 204; the fourth caster group 804 is arranged on the fourth left storage slot 104 at a position opposite to the first steering wheel group 803, specifically, the fourth caster group 804 can be fixed on the caster group mounting frame 806, and the caster group mounting frame 806 can be fixed on the fourth left outer storage frame 1042 of the fourth left storage slot 104 at a position opposite to the first steering wheel group 803.

[0238] In this Figure 39~Figure 42 In the figure, the steering wheel bridge 801 is installed on the seventh mounting frame groove 11422 on the fourth right outer storage frame 1142 of the fourth right storage slot 114; the second steering wheel group 805 is installed on the extension portion 25 on the fourth left mounting portion 2041 of the fourth front frame 204, and the fourth caster group 804 is installed on the fourth left storage slot 104 at a position opposite to the first steering wheel group 803.

[0239] In some examples, the embodiments of the present invention further provide a mobile robot, see Fig.46 and Fig.47 , Fig.46 To include Fig.39 The structural schematic diagram of the mobile robot chassis, the pallet support table and the mobile robot with narrow pallets shown; Fig.47 for Fig.46 An exploded view of the mobile robot is shown.

[0240] like Fig.46 and Fig.47 As shown, the mobile robot comprises: Figure 39~Figure 42 The mobile robot chassis, tray support table 3 and second tray 5 are shown; the tray support table 3 is fixedly connected to the fourth front frame 204, the fourth left storage tank 104 and the fourth right storage tank 114, and the second tray 5 is fixed to the side of the tray support table 3 facing away from the fourth front frame 204, the fourth left storage tank 104 and the fourth right storage tank 114.

[0241] In some embodiments, the chassis frame may be Figure 39~Figure 45The chassis frame is a mirror image of the chassis frame shown in the figure. At this time, the fourth left outer storage rack 1042 of the fourth left storage slot body 104 includes: an eleventh outer support vertical plate and an eighth installation frame groove extending outward from the eleventh outer support vertical plate in the width direction; the fourth left outer storage rack 1042 is formed by processing the second original support vertical plate 1221 and a second original bridge body installation frame groove 1222 of the second size original storage rack 122 retained by the second storage slot base body 1; in this way, the steering wheel bridge 801 can be installed on the eighth installation frame groove on the fourth left storage slot body 104 of the chassis frame;

[0242] The fourth left inner storage rack 1041 of the fourth left storage slot body 104 includes: an eleventh inner supporting vertical plate; the fourth left inner storage rack 1041 is formed by removing all the first original bridge body mounting frame grooves 1212 from the first storage slot base body 1; the fourth left storage slot body 104 only retains the original fixing plate 13 at one end of the first storage slot base body 1 to connect the fourth left outer storage rack 1042 and the fourth left inner storage rack 1041.

[0243] The fourth right inner storage rack of the fourth right storage slot body 114 includes: a twelfth inner support vertical plate; the fourth right inner storage rack is formed by removing all the first original bridge body mounting frame grooves 1212 of the second storage slot base body 1 and processing the second original support vertical plate 1221 of the second size original storage rack 122;

[0244] The fourth right outer storage rack of the fourth right storage slot body 114 includes: a twelfth outer supporting vertical plate; the fourth right outer storage rack is formed by removing all the second original bridge body mounting frame grooves 1222 from the second storage slot base 1; the fourth right storage slot body 114 only retains the original fixing plate 13 at one end of the second storage slot base 1 to connect the fourth right outer storage rack and the fourth right inner storage rack.

[0245] Correspondingly, the fourth front frame 204 is based on an adjustable connection structure, and is formed by processing a front frame base 2 into a size that is compatible with the second size, removing the caster mounting portion 24 of the front frame base 2 and retaining the extension portion 25 of the original right mounting portion 22. It is capable of installing a steering wheel bridge 801 on the outer side of the fourth left storage slot 104, and installing a fourth caster group 804 and a second steering wheel group 805 on the corresponding position on the other side.

[0246] Correspondingly, the moving mechanism may include: a steering wheel bridge 801 arranged on the first outer side of the fourth left storage slot 104; the steering wheel bridge 801 connects the first steering wheel group 803 at the first end of the fourth left storage slot 104 along the length direction, and the second caster group 802 at the second end of the fourth left storage slot 104 along the length direction; a second steering wheel group 805 and a fourth caster group 804 arranged on the second outer side of the fourth right storage slot 114; the second steering wheel group 805 is arranged at a position opposite to the second caster group 802 in the fourth right storage slot 114 through an extension portion 25 on the fourth right mounting portion 2042 of the fourth front frame 204; the fourth caster group 804 is arranged at a position opposite to the first steering wheel group 803 in the fourth right storage slot 114.

[0247] At this time, the steering wheel bridge 801 is installed on the eighth mounting frame groove 11422 on the fourth left outer storage frame 1042 of the fourth left storage slot 104; the second steering wheel group 805 is installed on the extension portion 25 on the fourth right mounting portion 2042 of the fourth front frame 204, and the fourth caster group 804 is installed on the fourth right storage slot 114 at a position opposite to the first steering wheel group 803.

[0248] In addition, the embodiment of the present application also provides a chassis frame production method for producing any of the aforementioned chassis frames; the method comprises:

[0249] Step 1: Prepare at least two storage slot bases and at least one front frame base;

[0250] Step 2: According to the target driving form and target size, the two receiving slot base bodies are processed respectively to obtain a left receiving slot body and a right receiving slot body;

[0251] Step 3: processing a front frame substrate according to the target driving form and target size to obtain the front frame;

[0252] Step 4: The front frame is detachably mounted on the first end of the left storage tank along the length direction of the frame and the first end of the right storage tank along the length direction of the frame to obtain a target chassis frame.

[0253] According to the chassis frame production method provided in the embodiment of the present application, a universal storage slot base and a universal front frame base are first prepared through split mold opening; then, the storage slot base and the front frame base are partially fine-processed to form a variety of storage slots and front frames with different structures; finally, the various storage slots and front frames after fine-processing are spliced ​​in different combinations to form a variety of chassis frame structures that can adapt to mobile robot chassis with different drive forms and different sizes.

[0254] Compared with ordinary one-piece welded frames or split welded frames, the structural design is more flexible, the load adaptability is stronger, the drive layout has a wider range of applications, the reuse rate of open mold parts is higher, and the overall development cost is lower.

[0255] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article 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, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0256] Each embodiment in this specification is described in a related 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 base and chassis embodiments, since they are basically similar to the mobile robot chassis frame embodiments, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment.

[0257] The above description is only a preferred embodiment of the present application and is not intended to limit the protection scope of the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application are included in the protection scope of the present application.

Claims

1. A mobile robot chassis frame, characterized in that: The chassis frame comprises: a left storage tank (100), a right storage tank (110) and a front frame (200); The left storage slot (100) and the right storage slot (110) are arranged relatively spaced apart in the width direction of the frame and are detachably connected via the front frame (200); the front frame (200) is mounted on a first end of the left storage slot (100) in the length direction of the frame and a first end of the right storage slot (110) in the length direction of the frame; The left storage slot body (100) is integrally formed and has a first storage slot (1004) along the length direction of the frame; The right storage slot body (110) is integrally formed and has a second storage slot (1104) along the length direction of the frame; The front frame (200) is integrally formed and straddles the tops of the first ends of the left storage tank (100) and the right storage tank (110), and is used to fix and isolate the left storage tank (100) and the right storage tank (110); The left storage slot body (100) and the right storage slot body (110) are obtained by processing an integrally formed storage slot base body (1) according to target drive forms and sizes; the storage slot base body (1) comprises installation and connection structures for storage slots set for various drive forms and sizes; The front frame (200) is obtained by processing an integrally formed front frame base (2) according to a target drive form and size; the front frame base (2) comprises a mounting and connection structure for the front frame (200) set for a variety of drive forms and sizes.

2. The mobile robot chassis frame according to claim 1, characterized in that: The storage slot base (1) comprises: two original storage racks (12) arranged at a relative interval in the width direction, and original fixing plates (13) at both ends of the two original storage racks (12), forming an original storage slot (14); the two original storage racks (12) and the two original fixing plates (13) include installation and connection structures for storage slots set for various drive forms and sizes; The front frame base (2) comprises: an original left mounting portion (21), an original isolating portion (23) and an original right mounting portion (22) which are connected to each other; the original left mounting portion (21), the original isolating portion (23) and the original right mounting portion (22) contain mounting and connection structures for front frames (200) arranged in accordance with various drive forms and sizes.

3. The mobile robot chassis frame according to claim 2, characterized in that: The left storage slot body (100) comprises: two original storage racks (12) of a storage slot base body (1) are processed respectively according to the target driving form and size to form a left inner storage rack (1001) and a left outer storage rack (1002); and original fixing plates (13) at both ends are processed respectively to form a left storage slot body fixing plate (1003) connecting the left inner storage rack (1001) and the left outer storage rack (1002); the left inner storage rack (1001), the left outer storage rack (1002) and the left storage slot body fixing plate (1003) form the first storage slot (1004); The right storage slot body (110) comprises: two original storage racks (12) of another storage slot base body (1) are processed respectively according to the target driving form and size to form a right inner storage rack (1101) and a right outer storage rack (1102); and original fixing plates (13) at both ends are processed respectively to form a right storage slot body fixing plate (1103) connecting the right inner storage rack (1101) and the right outer storage rack (1102); the right inner storage rack (1101), the right outer storage rack (1102) and the fixing plate of the right storage slot body (1103) form the second storage slot (1104); The front frame (200) comprises: a left mounting portion (2001), a right mounting portion (2003) and a separation portion (2002) located between the left mounting portion (2001) and the right mounting portion (2003) are formed by processing the original left mounting portion (21), the original separation portion (23) and the original right mounting portion (22) of the front frame base (2) according to a target driving form and size; the left mounting portion (2001) covers the top of the first end of the left storage slot (100); the right mounting portion (2003) covers the top of the first end of the right storage slot (110); and the separation portion (2002) is located between the left storage slot (100) and the right storage slot (110) to separate and fix the left storage slot (100) and the right storage slot (110).

4. The mobile robot chassis frame according to claim 2, characterized in that: The two original storage racks (12) of the storage slot base (1) are: an original storage rack (121) of a first size located on a first side of the original storage slot (14) of the storage slot base (1), and an original storage rack (122) of a second size located on a second side of the original storage slot (14) of the storage slot base (1); The first-size original storage rack (121) is provided with a first original support vertical plate (1211) arranged along the length direction of the storage slot base (1) and a plurality of first original bridge body installation frame grooves (1212) arranged adjacent to each other and extending outward from the first original support vertical plate (1211) in the width direction, wherein the first original bridge body installation frame grooves (1212) are used for installing a drive axle or a steering wheel axle (801) after processing; The second-size original storage rack (122) is provided with a second original support vertical plate (1221) arranged along the length direction of the storage slot base (1) and a plurality of second original bridge body installation frame grooves (1222) arranged adjacent to each other and extending outward from the second original support vertical plate (1221) in the width direction, wherein the second original bridge body installation frame grooves (1222) are used for installing a drive axle or a steering wheel axle (801) after processing; The width of the second original bridge body installation frame groove (1222) extending out of the second original support vertical plate (1221) is different from the width of the first original bridge body installation frame groove (1212) extending out of the first original support vertical plate (1211); The driving bridge is a first connecting bridge connecting the driving wheel set (605) and the first caster set (604) in a differential drive mode; the steering wheel bridge (801) is a second connecting bridge connecting the first steering wheel set (803) and the second caster set (802) in an omnidirectional drive mode; The original left mounting portion (21) and the original right mounting portion (22) of the front frame base (2) are both provided with adjustable connection structures so as to make the front frame (200) compatible with the first size and the second size.

5. The mobile robot chassis frame according to claim 4, characterized in that: The first-size original storage rack (121) further comprises: a first step (1213) arranged on a side facing the original storage slot (14), a plurality of first reinforcing ribs (1214) at the bottom of the first step (1213), and a second reinforcing rib (1215) arranged on a side away from the original storage slot (14); wherein the first step (1213) is located on a side of the first-size original storage rack (121) close to the second-size original storage rack (122); the first reinforcing rib (1214) and the second reinforcing rib (1215) are perpendicular to the length direction of the first-size original storage rack (121) and are arranged on both sides of the length direction of the first-size original storage rack (121); the first reinforcing rib (1214) is arranged on the first step (1213), and the first reinforcing rib (1214) and the second reinforcing rib (1215) have different sizes.

6. The mobile robot chassis frame according to claim 5, characterized in that: Each of the first original bridge body installation frame grooves (1212) extends outward from the middle position of the first original support vertical plate (1211); a first connecting bottom plate (1216) is provided at the bottom of the first original support vertical plate (1211), and each of the first original bridge body installation frame grooves (1212) is fixedly connected to the first connecting bottom plate (1216) and the first original support vertical plate (1211); each of the first original bridge body installation frame grooves (1212) is connected as a whole, including a plurality of first connecting frames (12121) and two first connecting grooves (12122) parallel to the length direction of the first original support vertical plate (1211).

7. The mobile robot chassis frame according to claim 4, characterized in that: The second-size original storage rack (122) further comprises: a second step (1223) arranged on a side facing the original storage slot (14), a third reinforcing rib (1224) at the bottom of the second step (1223), and a fourth reinforcing rib (1225) arranged on a side away from the original storage slot (14); wherein the second step (1223) is located on a side of the second-size original storage rack (122) close to the first-size original storage rack (121); the third reinforcing rib (1224) and the fourth reinforcing rib (1225) are perpendicular to the length direction of the second-size original storage rack (122) and are arranged on both sides of the length direction of the second-size original storage rack (122); the third reinforcing rib (1224) is arranged on the second step (1223); and the third reinforcing rib (1224) and the fourth reinforcing rib (1225) have different sizes.

8. The mobile robot chassis frame according to claim 7, characterized in that: Each of the second original bridge body installation frame grooves (1222) extends outward from the middle position of the second original support vertical plate (1221); a second connecting bottom plate (1226) is provided at the bottom of the second original support vertical plate (1221), and each of the second original bridge body installation frame grooves (1222) is fixedly connected to the second connecting bottom plate (1226) and the second original support vertical plate (1221); each of the second original bridge body installation frame grooves (1222) is connected as a whole, including a plurality of second connecting frames (12221) and two second connecting grooves (12222) parallel to the length direction of the second original support vertical plate (1221).

9. The mobile robot chassis frame according to claim 4, characterized in that: A connecting rib plate (131) is provided inside the original receiving groove (14); the connecting rib plate (131) extends along the inner wall of the original receiving groove (14) toward the center of the original receiving groove (14), and the connecting rib plate (131) is connected to the original fixing plate (13), the first original supporting vertical plate (1211), and the second original supporting vertical plate (1221) at both ends of the original receiving groove (14).

10. The mobile robot chassis frame according to claim 4, characterized in that: The original isolation portion (23) of the front frame base (2) is provided with a caster mounting portion (24) extending outwardly along the length direction of the vehicle body; the caster mounting portion (24) is used to mount a third caster set (606) in a differential drive mode; An extension portion (25) is also provided at one end of the original left mounting portion (21) or the original right mounting portion (22) of the front frame base (2) away from the original isolation portion (23), and the extension portion (25) is used to mount a second steering wheel assembly (805) in an omnidirectional drive mode.

11. The mobile robot chassis frame according to claim 10, characterized in that: When the target drive form of the chassis frame is a differential drive form and the target size is a first size, the left outer storage rack (1002) of the left storage slot body (100) comprises: a first outer support vertical plate (10121), and a first mounting frame groove (10122) extending outward in the width direction from the first outer support vertical plate (10121); the left outer storage rack (1002) is formed by processing the first storage slot base body (1) to retain the first original support vertical plate (1211) of the first size original storage rack (121) and a first original bridge body mounting frame groove (1212); The left inner storage rack (1001) of the left storage slot body (100) comprises: a first inner support vertical plate (10111); the left inner storage rack (1001) is formed by removing all the second original bridge body mounting frame grooves (1222) from the first storage slot base body (1) and then processing; the left storage slot body (100) only retains the original fixing plate (13) at one end of the first storage slot base body (1) to connect the left outer storage rack (1002) and the left inner storage rack (1001); The right outer storage rack (1102) of the right storage slot body (110) comprises: a second outer support vertical plate (11121) and a second mounting frame groove (11122) extending outward in the width direction from the second outer support vertical plate (11121); the right outer storage rack (1102) is formed by processing the first original support vertical plate (1211) and a first original bridge body mounting frame groove (1212) of the first size original storage rack (121) retained by the second storage slot base body (1); The right inner storage rack (1101) of the right storage slot body (110) comprises: a second inner support vertical plate (11111); the right inner storage rack (1101) is formed by removing all the second original bridge body mounting frame grooves (1222) from the second storage slot base body (1) and then processing; the right storage slot body (110) only retains the original fixing plate (13) at one end of the second storage slot base body (1) to connect the right outer storage rack (1102) and the right inner storage rack (1101); The left storage slot (100) and the right storage slot (110) are symmetrical with respect to the central axis in the length direction of the frame; the first installation frame slot (10122) and the second installation frame slot (11122) are respectively used for symmetrically installing the drive axle.

12. The mobile robot chassis frame according to claim 11, characterized in that: The front frame (200) is based on the adjustable connection structure, is formed by processing a front frame base (2) into a size that matches the first size, removing the extension portion (25) of the front frame base (2) and retaining the caster mounting portion (24), and is capable of mounting a third caster set (606).

13. The mobile robot chassis frame according to claim 12, characterized in that: The adjustable connection structure of the original left mounting portion (21) and the original right mounting portion (22) of the front frame base (2) comprises: a strip boss (26) arranged along the width direction of the frame, wherein the strip boss (26) is used for processing mounting through holes corresponding to different sizes; The tops of the left mounting portion (2001) and the right mounting portion (2003) of the front frame (200) are provided with mounting through holes corresponding to the first size processed by the strip-shaped boss (26), and the mounting through holes are through holes arranged at positions away from the central axis of the length direction of the frame along the width direction; The left storage slot body (100) is fixedly connected to the left mounting portion (2001) via a mounting through hole on the left mounting portion (2001), and the right storage slot body (110) is fixedly connected to the right mounting portion (2003) via a mounting through hole on the right mounting portion (2003).

14. The mobile robot chassis frame according to claim 10, characterized in that: When the target drive mode of the vehicle frame is a differential drive mode and the target size is a second size, the left outer storage rack (1002) of the left storage slot body (100) comprises: a third outer support vertical plate (10221) and a third mounting frame groove (10222) extending outward from the third outer support vertical plate (10221) in the width direction; the left outer storage rack (1002) is formed by processing the first storage slot base body (1) to retain the second original support vertical plate (1221) of the second size original storage rack (122) and a second original bridge body mounting frame groove (1222); The left inner storage rack (1001) of the left storage slot body (100) comprises: a third inner support vertical plate (10211); the left inner storage rack (1001) is formed by removing all the first original bridge body installation frame grooves (1212) from the first storage slot base body (1) and then processing; the left storage slot body (100) only retains the original fixing plate (13) at one end of the first storage slot base body (1) to connect the left outer storage rack (1002) and the left inner storage rack (1001); The right outer storage rack (1102) of the right storage slot body (110) comprises: a fourth outer support vertical plate (11221) and a fourth mounting frame groove (11222) extending outward from the fourth outer support vertical plate (11221) in the width direction; the right outer storage rack (1102) is formed by processing the second storage slot base body (1) to retain the second original support vertical plate (1221) of the second size original storage rack (122) and a second original bridge body mounting frame groove (1222); The right inner storage rack (1101) of the right storage slot body (110) comprises: a fourth inner support vertical plate (11211); the right inner storage rack (1101) is formed by removing all the first original bridge body installation frame grooves (1212) from the second storage slot base body (1) and then processing; the right storage slot body (110) only retains the original fixing plate (13) at one end of the second storage slot base body (1) to connect the right outer storage rack (1102) and the right inner storage rack (1101); The left storage slot (100) and the right storage slot (110) are symmetrical with respect to the central axis in the length direction of the frame; the third installation frame slot (10222) and the fourth installation frame slot (11222) are respectively used for symmetrically installing the drive axle.

15. The mobile robot chassis frame according to claim 14, characterized in that: The front frame (200) is based on the adjustable connection structure, is formed by processing a front frame base (2) into a size that matches the second size, removing the extension portion (25) of the front frame base (2) and retaining the caster mounting portion (24), and is a front frame capable of mounting a third caster set (606).

16. The mobile robot chassis frame according to claim 15, characterized in that: The adjustable connection structure of the original left mounting portion (21) and the original right mounting portion (22) of the front frame base (2) comprises: a strip boss (26) arranged along the width direction of the frame, wherein the strip boss (26) is used for processing mounting through holes corresponding to different sizes; The tops of the left mounting portion (2001) and the right mounting portion (2003) of the front frame (200) are provided with mounting through holes corresponding to the second size processed by the strip-shaped boss (26), and the mounting through holes are through holes arranged at positions close to the central axis of the length direction of the frame along the width direction; The left storage slot body (100) is fixedly connected to the left mounting portion (2001) via a mounting through hole on the left mounting portion (2001), and the right storage slot body (110) is fixedly connected to the right mounting portion (2003) via a mounting through hole on the right mounting portion (2003).

17. The mobile robot chassis frame according to claim 10, characterized in that: When the target driving mode of the frame is an omnidirectional driving mode and the target size is a first size, The left outer storage rack (1002) of the left storage slot body (100) comprises: a fifth outer support vertical plate (10321); the left outer storage rack (1002) is formed by removing all first original bridge body mounting frame grooves (1212) from the first storage slot base body (1) and post-processing the first original support vertical plate (1211) of the first size original storage rack (121); The left inner storage rack (1001) of the left storage slot body (100) comprises: a fifth inner support vertical plate (10311); the left inner storage rack (1001) is formed by removing all the second original bridge body mounting frame grooves (1222) from the first storage slot base body (1) and then processing; the left storage slot body (100) only retains the original fixing plate (13) at one end of the first storage slot base body (1) to connect the left outer storage rack (1002) and the left inner storage rack (1001); The right outer storage rack (1102) of the right storage slot body (110) comprises: a sixth outer support vertical plate (11321) and a fifth installation frame groove (11322) extending outward from the sixth outer support vertical plate (11321) in the width direction; the right outer storage rack (1102) is formed by processing the first original support vertical plate (1211) and a first original bridge body installation frame groove (1212) of the first size original storage rack (121) retained by the second storage slot base body (1); the fifth installation frame groove (11322) is used for installing the steering wheel bridge (801); The right inner storage rack (1101) of the right storage slot body (110) comprises: a sixth inner support vertical plate (11311); the right inner storage rack (1101) is formed by removing all the second original bridge body mounting frame grooves (1222) from the second storage slot base body (1) and then processing; the right storage slot body (110) only retains the original fixing plate (13) at one end of the second storage slot base body (1) to connect the right outer storage rack (1102) and the right inner storage rack (1101); The front frame (200) is based on the adjustable connection structure, and is formed by processing a front frame base (2) into a size that matches the first size, removing the caster mounting portion (24) of the front frame base (2) and retaining the extension portion (25) of the original left mounting portion (21) and then processing the front frame, so that a steering wheel bridge (801) can be installed on the outer side of the right storage tank (110), and a fourth caster group (804) and a second steering wheel group (805) can be installed at corresponding positions on the other side.

18. The mobile robot chassis frame according to claim 10, characterized in that: When the target driving mode of the frame is an omnidirectional driving mode and the target size is a first size, The left outer storage rack (1002) of the left storage slot body (100) comprises: a seventh outer support vertical plate and a sixth mounting frame groove extending outward from the seventh outer support vertical plate in the width direction; the left outer storage rack (1002) is formed by processing the first original support vertical plate (1211) of the first storage slot base body (1) retaining the first size of the original storage rack (121) and a first original bridge body mounting frame groove (1212); the sixth mounting frame groove is used to install the steering wheel bridge (801); The left inner storage rack (1001) of the left storage slot body (100) comprises: a seventh inner support vertical plate; the left inner storage rack (1001) is formed by removing all the second original bridge body mounting frame grooves (1222) from the first storage slot base body (1) and then processing; the left storage slot body (100) only retains the original fixing plate (13) at one end of the second storage slot base body (1) to connect the right outer storage rack (1102) and the right inner storage rack (1101); The right inner storage rack (1101) of the right storage slot body (110) comprises: an eighth inner support vertical plate; the right inner storage rack (1101) is formed by removing all second original bridge body mounting frame grooves (1222) from the second storage slot base body (1) and post-processing the second original support vertical plate (1221) of the second size original storage rack (122); The right outer storage rack (1102) of the right storage slot body (110) comprises: an eighth outer support vertical plate; the right outer storage rack (1102) is formed by removing all the first original bridge body mounting frame grooves (1212) from the second storage slot base body (1) and then processing; the right storage slot body (110) only retains the original fixing plate (13) at one end of the second storage slot base body (1) to connect the right outer storage rack (1102) and the right inner storage rack (1101); The front frame (200) is based on the adjustable connection structure, and is formed by processing a front frame base (2) into a size that matches the first size, removing the caster mounting portion (24) of the front frame base (2) and retaining the extension portion (25) of the original right mounting portion (22), and is capable of installing a steering wheel bridge (801) on the outer side of the left storage tank (100), and installing a fourth caster group (804) and a second steering wheel group (805) at corresponding positions on the other side.

19. The mobile robot chassis frame according to claim 17 or 18, characterized in that: The adjustable connection structure of the original left mounting portion (21) and the original right mounting portion (22) of the front frame base (2) comprises: a strip boss (26) arranged along the width direction of the frame, wherein the strip boss (26) is used for processing mounting through holes corresponding to different sizes; The tops of the left mounting portion (2001) and the right mounting portion (2003) of the front frame (200) are provided with mounting through holes corresponding to the first size processed by the strip-shaped boss (26), and the mounting through holes are through holes arranged at positions away from the central axis of the length direction of the frame along the width direction; The left storage slot body (100) is fixedly connected to the left mounting portion (2001) via a mounting through hole on the left mounting portion (2001), and the right storage slot body (110) is fixedly connected to the right mounting portion (2003) via a mounting through hole on the right mounting portion (2003).

20. The mobile robot chassis frame according to claim 10, characterized in that: When the target driving mode of the frame is an omnidirectional driving mode and the target size is a second size, The left outer storage rack (1002) of the left storage slot body (100) comprises: a ninth outer support vertical plate (10421); the left outer storage rack (1002) is formed by removing all second original bridge body mounting frame grooves (1222) from the first storage slot base body (1) and post-processing the second original support vertical plate (1221) of the second size original storage rack (122); The left inner storage rack (1001) of the left storage slot body (100) comprises: a ninth inner support vertical plate (10411); the left inner storage rack (1001) is formed by removing all the first original bridge body mounting frame grooves (1212) from the first storage slot base body (1) and then processing; the left storage slot body (100) only retains the original fixing plate (13) at one end of the first storage slot base body (1) to connect the left outer storage rack (1002) and the left inner storage rack (1001); The right outer storage rack (1102) of the right storage slot body (110) comprises: a tenth outer support vertical plate (11421) and a seventh mounting frame groove (11422) extending outward from the tenth outer support vertical plate (11421) in the width direction; the right outer storage rack (1102) is formed by processing the second storage slot base body (1) to retain the second original support vertical plate (1221) of the second size original storage rack (122) and a second original bridge body mounting frame groove (1222); the seventh mounting frame groove (11422) is used to install the steering wheel bridge (801); The right inner storage rack (1101) of the right storage slot body (110) comprises: a tenth inner support vertical plate (11411); the right inner storage rack (1101) is formed by removing all the first original bridge body installation frame grooves (1212) from the second storage slot base body (1) and then processing; the right storage slot body (110) only retains the original fixing plate (13) at one end of the second storage slot base body (1) to connect the right outer storage rack (1102) and the right inner storage rack (1101); The front frame (200) is formed based on the adjustable connection structure by processing a front frame base (2) into a size that matches the second size, removing the caster mounting portion (24) of the front frame base (2) and retaining the extension portion (25) of the original left mounting portion (21), and is capable of installing a steering wheel bridge (801) on the outside of the right storage tank (110), and installing a fourth caster group (804) and a second steering wheel group (805) at corresponding positions on the other side.

21. The mobile robot chassis frame according to claim 10, characterized in that: When the target driving mode of the frame is an omnidirectional driving mode and the target size is a second size, The left outer storage rack (1002) of the left storage slot body (100) comprises: an eleventh outer support vertical plate and an eighth mounting frame groove extending outward from the eleventh outer support vertical plate in the width direction; the left outer storage rack (1002) is formed by processing the second storage slot base body (1) to retain the second original support vertical plate (1221) of the second size original storage rack (122) and a second original bridge body mounting frame groove (1222); the eighth mounting frame groove is used to mount the steering wheel bridge (801); The left inner storage rack (1001) of the left storage slot body (100) comprises: an eleventh inner supporting vertical plate; the left inner storage rack (1001) is formed by removing all the first original bridge body mounting frame grooves (1212) from the first storage slot base body (1) and then processing; the left storage slot body (100) only retains the original fixing plate (13) at one end of the first storage slot base body (1) to connect the left outer storage rack (1002) and the left inner storage rack (1001); The right inner storage rack (1101) of the right storage slot body (110) comprises: a twelfth inner support vertical plate; the right inner storage rack (1101) is formed by removing all first original bridge body installation frame grooves (1212) from the second storage slot base body (1) and processing the second original support vertical plate (1221) of the second size original storage rack (122); The right outer storage rack (1102) of the right storage slot body (110) comprises: a twelfth outer support vertical plate; the right outer storage rack (1102) is formed by removing all the second original bridge body mounting frame grooves (1222) from the second storage slot base body (1) and then processing; the right storage slot body (110) only retains the original fixing plate (13) at one end of the second storage slot base body (1) to connect the right outer storage rack (1102) and the right inner storage rack (1101). The front frame (200) is formed based on the adjustable connection structure by processing a front frame base (2) into a size that matches the second size, removing the caster mounting portion (24) of the front frame base (2) and retaining the extension portion (25) of the original right mounting portion (22), and is capable of installing a steering wheel bridge (801) on the outer side of the left storage tank (100), and installing a fourth caster group (804) and a second steering wheel group (805) at corresponding positions on the other side.

22. The mobile robot chassis frame according to claim 20 or 21, characterized in that: The adjustable connection structure of the original left mounting portion (21) and the original right mounting portion (22) of the front frame base (2) comprises: a strip boss (26) arranged along the width direction of the frame, wherein the strip boss (26) is used for processing mounting through holes corresponding to different sizes; The tops of the left mounting portion (2001) and the right mounting portion (2003) of the front frame (200) are provided with mounting through holes corresponding to the first size, which are processed by the strip-shaped boss (26) and are arranged at positions away from the central axis of the frame in the length direction along the width direction; The left storage slot body (100) is fixedly connected to the left mounting portion (2001) via a mounting through hole on the left mounting portion (2001), and the right storage slot body (110) is fixedly connected to the right mounting portion (2003) via a mounting through hole on the right mounting portion (2003).

23. A frame matrix, characterized in that: The frame base comprises: a storage slot base (1) and a front frame base (2); The storage slot base (1) comprises a mounting and connection structure for storage slots arranged in accordance with various drive forms and sizes; and is used to form the left storage slot and the right storage slot as described in any one of claims 1 to 22 after being processed; The front frame base (2) comprises a mounting and connection structure for a front frame (200) arranged for a variety of drive forms and sizes; and is used to be processed to form the front frame (200) described in any one of claims 1 to 22.

24. The frame base according to claim 23, characterized in that: The storage slot base (1) comprises: two original storage racks (12) arranged at a relative interval in the width direction, and original fixing plates (13) at both ends of the two original storage racks (12), forming an original storage slot (14); the two original storage racks (12) and the two original fixing plates (13) include installation and connection structures for storage slots set for various drive forms and sizes; The front frame base (2) comprises: an original left mounting portion (21), an original isolating portion (23) and an original right mounting portion (22) which are connected to each other; the original left mounting portion (21), the original isolating portion (23) and the original right mounting portion (22) contain mounting and connection structures for front frames (200) arranged in accordance with various drive forms and sizes.

25. The frame base according to claim 24, characterized in that: The two original storage racks (12) of the storage slot base (1) are: an original storage rack (121) of a first size located on a first side of the original storage slot (14) of the storage slot base (1), and an original storage rack (122) of a second size located on a second side of the original storage slot (14) of the storage slot base (1); The first-size original storage rack (121) is provided with a first original support vertical plate (1211) arranged along the length direction of the storage slot base (1) and a plurality of first original bridge body installation frame grooves (1212) arranged adjacent to each other and extending outward from the first original support vertical plate (1211) in the width direction, wherein the first original bridge body installation frame grooves (1212) are used for installing a drive axle or a steering wheel axle (801) after processing; The second-size original storage rack (122) is provided with a second original support vertical plate (1221) arranged along the length direction of the storage slot base (1) and a plurality of second original bridge body installation frame grooves (1222) arranged adjacent to each other and extending outward from the second original support vertical plate (1221) in the width direction, wherein the second original bridge body installation frame grooves (1222) are used for installing a drive axle or a steering wheel axle (801) after processing; The width of the second original bridge body installation frame groove (1222) extending out of the second original support vertical plate (1221) is different from the width of the first original bridge body installation frame groove (1212) extending out of the first original support vertical plate (1211); The driving bridge is a first connecting bridge connecting the driving wheel set (605) and the first caster set (604) in a differential drive mode; the steering wheel bridge (801) is a second connecting bridge connecting the first steering wheel set (803) and the second caster set (802) in an omnidirectional drive mode; The original left mounting portion (21) and the original right mounting portion (22) of the front frame base (2) are both provided with adjustable connection structures so as to make the front frame (200) compatible with the first size and the second size.

26. The frame base according to claim 25, characterized in that: The original isolation portion (23) of the front frame base (2) is provided with a caster mounting portion (24) extending outwardly along the length direction of the vehicle body; the caster mounting portion (24) is used to mount a third caster set (606) in a differential drive mode; An extension portion (25) is also provided at one end of the original left mounting portion (21) or the original right mounting portion (22) of the front frame base (2) away from the original isolation portion (23), and the extension portion (25) is used to mount a second steering wheel assembly (805) in an omnidirectional drive mode.

27. A mobile robot chassis, characterized in that: include: The chassis frame and moving mechanism as described in any one of claims 1 to 22.

28. The mobile robot chassis according to claim 27, characterized in that: The moving mechanism is in a differential drive form or an omnidirectional drive form.

29. The mobile robot chassis according to claim 28, characterized in that: The front frame (200) is further provided with a caster mounting portion (24); The moving mechanism is in the form of differential drive, comprising: Two drive bridges are symmetrically arranged on the outside of the left storage trough (100) and the right storage trough (110); each of the drive bridges connects a drive wheel set (605) located in the middle of the outside of the left storage trough (100) or the right storage trough (110) and a first caster wheel set (604) located at the second end of the left storage trough (100) or the right storage trough (110); And a third caster set (606) arranged on the caster mounting portion (24) of the front frame (200).

30. The mobile robot chassis according to claim 28, characterized in that: The left mounting portion (2001) or the right mounting portion (2003) of the front frame (200) is further provided with an extension portion (25); The mobile mechanism is an omnidirectional drive, comprising: A steering wheel bridge (801) is arranged on the first outer side of the left storage tank (100) or the right storage tank (110); the steering wheel bridge (801) connects a first steering wheel group (803) at a first end of the left storage tank (100) or the right storage tank (110) along the length direction and a second caster group (802) at a second end of the left storage tank (100) or the right storage tank (110) along the length direction; A second steering wheel group (805) and a fourth caster group (804) are arranged on the second outer side of the left storage trough (100) or the right storage trough (110); the second steering wheel group (805) is arranged at a position of the left storage trough (100) or the right storage trough (110) relative to the second caster group (802) through the extension portion (25); and the fourth caster group (804) is arranged at a position of the left storage trough (100) or the right storage trough (110) relative to the first steering wheel group (803).

31. A chassis frame production method, characterized in that: Used to produce the chassis frame according to any one of claims 1 to 22; the method comprises: Prepare at least two storage slot bases and at least one front frame base; According to the target driving form and target size, the two receiving slot base bodies are processed respectively to obtain a left receiving slot body and a right receiving slot body; According to the target driving form and target size, a front frame substrate is processed to obtain the front frame; The front frame is detachably mounted on the first end of the left storage tank body along the length direction of the frame and the first end of the right storage tank body along the length direction of the frame to obtain a target chassis frame.

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