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

Abstract

The embodiment of the present application provides a mobile robot chassis frame, a base body, a chassis, and a production method of the chassis frame. The chassis frame includes a left storage groove body and a right storage groove body that are relatively spaced apart along the width direction of the frame, and a front frame that straddles the top of the first ends of the left and right storage groove bodies. The left and right storage groove bodies are obtained by processing a storage groove matrix formed integrally and including storage grooves set for various driving forms and sizes according to the target driving form and size. The front frame is obtained by processing a front frame matrix formed integrally and including front frames set for various driving forms and sizes according to the target driving form and size. Therefore, only one mold for producing the storage groove matrix and one mold for producing the front frame matrix are needed for the storage groove matrix and the front frame matrix, instead of using different molds for the storage grooves and front frames with different driving forms and sizes respectively. Therefore, the production cost of the chassis frame can be reduced.

Description

Technical Field

[0001] This application relates to the technical field of warehousing logistics, and particularly to a mobile robot chassis frame, a base body, a chassis, and a production method of the chassis frame. Background Art

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

[0003] However, for the chassis frames of different sizes used in different mobile robots, mold opening needs to be carried out separately, and then the molds corresponding to the chassis frames of different sizes are used to produce the corresponding chassis frames. However, due to the high cost of mold opening, in the prior art, using different molds to produce different chassis frames will result in a high production cost of the chassis frames. Summary of the Invention

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

[0005] In a first aspect, an embodiment of the present invention provides a mobile robot chassis frame, which includes: a front frame, a left receiving groove body, and a right receiving groove body;

[0006] The left receiving groove body and the right receiving groove body are relatively spaced apart along the width direction of the frame and are detachably connected by the front frame; the front frame is installed at the first end of the left receiving groove body along the length direction of the frame and the first end of the right receiving groove body along the length direction of the frame;

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

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

[0009] The front frame is integrally formed and straddles the top of the first ends of the left receiving groove body and the right receiving groove body for fixing and isolating the left receiving groove body and the right receiving groove body;

[0010] The left receiving groove body and the right receiving groove body are obtained by processing an integrally formed receiving groove base body according to the target driving form and size; the receiving groove base body includes the installation and connection structures of the receiving grooves set for various driving forms and sizes;

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

[0012] In a second aspect, an embodiment of the present invention provides a frame base body, which includes: a storage groove base body and a front frame base body;

[0013] The storage groove base body includes an installation and connection structure for storage grooves set for various drive forms and sizes; after being processed, it is used to form the left storage groove and the right storage groove in any one of the above first aspects;

[0014] The front frame base body includes an installation and connection structure for the front frame set for various drive forms and sizes; after being processed, it is used to form the front frame in any one of the above first aspects.

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

[0016] In a fourth aspect, an embodiment of the present invention provides a method for manufacturing a chassis frame, which is used to manufacture the chassis frame in any one of the above first aspects; the method includes:

[0017] Preparing at least two storage groove base bodies and at least one front frame base body;

[0018] Processing the two storage groove base bodies respectively according to the target drive form and target size to obtain a left storage groove body and a right storage groove body;

[0019] Processing one front frame base body according to the target drive form and target size to obtain a front frame;

[0020] Detachably installing the front frame at the first ends of the left storage groove body and the right storage groove body along the length direction of the frame to obtain a target chassis frame.

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

[0022] A mobile robot chassis frame, a base body, a chassis, and a method for manufacturing a chassis frame provided by an embodiment of the present application. The chassis frame includes a front frame, a left storage groove body, and a right storage groove body. The left storage groove body and the right storage groove body are relatively spaced apart along the width direction of the frame and are detachably connected by the front frame. The front frame is installed at the first end of the left storage groove body along the length direction of the frame and the first end of the right storage groove body along the length direction of the frame. The left storage groove body is integrally formed and has a first storage groove along the length direction of the frame. The right storage groove body is integrally formed and has a second storage groove along the length direction of the frame. The front frame is integrally formed and straddles the tops of the first ends of the left storage groove body and the right storage groove body for fixing and isolating the left storage groove body and the right storage groove body. Since the left storage groove body and the right storage groove body are obtained by processing an integrally formed storage groove base body according to a target drive form and size, and the storage groove base body includes installation and connection structures for storage grooves set for multiple drive forms and sizes. The front frame is obtained by processing an integrally formed front frame base body according to a target drive form and size, and the front frame base body includes installation and connection structures for the front frame set for multiple drive forms and sizes.

[0023] Therefore, only one mold for manufacturing the storage groove base body and one mold for manufacturing the front frame base body are needed for the storage groove base body and the front frame base body, instead of using different molds for storage grooves of different drive forms and sizes and front frames of different drive forms and sizes respectively, which can reduce the production cost of the chassis frame. Of course, it is not necessary for any product or method implementing the present application to achieve all the above-mentioned advantages simultaneously. Description of the Drawings

[0024] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the drawings in the following description are only some embodiments of the present application, and those of ordinary skill in the art can also obtain other embodiments based on these drawings.

[0025] Figure 1 A schematic exploded view of the chassis frame provided by an embodiment of the present invention;

[0026] Figure 2 A three-dimensional structural schematic diagram of the storage groove base body of the mobile robot chassis frame according to an embodiment of the present invention from a first perspective;

[0027] Figure 3 A three-dimensional structural schematic diagram of the storage groove base body of the mobile robot chassis frame according to an embodiment of the present invention from a second perspective;

[0028] Figure 4Schematic diagram of the three - dimensional structure of the receiving groove matrix of the mobile robot chassis frame according to an embodiment of the present invention from the third perspective;

[0029] Figure 5 Schematic diagram of the three - dimensional structure of the receiving groove matrix of the mobile robot chassis frame according to an embodiment of the present invention from the fourth perspective;

[0030] Figure 6 Schematic diagram of the structure of the bottom view of the receiving groove matrix of the mobile robot chassis frame according to an embodiment of the present invention;

[0031] Figure 7 Schematic diagram of the structure of the top view of the receiving groove matrix of the mobile robot chassis frame according to an embodiment of the present invention;

[0032] Figure 8 is Figure 7 A - A cross - sectional view of the top view shown;

[0033] Figure 9 Schematic diagram of the three - dimensional structure of the front frame matrix of the mobile robot chassis frame according to an embodiment of the present invention from the first perspective;

[0034] Figure 10 Schematic diagram of the three - dimensional structure of the front frame matrix of the mobile robot chassis frame according to an embodiment of the present invention from the second perspective;

[0035] Figure 11 Schematic diagram of the structure of the front view of the front frame matrix of the mobile robot chassis frame according to an embodiment of the present invention;

[0036] Figure 12 Schematic diagram of the structure of the bottom view of the front frame matrix of the mobile robot chassis frame according to an embodiment of the present invention;

[0037] Figure 13 Schematic diagram of the structure of the top view of the front frame matrix of the mobile robot chassis frame according to an embodiment of the present invention;

[0038] Figure 14 Corresponding relationship diagram of the receiving groove matrix, left receiving groove body and right receiving groove body in the mobile robot chassis frame according to an embodiment of the present invention;

[0039] Figure 15 Corresponding relationship diagram of the front frame matrix and the front frame in the mobile robot chassis frame according to an embodiment of the present invention;

[0040] Figure 16 Schematic diagram of the structure of the first embodiment of the mobile robot chassis according to an embodiment of the present invention;

[0041] Figure 17 is Figure 16 Exploded view of the mobile robot chassis shown;

[0042] Figure 18 is Figure 16 the structural schematic diagram of the first left storage tank in the mobile robot chassis shown;

[0043] Figure 19 is Figure 16 the structural schematic diagram of the first right storage tank in the mobile robot chassis shown;

[0044] Figure 20 is Figure 16 the structural schematic diagram of the first front frame in the mobile robot chassis shown;

[0045] Figure 21 is including Figure 16 the structural schematic diagram of the mobile robot including the mobile robot chassis, the tray support tabletop and the narrow tray shown;

[0046] Figure 22 is Figure 21 the explosion diagram of the mobile robot shown;

[0047] Figure 23 the structural schematic diagram of the second embodiment of the mobile robot chassis according to the embodiment of the present invention;

[0048] Figure 24 is Figure 23 the explosion diagram of the mobile robot chassis shown;

[0049] Figure 25 is Figure 23 the structural schematic diagram of the second left storage tank in the mobile robot chassis shown;

[0050] Figure 26 is Figure 23 the structural schematic diagram of the second right storage tank in the mobile robot chassis shown;

[0051] Figure 27 is Figure 23 the structural schematic diagram of the second front frame in the mobile robot chassis shown;

[0052] Figure 28 is including Figure 23 the structural schematic diagram of the mobile robot including the mobile robot chassis, the tray support tabletop and the wide tray shown;

[0053] Figure 29 is Figure 28 the explosion diagram of the mobile robot shown;

[0054] Figure 30 the structural schematic diagram of the first perspective of the third embodiment of the mobile robot chassis according to the embodiment of the present invention;

[0055] Figure 31 is Figure 30 Exploded view of the mobile robot chassis shown

[0056] Figure 32 Schematic structural diagram of the third embodiment of the mobile robot chassis according to the second perspective of the embodiment of the present invention

[0057] Figure 33 is Figure 32 Exploded view of the mobile robot chassis shown

[0058] Figure 34 is Figure 30 Schematic structural diagram of the third left storage tank in the mobile robot chassis shown

[0059] Figure 35 is Figure 30 Schematic structural diagram of the third right storage tank in the mobile robot chassis shown

[0060] Figure 36 is Figure 30 Schematic structural diagram of the third front frame in the mobile robot chassis shown

[0061] Figure 37 including Figure 30 Schematic structural diagram of a mobile robot including the mobile robot chassis, the tray support tabletop, and the narrow tray shown

[0062] Figure 38 is Figure 37 Exploded view of the mobile robot shown

[0063] Figure 39 Schematic structural diagram of the fourth embodiment of the mobile robot chassis according to the first perspective of the embodiment of the present invention

[0064] Figure 40 is Figure 39 Exploded view of the mobile robot chassis shown

[0065] Figure 41 Schematic structural diagram of the fourth embodiment of the mobile robot chassis according to the second perspective of the embodiment of the present invention

[0066] Figure 42 is Figure 41 Exploded view of the mobile robot chassis shown

[0067] Figure 43 is Figure 39 Schematic structural diagram of the fourth left storage tank in the mobile robot chassis shown

[0068] Figure 44 is Figure 39 Schematic structural diagram of the fourth right storage tank in the mobile robot chassis shown

[0069] Figure 45 The structural schematic diagram of the fourth front frame in the mobile robot chassis shown Figure 39 in the figure;

[0070] Figure 46 The structural schematic diagram of the mobile robot including Figure 39 the mobile robot chassis, the tray support tabletop and the narrow tray shown in the figure;

[0071] Figure 47 The explosion diagram of the mobile robot shown Figure 46 in the figure.

[0072] Reference numerals:

[0073] Receiving groove base body 1; original storage rack 12; original fixing plate 13; original receiving groove 14;

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

[0075] Front frame base body 2; original left installation part 21; original isolation part 23; original right installation part 22; caster installation part 24; extension part 25; strip-shaped boss 26;

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

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

[0078] Front frame 200; left installation part 2001; right installation part 2003; isolation part 2002;

[0079] First left receiving groove body 101; second left receiving groove body 102; third left receiving groove body 103; fourth left receiving groove body 104;

[0080] First right receiving groove body 111; second right receiving groove body 112; third right receiving groove body 113; fourth right receiving groove body 114;

[0081] The first front vehicle frame 201; the second front vehicle frame 202; the third front vehicle frame 203; the fourth front vehicle frame 204;

[0082] The first left inner storage rack 1011; the first left outer storage rack 1012; the first left storage tank body fixing plate 1013;

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

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

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

[0086] The first left installation part 2011; the first right installation part 2012; the first isolation part 2013; the first installation through hole 2014;

[0087] The second left inner storage rack 1021; the second left outer storage rack 1022; the second left storage tank body 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 body fixing plate 1123;

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

[0091] The second left installation part 2021; the second right installation part 2022; the second isolation part 2023; the second installation through hole 2024;

[0092] The third left inner storage rack 1031; the third left outer storage rack 1032; the third left storage tank body 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 body fixing plate 1133;

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

[0096] The third left mounting part 2031; The third right mounting part 2032; The third isolation part 2033; The third mounting through hole 2034;

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

[0098] The ninth inner support vertical plate 10411; The ninth outer support vertical plate 10421;

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

[0100] The tenth inner support vertical plate 11411; The tenth outer support vertical plate 11421; The seventh mounting frame groove 11422;

[0101] The fourth left mounting part 2041; The fourth right mounting part 2042; The fourth isolation part 2043; The fourth mounting through hole 2044;

[0102] The front axle 601; The left drive axle 602; The right drive axle 603; The first caster wheel group 604; The drive wheel group 605; The third caster wheel group 606;

[0103] The tray support tabletop 3; The first tray 4; The second tray 5;

[0104] The steering wheel axle 801; The second caster wheel group 802; The first steering wheel group 803, The fourth caster wheel group 804; The second steering wheel group 805. Detailed implementation manners

[0105] Next, the technical solutions in the embodiments of the present application will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art based on the present application belong to the scope of protection of the present application.

[0106] To solve the problems existing in the prior art, the embodiments of the present application provide a production method for 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 general idea of reducing the production cost of the chassis frame in the embodiments of the present application is as follows: First, through split mold opening, a general storage tank base 1 and a general front frame base are prepared; then, local finish machining is performed on the storage tank base 1 and the front frame base to form various storage tanks and front frames with different structures; finally, different combinations and splicing are performed on the various storage tanks and front frames after finish machining to form multiple chassis frame structures, which can be adapted to mobile robot chassis with different drive forms and different sizes.

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

[0109] Refer to Figure 1 , Figure 1 , which is an exploded view of a chassis frame provided by an embodiment of the present invention. As Figure 1 shown, the chassis frame includes: a left storage groove body 100, a right storage groove body 110, and a front frame 200. The left storage groove body 100 and the right storage groove body 110 are relatively spaced apart along the width direction of the frame and are detachably connected by the front frame 200; the front frame 200 is installed at the first end of the left storage groove body 100 along the length direction of the frame and the first end of the right storage groove body 110 along the length direction of the frame. The left storage groove body 100 is integrally formed and has a first storage groove 1004 along the length direction of the frame; the right storage groove body 110 is integrally formed and has a second storage groove 1104 along the length direction of the frame.

[0110] Among them, the first storage groove 1004 and the second storage groove 1104 are used to install functional components for driving the chassis frame. The front frame 200 is integrally formed and straddles the tops of the first ends of the left storage groove body 100 and the right storage groove body 110, and is used to fix and isolate the left storage groove body 100 and the right storage groove body 110.

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

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

[0113] The mobile robot chassis frame according to the embodiment of the present invention, since the left storage groove body and the right storage groove body are obtained by processing an integrally formed storage groove base body according to the target driving form and size; and the storage groove base body includes the installation and connection structures of the storage grooves set for various driving forms and sizes; the front frame is obtained by processing an integrally formed front frame base body according to the target driving form and size; and the front frame base body includes the installation and connection structures of the front frame set for various driving forms and sizes. Therefore, only one mold for producing the storage groove base body and one mold for producing the front frame base body are needed for the storage groove base body and the front frame base body, instead of using different molds for producing the storage grooves with different driving forms and sizes and the front frames with different driving forms and sizes respectively. Therefore, the production cost of the chassis frame can be reduced. In addition, by detachably connecting the left storage groove body and the right storage groove body to the front frame, disassembly and maintenance are convenient, and the maintenance cost can be saved.

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

[0115] Specifically, for the storage groove base body 1 in the embodiment of the present application, reference can be made to Figures 2 to 8 , Figure 2 which is a schematic perspective view of the storage groove base body from the first perspective in the mobile robot chassis frame according to the embodiment of the present invention; Figure 3 which is a schematic perspective view of the storage groove base body from the second perspective in the mobile robot chassis frame according to the embodiment of the present invention; Figure 4 which is a schematic perspective view of the storage groove base body from the third perspective in the mobile robot chassis frame according to the embodiment of the present invention; Figure 5 which is a schematic perspective view of the storage groove base body from the fourth perspective in the mobile robot chassis frame according to the embodiment of the present invention; Figure 6 which is a schematic view of the bottom view structure of the storage groove base body in the mobile robot chassis frame according to the embodiment of the present invention; Figure 7 which is a schematic view of the top view structure of the storage groove base body in the mobile robot chassis frame according to the embodiment of the present invention; Figure 8 is Figure 7 the A-A cross-sectional view of the top view shown.

[0116] As Figures 2 to 8 shown, the storage groove base body 1 includes: two original storage racks 12 spaced relatively apart in the width direction, and original fixing plates 13 at both ends of the two original storage racks 12, forming an original storage groove 14; the two original storage racks 12 and the two original fixing plates 13 include the installation and connection structures of the storage grooves set for various driving forms and sizes.

[0117] The two original storage racks 12 of the storage groove base body 1 are: a first-size original storage rack 121 located on the first side of the original storage groove 14 of the storage groove base body 1, and a second-size original storage rack 122 located on the second side of the original storage groove 14 of the storage groove base body 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 groove base body 1 and a plurality of closely arranged first original bridge mounting frame grooves 1212 extending outward from the first original support vertical plate 1211 toward the outer side in the width direction, for mounting a drive axle or a steering wheel axle 801 after processing. For example, as Figures 2 to 8 shown, four first original bridge mounting frame grooves 1212 can 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 groove base body 1 and a plurality of closely arranged second original bridge mounting frame grooves 1222 extending outward from the second original support vertical plate 1221 toward the outer side in the width direction, for mounting a drive axle or a steering wheel axle 801 after processing. For example, as Figures 2 to 8 shown, four second original bridge mounting frame grooves 1222 can be provided.

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

[0121] Wherein, when the drive axle is in a differential drive form, it is a first connecting bridge connecting the drive wheel set 605 and the first caster wheel set 604; the steering wheel axle 801 is a second connecting bridge connecting the first steering wheel set 803 and the second caster wheel set 802 in an omnidirectional drive form.

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

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

[0124] As Figures 2 to 6 shown, each first original bridge mounting 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 mounting 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 mounting frame groove 1212 is connected as a whole and includes 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. In the case where the driving form is a differential driving form, the outer first connecting groove 12122 is removed, and the driving axle is installed using the inner first connecting groove 12122. In the case where the driving form is an omnidirectional driving form, when machining the right storage tank body 110, the partition between the two first connecting grooves 12122 is removed to form a wider connecting groove, and the steering wheel bridge 801 is installed using this connecting groove; when machining the left storage tank body 100, both first connecting grooves 12122 are removed.

[0125] As 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 connection 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 connection 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 connection frames 12221 and two second connection 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 connection groove 12222 is removed, and the driving axle is installed using the inner second connection groove 12222. In the case where the driving form is an omnidirectional driving form, when machining the right storage groove body 110, the partition between the two second connection grooves 12222 is removed to form a wider connection groove, and the steering wheel bridge 801 is installed using this connection groove; when machining the left storage groove body 100, both second connection grooves 12222 are removed.

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

[0127] As Figures 9 to 13 As shown, the front frame base 2 includes: an original left installation part 21, an original isolation part 23, and an original right installation part 22 that are connected to each other; the original left installation part 21, the original isolation part 23, and the original right installation part 22 include the installation and connection structures of the front frame 200 set for various driving forms and sizes.

[0128] Adjustable connection structures are provided on both the original left installation part 21 and the original right installation part 22 of the front frame base 2 to make the front frame 200 adaptable to the first size and the second size.

[0129] The original isolation part 23 of the front frame base 2 is provided with a caster wheel installation part 24 that extends outward along the length direction of the vehicle body; the caster wheel installation part 24 is used to install the third caster wheel group 606 in the differential driving form.

[0130] One end of the original left installation part 21 or the original right installation part 22 of the front frame base 2, which is far from the original isolation part 23, is further provided with an extension part 25, and the extension part 25 is used to install the second steering wheel group 805 in the omnidirectional driving form.

[0131] As described above, in the embodiments of the present application, local finishing can be performed on the storage groove base body 1 and the front frame base body 2, and storage grooves and front frames 200 with various different structures can be formed.

[0132] Specifically, by performing local finishing on the storage groove base body 1, various left storage groove bodies 100 or right storage groove bodies 110 of the chassis frame can be obtained. Among them, the left storage groove body 100 includes: a left inner storage rack 1001 and a left outer storage rack 1002 formed by respectively processing two original storage racks 12 according to the target driving form and size; and a left storage groove body fixing plate 1003 formed by respectively processing the original fixing plates 13 at both ends, which connects 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 groove body fixing plate 1003 form a first storage groove 1004.

[0133] The right storage groove body 110 may include: a right inner storage rack 1101 and a right outer storage rack 1102 formed by respectively processing two original storage racks 12 according to the target driving form and size; and a right storage groove body fixing plate 1103 formed by respectively processing the original fixing plates 13 at both ends, which connects 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 groove body fixing plate 1103 form a second storage groove 1104.

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

[0135] As described above, by performing local finishing on the front frame base body 2, various different front frames 200 can be obtained.

[0136] Specifically, the processed front frame 200 includes: 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, which are formed by processing the original left mounting portion 21, the original isolation portion 23, and the original right mounting portion 22 according to the target drive form and size. As Figure 1 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 receiving groove body 100; the right mounting portion 2003 covers the top of the first end of the right receiving groove body 110; so that the isolation portion 2002 is located between the left receiving groove body 100 and the right receiving groove body 110 to isolate and fix the left receiving groove body 100 and the right receiving groove body 110.

[0137] For example, refer to Figure 15 , Figure 15 which is a corresponding relationship diagram of the front frame base and the front frame in the mobile robot chassis frame according to an embodiment of the present invention; as Figure 15 shown, the front frame base 2 of the same structure can be processed into 4 different types of front frames, and these four front frames include: the first front frame 201 suitable for differential drive and the first size, the second front frame 202 suitable for differential drive and the second size, the third front frame 203 suitable for omnidirectional drive and the first size, and the fourth front frame 204 suitable for omnidirectional drive and the 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 mount the third caster group 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 mount the second steering wheel group 805 in the omnidirectional drive form.

[0138] In this way, according to the requirements of different drive forms and sizes, different left receiving groove bodies 100 and corresponding right receiving groove bodies 110, and the front frame 200 connecting the left receiving groove body 100 and the corresponding right receiving groove body 110 can be processed. Furthermore, according to the requirements of different drive forms and sizes, the left receiving groove body 100, the corresponding right receiving groove body 110, and the corresponding front frame 200 are fixedly connected correspondingly, and a mobile robot chassis frame meeting the requirements of different drive forms and sizes can be obtained.

[0139] The above four left receiving grooves, four right receiving grooves, and four front frames can be assembled to obtain four mobile robot chassis frames. Below, a detailed description will be given according to the four mobile robot chassis frames.

[0140] Robot Chassis Embodiment 1

[0141] Refer to Figures 16 to 20 , wherein, Figure 16Schematic diagram of the structure of the first embodiment of the mobile robot chassis according to the present invention; Figure 17 is Figure 16 exploded view of the mobile robot chassis shown; Figure 18 is Figure 16 schematic diagram of the structure of the first left storage tank body in the mobile robot chassis shown; Figure 19 is Figure 16 schematic diagram of the structure of the first right storage tank body in the mobile robot chassis shown; Figure 20 is Figure 16 schematic diagram of the structure of the first front frame in the mobile robot chassis 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 the first size; at this time, Figure 1 the left storage tank body 100, the left inner storage rack 1001, the left outer storage rack 1002, and the left storage tank body fixing plate 1003 shown are in this embodiment Figure 16 and 17 the first left storage tank body 101, the first left inner storage rack 1011, the first left outer storage rack 1012, and the first left storage tank body fixing plate 1013 shown.

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

[0144] Figure 1 the front frame 200, the left mounting portion 2001, the right mounting portion 2003, and the isolation portion 2002 shown are in this embodiment Figure 16 and 17 the first front frame 201, the first left mounting portion 2011, the first right mounting portion 2i12, and the first isolation portion 2013 shown.

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

[0146] The first front frame 201 straddles the tops of the first left storage tank body 101 and the first end of the first right storage tank body 111, and is used to fix and isolate the first left storage tank body 101 and the first right storage tank body 111.

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

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

[0149] The first left inner storage rack 1011 of the first left storage tank body 101 includes: a first inner support vertical plate 10111; the first left inner storage rack 1011 is formed by processing the first storage tank base body 1 after removing all the second original bridge body installation frames 1222; only the original fixing plate 13 at one end of the first storage tank base body 1 is retained on the first left storage tank body 101 to connect the first left outer storage rack 1012 and the first left inner storage rack 1011.

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

[0151] Among them, 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 second storage tank base body 1 after retaining the first original support vertical plate 1211 of the first original storage rack 121 with the first dimension and a first original bridge body installation frame groove 1212. For example, the first original bridge body installation frame groove 1212 on the side 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 tank body 111 includes: a second inner support vertical plate 11111; the first right inner storage rack 1111 is formed by processing the second storage tank base body 1 after removing all the second original bridge body installation frame grooves 1222; the first right storage tank body 111 only retains the original fixing plate 13 at one end of the second storage tank 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 tank body 101 and the first right storage tank body 111 are symmetrical about the central axis in the length direction of the vehicle frame; the first installation frame groove 10122 and the second installation frame groove 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 vehicle frame.

[0154] As Figure 20 shown, the first front vehicle frame 201 includes: a first left installation part 2011, a first right installation part 2012, and a first isolation part 2013 located between the first left installation part 2011 and the first right installation part 2012; the first left installation part 2011 covers the top of the first end of the first left storage tank body 101, and the first right installation part 2012 covers the top of the first end of the first right storage tank body 111; so that the first isolation part 2013 is located between the first left storage tank body 101 and the first right storage tank body 111 to isolate and fix the first left storage tank body 101 and the first right storage tank body 111.

[0155] It can be understood that the first front vehicle frame 201 is a front vehicle frame that can be installed with the third caster group 606, which is processed from a front vehicle frame base body 2 to a size adapted to the first dimension based on an adjustable connection structure, and the extension part 25 of the front vehicle frame base body 2 is removed and the caster mounting part 24 is retained.

[0156] Specifically, as Figure 20As shown in the figure, the adjustable connection structure of the original left mounting portion 21 and the original right mounting portion 22 of the front frame base body 2 is as follows: a strip-shaped boss 26 is provided along the width direction of the frame. The strip-shaped boss 26 is used for machining mounting through holes corresponding to different sizes. Among them, the strip-shaped boss 26 extends along the width direction of the frame.

[0157] At the top of the first left mounting portion 2011 and the first right mounting portion 2012 of the first front frame 201, there is a first mounting through hole 2014 corresponding to the first size machined from the strip-shaped boss 26. The first mounting through hole is a through hole provided at a position along the width direction and away from the central axis in the length direction of the frame.

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

[0159] As Figure 16 and Figure 17 shown, the moving mechanism includes: two drive axles symmetrically arranged on the outer sides of the first left storage groove body 101 and the first right storage groove body 111 respectively; each drive axle is connected to a drive wheel set 605 located in the middle of the outer side of the first left storage groove body 101 or the first right storage groove body 111 and a first caster wheel set 604 located at the second end of the first left storage groove body 101 or the first right storage groove body 111; the two drive axles are a left drive axle 602 and a right drive axle 603.

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

[0161] In some embodiments, the embodiment of the present invention further provides a mobile robot. Refer to Figure 21 and Figure 22 , Figure 21 which is Figure 16 a schematic structural diagram of a mobile robot including the mobile robot chassis, the tray support tabletop, and the narrow tray shown in the figure; Figure 22 is Figure 21 an exploded view of the mobile robot shown in the figure.

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

[0163] Embodiment II of the robot chassis

[0164] See Figures 23 to 29 , wherein, Figure 23 is a schematic structural diagram of Embodiment II of the mobile robot chassis according to an embodiment of the present invention; Figure 24 is Figure 23 an exploded view of the mobile robot chassis shown; Figure 25 is Figure 23 a schematic structural diagram of the second left storage tank body in the mobile robot chassis shown; Figure 26 is Figure 23 a schematic structural diagram of the second right storage tank body in the mobile robot chassis shown; Figure 27 is Figure 23 a schematic structural diagram of the second front vehicle frame in the mobile robot chassis shown.

[0165] In this Embodiment II, 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 the second size. At this time, Figure 1 the left storage tank body 100, the left inner storage rack 1001, the left outer storage rack 1002, and the left storage tank body fixing plate 1003 shown are the Figure 23 and 24 second left storage tank body 102, second left inner storage rack 1021, second left outer storage rack 1022, and second left storage tank body fixing plate 1023 shown in

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

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

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

[0169] The second front frame 202 straddles the tops of the first ends of the second left storage tank body 102 and the second right storage tank body 112 and is used to fix and isolate the second left storage tank body 102 and the second right storage tank body 112.

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

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

[0172] The second left inner storage rack 1021 of the second left storage tank body 102 includes: a third inner support vertical plate 10211; the second left inner storage rack 1021 is formed by processing the first storage tank base body 1 after removing all the first original bridge body installation frames 1212; the second left storage tank body 102 only retains the original fixing plate 13 at one end of the first storage tank base body 1 to connect the second left outer storage rack 1022 and the second left inner storage rack 1021.

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

[0174] Among them, 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 body 1 after retaining the second original support vertical plate 1221 of the second original storage rack 122 and a second original bridge installation frame groove 1222. For example, the second original bridge installation frame groove 1222 on the side far 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 tank body 112 includes: a fourth inner support vertical plate 11211; the second right inner storage rack 1121 is formed by processing the second storage tank base body 1 after removing all the first original bridge installation frame grooves 1212; the second right storage tank body 112 only retains the original fixing plate 13 at one end of the second storage tank base body 1 to connect the second right outer storage rack 1122 and the second right inner storage rack 1121.

[0176] The second left storage tank body 102 and the second right storage tank body 112 are symmetric about the central axis in the length direction of the vehicle frame; the third installation frame groove 10222 and the fourth installation frame groove 11222 are respectively used for symmetrically installing the drive axle. It can be understood that the central axis extends along the length direction of the vehicle frame.

[0177] As Figure 27 As shown, the second front vehicle frame 202 includes: a second left installation part 2021, a second right installation part 2022 and a second isolation part 2023 located between the second left installation part 2021 and the second right installation part 2022; the second left installation part 2021 covers the top of the first end of the second left storage tank body 102, and the second right installation part 2022 covers the top of the first end of the second right storage tank body 112; so that the second isolation part 2023 is located between the second left storage tank body 102 and the second right storage tank body 112 to isolate and fix the second left storage tank body 102 and the second right storage tank body 112.

[0178] It can be understood that the second front frame 202 is processed from a front frame base body 2 to a size adapted to the second size based on an adjustable connection structure, and is formed by removing the extension part 25 of the front frame base body 2 and retaining the caster mounting part 24, and is a front frame capable of mounting the third caster group 606.

[0179] Specifically, as Figure 28 shown, the adjustable connection structure of the original left mounting part 21 and the original right mounting part 22 of the front frame base body 2 is: a strip-shaped boss 26 arranged along the width direction of the frame, and the strip-shaped boss 26 is used for processing mounting through holes corresponding to different sizes; wherein, the strip-shaped boss 26 extends along the width direction of the frame.

[0180] At the top of the second left mounting part 2021 and the second right mounting part 2022 of the second front frame 202, there are second mounting through holes 2024 corresponding to the second size processed from the strip-shaped boss 26, and the second mounting through holes 2024 are through holes arranged at positions close to the central axis in the length direction of the frame along the width direction;

[0181] The second left storage groove body 102 is fixedly connected to the second left mounting part 2021 through the second mounting through hole 2024 on the second left mounting part 2021, and the second right storage groove body 112 is fixedly connected to the second right mounting part 2022 through the second mounting through hole 2024 on the second right mounting part 2022.

[0182] As Figure 23 and 24 shown, the moving mechanism includes: two drive axles symmetrically arranged on the outer sides of the second left storage groove body 102 and the second right storage groove body 112 respectively; each drive axle connects a drive wheel group 605 located in the middle of the outer side of the second left storage groove body 102 or the second right storage groove body 112 and a first caster group 604 located at the second end of the second left storage groove body 102 or the second right storage groove body 112; the two drive axles are a left drive axle 602 and a right drive axle 603.

[0183] The moving mechanism further includes a third caster group 606 arranged on the caster mounting part 24 of the second front frame 202. The third caster group 606 is mounted on the front axle 601, and the front axle 601 is mounted on the caster mounting part 24 of the second front frame 202.

[0184] In some examples, the embodiment of the present invention further provides a mobile robot. Refer to Figure 28 and Figure 29 , Figure 28 for Figure 23 a schematic structural diagram of a mobile robot including the mobile robot chassis, the tray support tabletop and the wide tray shown in Figure 29 for Figure 28Exploded view of the mobile robot shown

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

[0186] Embodiment III of the robot chassis

[0187] Refer to Figures 30 to 36 , Figure 30 which is a schematic structural diagram of the third embodiment of the mobile robot chassis of the present invention from the first perspective; Figure 31 is Figure 30 the exploded view of the mobile robot chassis shown; Figure 32 which is a schematic structural diagram of the third embodiment of the mobile robot chassis of the present invention from the second perspective; Figure 33 is Figure 32 the exploded view of the mobile robot chassis shown; Figure 34 is Figure 30 the schematic structural diagram of the second left storage tank body in the mobile robot chassis shown; Figure 35 is Figure 30 the schematic structural diagram of the second right storage tank body in the mobile robot chassis shown; Figure 36 is Figure 30 the schematic structural diagram of the second front frame in the mobile robot chassis shown.

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

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

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

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

[0192] The third front frame 203 straddles the tops of the first ends of the third left storage tank body 103 and the third right storage tank body 113 for fixing and isolating the third left storage tank body 103 and the third right storage tank body 113.

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

[0194] Among them, the third left outer storage rack 1032 of the third left storage tank 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 mounting frame slots 1212 from the first storage tank base body 1 and post-processing the first original support vertical plate 1211 of the first-sized original storage rack 121.

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

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

[0197] Among them, the third right outer storage rack 1132 includes: 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 third right outer storage rack 1132 is formed by processing the second storage tank base body 1 after retaining the first original support vertical plate 1211 of the first original storage rack 121 of the first dimension and a first original bridge installation frame groove 1212; the fifth installation frame groove 11322 is used for installing the steering wheel bridge 801;

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

[0199] As Figure 36 shown, the third front vehicle frame 203 includes: a third left installation part 2031, a third right installation part 2032 and a third isolation part 2033 located between the third left installation part 2031 and the third right installation part 2032; the third left installation part 2031 covers the top of the first end of the third left storage tank body 103, and the third right installation part 2032 covers the top of the first end of the third right storage tank body 113; so that the third isolation part 2033 is located between the third left storage tank body 103 and the third right storage tank body 113 to isolate and fix the third left storage tank body 103 and the third right storage tank body 113.

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

[0201] Specifically, as Figure 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 body 2 is: a strip-shaped boss 26 arranged along the width direction of the frame, and the strip-shaped boss 26 is used for processing mounting through holes corresponding to different sizes;

[0202] At the tops of the third left mounting portion 2031 and the third right mounting portion 2032 of the third front frame 203, there are third mounting through holes 2034 corresponding to the first size processed by the strip-shaped boss 26. The third mounting through holes 2034 are through holes arranged at positions along the width direction away from the central axis in the length direction of the frame;

[0203] The third left receiving groove body 103 is fixedly connected to the third left mounting portion 2031 through the third mounting through hole 2034 on the third left mounting portion 2031, and the third right receiving groove body 113 is fixedly connected to the third right mounting portion 2032 through the third mounting through hole 2034 on the third right mounting portion 2032.

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

[0205] A second steering wheel group 805 and a fourth caster group 804 arranged on the second outer side of the third left receiving groove body 103; the second steering wheel group 805 is arranged at a position of the third left receiving groove body 103 opposite to the second caster group 802 through an extension portion 25 on the third left mounting portion 2031 of the third front frame 203; the fourth caster group 804 is arranged at a position of the third left receiving groove body 103 opposite to the first steering wheel group 803. Specifically, the fourth caster group 804 can be fixed on a caster group mounting bracket 806, and the caster group mounting bracket 806 can be fixed at a position on the third left outer receiving bracket 1032 of the third left receiving groove body 103 opposite to the first steering wheel group 803.

[0206] In this Figures 30 to 33 , the steering wheel bridge 801 is installed in a fifth installation frame groove 11322 on the third right outer receiving bracket 1132 of the third right receiving groove body 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 at a position on the third left receiving groove body 103 opposite to the first steering wheel group 803.

[0207] In some examples, the embodiment of the present invention also provides a mobile robot. Refer to Figure 37 and Figure 38 , Figure 37 which includes Figure 30 Schematic structural diagram of a mobile robot chassis, a tray support tabletop, and a narrow tray of the mobile robot; Figure 38 is Figure 37 Exploded view of the mobile robot shown.

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

[0209] In some embodiments, the chassis frame may be a chassis frame that is a mirror image of the Figures 30 to 36 shown chassis frame. At this time, the third left outer storage frame 1032 of the third left storage tank 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 frame 1032 is formed by processing the first storage tank base body 1 after retaining the first original support vertical plate 1211 of the first size original storage frame 121 and one first original bridge body installation frame groove 1212; in this way, the steering wheel bridge 801 can be installed on the sixth installation frame groove on the third left storage tank body 103 of the chassis frame;

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

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

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

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

[0214] Correspondingly, the moving mechanism may include:

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

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

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

[0218] Fourth Embodiment of the Robot Chassis

[0219] See Figures 39 to 45 , Figure 39 which is a schematic structural diagram of the fourth embodiment of the mobile robot chassis of the present invention from the first perspective; Figure 40 is Figure 39 the exploded view of the mobile robot chassis shown in Figure 41 which is a schematic structural diagram of the fourth embodiment of the mobile robot chassis of the present invention from the second perspective; Figure 42 is Figure 41 the exploded view of the mobile robot chassis shown in Figure 43 is Figure 39 the schematic structural diagram of the second left storage tank body in the mobile robot chassis shown in Figure 44 is Figure 39 the schematic structural diagram of the second right storage tank body in the mobile robot chassis shown in Figure 45 For Figure 39 the structural schematic diagram of the second front frame in the mobile robot chassis shown in

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

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

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

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

[0224] The fourth front frame 204 straddles the top of the first ends of the fourth left storage tank body 104 and the fourth right storage tank body 114 for fixing and isolating the fourth left storage tank body 104 and the fourth right storage tank body 114.

[0225] As Figure 43As shown in the figure, the fourth left storage tank body 104 includes: a fourth left inner storage rack 1041 and a fourth left outer storage rack 1042; and a fourth left storage tank body 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 tank body fixing plate 1043 form a first storage tank 1004.

[0226] Among them, the fourth left outer storage rack 1042 of the fourth left storage tank 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 installation frame grooves 1222 from the first storage tank base body 1 and post-processing the second original support vertical plate 1221 of the second-sized original storage rack 122.

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

[0228] As Figure 44 shown in the figure, the fourth right storage tank body 114 includes: a fourth right inner storage rack 1141 and a fourth right outer storage rack 1142; and a fourth right storage tank body 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 tank body fixing plate 1143 form a second storage tank 1104.

[0229] Among them, the fourth right outer storage rack 1142 of the fourth right storage tank body 114 includes: a tenth outer support vertical plate 11421 and a seventh installation frame groove 11422 extending outward from the eighth outer support vertical plate 11421 in the width direction; the fourth right outer storage rack 1142 is formed by retaining the second original support vertical plate 1221 of the second-sized original storage rack 122 and one second original bridge body installation frame groove 1222 in the second storage tank base body 1 and post-processing; the seventh installation frame groove 11422 is used for installing the steering wheel bridge 801.

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

[0231] As Figure 45 shown, the fourth front frame 204 includes: a fourth left mounting portion 2041, a fourth right mounting portion 2042, and a fourth isolation 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 receiving trough body 104, and the fourth right mounting portion ②042 covers the top of the first end of the fourth right receiving trough body 114; such that the fourth isolation portion 2043 is located between the fourth left receiving trough body 104 and the fourth right receiving trough body 114 to isolate and fix the fourth left receiving trough body 104 and the fourth right receiving trough body 114.

[0232] It can be understood that the fourth front frame 204 is formed by processing a front frame base body 2 into a size adapted to the second size based on an adjustable connection structure, removing the caster mounting portion 24 of the front frame base body 2, and retaining the extension portion 25 of the original left mounting portion 21, and is a front frame capable of mounting a steering wheel bridge 801 on the outside of the fourth right receiving trough body 114 and mounting a fourth caster set 804 and a second steering wheel set 805 at corresponding positions on the other side.

[0233] Specifically, as Figure 45 shown, the adjustable connection structure of the original left mounting portion 21 and the original right mounting portion 22 of the front frame base body 2 is: a strip-shaped boss 26 arranged along the width direction of the frame, and the strip-shaped boss 26 is used for processing mounting through holes corresponding to different sizes;

[0234] The tops of 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 from the strip-shaped boss 26, and the fourth mounting through holes 2044 are through holes arranged at positions along the width direction away from the central axis of the length direction of the frame;

[0235] The fourth left receiving trough body 104 is fixedly connected to the fourth left mounting portion 2041 through the fourth mounting through hole 2044 on the fourth left mounting portion 2041, and the fourth right receiving trough body 114 is fixedly connected to the fourth right mounting portion 2042 through the fourth mounting through hole 2044 on the fourth right mounting portion 2042.

[0236] As Figures 39 to 42 shown, the moving mechanism includes: a steering wheel bridge 801 arranged on the first outside of the fourth right receiving trough body 114; the steering wheel bridge 801 connects a first steering wheel set 803 at the first end of the fourth right receiving trough body 114 along the length direction and a second caster set 802 at the second end of the fourth right receiving trough body 114 along the length direction;

[0237] The second steering wheel group 805 and the fourth caster group 804 provided on the second outer side of the fourth left storage tank body 104; the second steering wheel group 805 is provided on the fourth left storage tank body 104 at a position opposite to the second caster group 802 through an extension 25 on the fourth left mounting portion 2041 of the fourth front vehicle frame 204; the fourth caster group 804 is provided on the fourth left storage tank body 104 at a position opposite to the first steering wheel group 803. Specifically, the fourth caster group 804 can be fixed to a caster group mounting bracket 806, and the caster group mounting bracket 806 can be fixed to the fourth left outer storage bracket 1042 of the fourth left storage tank body 104 at a position opposite to the first steering wheel group 803.

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

[0239] In some examples, the embodiment of the present invention further provides a mobile robot. Refer to Figure 46 and Figure 47 , Figure 46 is a schematic structural diagram of a mobile robot including a Figure 39 shown mobile robot chassis, a tray support tabletop, and a narrow tray; Figure 47 is an Figure 46 exploded view of the mobile robot shown.

[0240] As shown in Figure 46 and Figure 47 , the mobile robot includes: Figures 39 to 42 the mobile robot chassis, a tray support tabletop 3, and a second tray 5 shown; the tray support tabletop 3 is fixedly connected to the fourth front vehicle frame 204, the fourth left storage tank body 104, and the fourth right storage tank body 114, and the second tray 5 is fixed to one side of the tray support tabletop 3 facing away from the fourth front vehicle frame 204, the fourth left storage tank body 104, and the fourth right storage tank body 114.

[0241] In some embodiments, the chassis frame can be the same as Figures 39 to 45The chassis frame shown is a mirrored chassis frame. At this time, the fourth left outer storage rack 1042 of the fourth left storage trough 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 storage trough base 1 after retaining the second original support vertical plate 1221 and one second original bridge installation frame groove 1222 of the second-size original storage rack 122. In this way, the steering wheel bridge 801 can be installed on the eighth installation frame groove on the fourth left storage trough 104 of the chassis frame.

[0242] The fourth left inner storage rack 1041 of the fourth left storage trough 104 includes: an eleventh inner support vertical plate. The fourth left inner storage rack 1041 is formed by processing the first storage trough base 1 after removing all the first original bridge installation frame grooves 1212. The fourth left storage trough 104 only retains the original fixing plate 13 at one end of the first storage trough base 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 trough 114 includes: a twelfth inner support vertical plate. The fourth right inner storage rack is formed by processing the second storage trough base 1 after removing all the first original bridge installation frame grooves 1212 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 trough 114 includes: a twelfth outer support vertical plate. The fourth right outer storage rack is formed by processing the second storage trough base 1 after removing all the second original bridge installation frame grooves 1222. The fourth right storage trough 114 only retains the original fixing plate 13 at one end of the second storage trough 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 formed by processing a front frame base 2 into a size adapted to the second size based on an adjustable connection structure, removing the caster mounting portion 24 of the front frame base 2, and retaining the extension 25 of the original right mounting portion 22. It is a front frame capable of installing a steering wheel bridge 801 on the outside of the fourth left storage trough 104 and installing a fourth caster set 804 and a second steering wheel set 805 at the corresponding position on the other side.

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

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

[0248] In addition, the embodiment of the present application further provides a method for manufacturing a chassis vehicle frame for manufacturing any one of the foregoing chassis vehicle frames; the method includes:

[0249] Step 1, prepare at least two storage tank bases and at least one front vehicle frame base;

[0250] Step 2, process the two storage tank bases respectively according to the target drive form and target size to obtain a left storage tank body and a right storage tank body;

[0251] Step 3, process one front vehicle frame base according to the target drive form and target size to obtain a front vehicle frame;

[0252] Step 4, detachably install the front vehicle frame at the first end of the left storage tank body along the length direction of the vehicle frame and the first end of the right storage tank body along the length direction of the vehicle frame to obtain a target chassis vehicle frame.

[0253] Referring to the method for manufacturing a chassis vehicle frame provided by the embodiment of the present application, first, a general storage tank base and a general front vehicle frame base are prepared through split die casting; then, local fine processing is performed on the storage tank base and the front vehicle frame base to form various storage tanks and front vehicle frames with different structures; finally, different combinations and splicing are performed on the processed storage tanks and front vehicle frames to form multiple chassis vehicle frame structures, which can be adapted to different drive forms and different sizes of mobile robot chassis.

[0254] Compared with ordinary integral welded frames or split welded frames, it has a more flexible structural design, stronger load adaptability, a wider range of applicable drive layouts, a higher reuse rate of mold - opening parts, and a lower overall development cost.

[0255] It should be noted that in this text, relational terms such as "first" and "second" are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the term "comprising", "including" or any other variant thereof is intended to cover non - exclusive inclusion, so that a process, method, article or device comprising a series of elements not only includes those elements, but also includes other elements not expressly listed, or also includes elements inherent to such process, method, article or device. Without further limitation, an element defined by the statement "comprising a..." does not exclude the existence of additional identical elements in the process, method, article or device comprising said element.

[0256] Each embodiment in this specification is described in a related manner. For the same or similar parts among the embodiments, reference can be made to each other. Each embodiment focuses on the differences from other embodiments. In particular, for the matrix 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 refer to the partial description of the method embodiments.

[0257] The above - mentioned are only the preferred embodiments of the present application and are not used to limit the protection scope of the present application. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present application are all included in the protection scope of the present application.

Claims

1. A mobile robot chassis frame, characterized in that, The chassis frame includes: a left storage tank body (100), a right storage tank body (110), and a front frame (200); The left storage tank body (100) and the right storage tank body (110) are relatively spaced apart along the width direction of the frame and are detachably connected by the front frame (200); the front frame (200) is installed at the first end of the left storage tank body (100) along the length direction of the frame and the first end of the right storage tank body (110) along the length direction of the frame; The left storage tank body (100) is integrally formed and has a first storage tank (1004) along the length direction of the frame; The right storage tank body (110) is integrally formed and has a second storage tank (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 body (100) and the right storage tank body (110) for fixing and isolating the left storage tank body (100) and the right storage tank body (110); The left storage tank body (100) and the right storage tank body (110) are obtained by processing an integrally formed storage tank base body (1) according to the target drive form and size; the storage tank base body (1) includes the installation and connection structures of the storage tanks set for various drive forms and sizes; The front frame (200) is obtained by processing an integrally formed front frame base body (2) according to the target drive form and size; the front frame base body (2) includes the installation and connection structures of the front frame (200) set for various drive forms and sizes; The storage tank base body (1) includes: two original storage racks (12) that are 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 tank (14); the two original storage racks (12) and the two original fixing plates (13) include the installation and connection structures of the storage tanks set for various drive forms and sizes; The front frame base body (2) includes: an original left installation part (21), an original isolation part (23), and an original right installation part (22) that are connected to each other; the original left installation part (21), the original isolation part (23), and the original right installation part (22) include the installation and connection structures of the front frame (200) set for various drive forms and sizes.

2. The mobile robot chassis frame according to claim 1, wherein The left storage tank body (100) includes: a left inner storage rack (1001) and a left outer storage rack (1002) formed by respectively processing the two original storage racks (12) of a storage tank base body (1) according to the target drive form and size; and left storage tank body fixing plates (1003) formed by respectively processing the original fixing plates (13) at both ends for 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 tank body fixing plates (1003) form the first storage tank (1004); The right storage tank body (110) includes: a right inner storage rack (1101) and a right outer storage rack (1102) formed by processing two original storage racks (12) of another storage tank base body (1) according to the target driving form and size; and a right storage tank body fixing plate (1103) formed by processing the original fixing plates (13) at both ends, which connects 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 tank body (1103) form the second storage tank (1104); The front vehicle frame (200) includes: a left mounting portion (2001), a right mounting portion (2003) and an isolation portion (2002) located between the left mounting portion (2001) and the right mounting portion (2003), which are formed by processing the original left mounting portion (21), the original isolation portion (23) and the original right mounting portion (22) of the front vehicle frame base body (2) according to the target driving form and size; the left mounting portion (2001) covers the top of the first end of the left storage tank body (100); the right mounting portion (2003) covers the top of the first end of the right storage tank body (110); so that the isolation portion (2002) is located between the left storage tank body (100) and the right storage tank body (110) to isolate and fix the left storage tank body (100) and the right storage tank body (110).

3. The mobile robot chassis vehicle frame according to claim 1, wherein The two original storage racks (12) of the storage tank base body (1) are: a first-size original storage rack (121) located on the first side of the original storage tank (14) of the storage tank base body (1), and a second-size original storage rack (122) located on the second side of the original storage tank (14) of the storage tank base body (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 tank base body (1) and a plurality of adjacent first original bridge mounting frame grooves (1212) extending outward from the first original support vertical plate (1211) in the width direction, and the first original bridge mounting 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 tank base body (1) and a plurality of adjacent second original bridge mounting frame grooves (1222) extending outward from the second original support vertical plate (1221) in the width direction, and the second original bridge mounting frame grooves (1222) are used for installing a drive axle or a steering wheel axle (801) after processing; The width by which the second original bridge mounting frame groove (1222) extends out of the second original support vertical plate (1221) is different from the width by which the first original bridge mounting frame groove (1212) extends out of the first original support vertical plate (1211); Among them, when the drive axle is in differential drive form, it is the first connecting bridge connecting the drive wheel set (605) and the first caster wheel set (604); when the steering wheel axle (801) is in omnidirectional drive form, it is the second connecting bridge connecting the first steering wheel set (803) and the second caster wheel set (802). Adjustable connection structures are provided on both the original left mounting portion (21) and the original right mounting portion (22) of the front frame base body (2) so that the front frame (200) is adapted to the first dimension and the second dimension.

4. The mobile robot chassis frame according to claim 3, characterized in that, The first original storage rack (121) further includes: a first step (1213) provided on one side facing the original storage groove (14), a plurality of first reinforcing ribs (1214) at the bottom of the first step (1213), and a second reinforcing rib (1215) provided on one side away from the original storage groove (14); among them, the first step (1213) is located on the side of the first original storage rack (121) close to the second original storage rack (122); the first reinforcing ribs (1214) and the second reinforcing rib (1215) are perpendicular to the length direction of the first original storage rack (121) and are arranged on both sides in the length direction of the first original storage rack (121); the first reinforcing ribs (1214) are provided on the first step (1213), and the first reinforcing ribs (1214) and the second reinforcing rib (1215) have different sizes.

5. The mobile robot chassis frame according to claim 4, wherein Each of the first original bridge body mounting 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 mounting 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 mounting frame grooves (1212) is connected into one body, 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).

6. The mobile robot chassis frame according to claim 3, characterized in that, The second-sized original storage rack (122) further includes: a second step (1223) disposed 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) disposed on the side away from the original storage slot (14); wherein, the second step (1223) is located on the side of the second-sized original storage rack (122) close to the first-sized original storage rack (121); the third reinforcing rib (1224) and the fourth reinforcing rib (1225) are perpendicular to the length direction of the second-sized original storage rack (122) and are respectively arranged on both sides in the length direction of the second-sized original storage rack (122); the third reinforcing rib (1224) is disposed on the second step (1223); the third reinforcing rib (1224) and the fourth reinforcing rib (1225) have different sizes.

7. The mobile robot chassis frame according to claim 6, wherein Each of the second original bridge mounting frame slots (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 mounting frame slots (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 mounting frame slots (1222) is connected into one body, including a plurality of second connecting frames (12221) and two second connecting slots (12222) parallel to the length direction of the second original support vertical plate (1221).

8. The mobile robot chassis frame according to claim 3, wherein, A connecting rib plate (131) is provided inside the original storage slot (14); the connecting rib plate (131) extends along the inner wall of the original storage slot (14) towards the center of the original storage slot (14), and the connecting rib plate (131) is connected to the original fixing plates (13) at both ends of the original storage slot (14), the first original support vertical plate (1211), and the second original support vertical plate (1221).

9. The mobile robot chassis frame according to claim 3, wherein The original isolation part (23) of the front frame base body (2) is provided with a caster mounting part (24) extending outward along the length direction of the vehicle body; the caster mounting part (24) is used for mounting a third caster group (606) in a differential drive mode. An extension part (25) is further provided at one end of the original left mounting part (21) or the original right mounting part (22) of the front frame base body (2) away from the original isolation part (23), and the extension part (25) is used for mounting a second steering wheel group (805) in an omnidirectional drive mode.

10. The mobile robot chassis frame according to claim 9, wherein When the target drive form of the chassis frame is the differential drive form and the target size is the first size, the left outer storage rack (1002) of the left storage tank body (100) includes: a first outer support vertical plate (10121) and a first installation frame groove (10122) extending outward from the first outer support vertical plate (10121) toward the outside in the width direction; the left outer storage rack (1002) is formed by processing the first storage tank base body (1) after retaining the first original support vertical plate (1211) of the first original storage rack (121) of the first size and a first original bridge body installation frame groove (1212). The left inner storage rack (1001) of the left storage tank body (100) includes: a first inner support vertical plate (10111); the left inner storage rack (1001) is formed by processing the first storage tank base body (1) after removing all the second original bridge body installation frame grooves (1222); the left storage tank body (100) only retains the original fixed plate (13) at one end of the first storage tank 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 tank body (110) 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) toward the outside in the width direction; the right outer storage rack (1102) is formed by processing the second storage tank base body (1) after retaining the first original support vertical plate (1211) of the first original storage rack (121) of the first size and a first original bridge body installation frame groove (1212). The right inner storage rack (1101) of the right storage tank body (110) includes: a second inner support vertical plate (11111); the right inner storage rack (1101) is formed by processing the second storage tank base body (1) after removing all the second original bridge body installation frame grooves (1222); the right storage tank body (110) only retains the original fixed plate (13) at one end of the second storage tank base body (1) to connect the right outer storage rack (1102) and the right inner storage rack (1101). The left storage tank body (100) and the right storage tank body (110) are symmetric about the central axis in the vehicle frame length direction; the first installation frame groove (10122) and the second installation frame groove (11122) are respectively used for symmetrically installing drive axles.

11. The mobile robot chassis frame according to claim 10, wherein The front frame (200) is formed by processing a front frame base body (2) into a size adapted to the first size based on the adjustable connection structure, removing the extension part (25) of the front frame base body (2) and retaining the caster mounting part (24), and is a front frame capable of installing a third caster set (606).

12. The mobile robot chassis frame according to claim 11, 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 body (2) is: a strip-shaped boss (26) arranged along the width direction of the frame, and the strip-shaped boss (26) is used for processing mounting through holes corresponding to different sizes; At the tops of the left mounting portion (2001) and the right mounting portion (2003) of the front frame (200), there are 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 along the width direction away from the central axis of the length direction of the frame; The left storage groove body (100) is fixedly connected to the left mounting portion (2001) through the mounting through hole on the left mounting portion (2001), and the right storage groove body (110) is fixedly connected to the right mounting portion (2003) through the mounting through hole on the right mounting portion (2003).

13. The mobile robot chassis frame according to claim 9, wherein When the target driving form of the frame is the differential driving form and the target size is the second size, the left outer storage rack (1002) of the left storage groove body (100) includes: 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 groove base body (1) after retaining the second original support vertical plate (1221) and one second original bridge body mounting frame groove (1222) of the second-size original storage rack (122); The left inner storage rack (1001) of the left storage groove body (100) includes: a third inner support vertical plate (10211); the left inner storage rack (1001) is formed by processing the first storage groove base body (1) after removing all the first original bridge body mounting frame grooves (1212); the left storage groove body (100) only retains the original fixing plate (13) at one end of the first storage groove 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 groove body (110) includes: 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 groove base body (1) after retaining the second original support vertical plate (1221) and one second original bridge body mounting frame groove (1222) of the second-size original storage rack (122); The right inner storage rack (1101) of the right storage tank body (110) includes: a fourth inner support vertical plate (11211); the right inner storage rack (1101) is formed by processing the second storage tank base body (1) after removing all the first original bridge body installation frame grooves (1212); the right storage tank body (110) only retains the original fixed plate (13) at one end of the second storage tank base body (1) to connect the right outer storage rack (1102) and the right inner storage rack (1101). The left storage tank body (100) and the right storage tank body (110) are symmetric about the central axis in the length direction of the vehicle frame; the third installation frame groove (10222) and the fourth installation frame groove (11222) are respectively used for symmetrically installing the drive axle.

14. The mobile robot chassis vehicle frame according to claim 13, wherein The front vehicle frame (200) is formed by processing a front vehicle frame base body (2) into a size adapted to the second size based on the adjustable connection structure, removing the extension part (25) of the front vehicle frame base body (2) and retaining the caster mounting part (24), and is a front vehicle frame capable of mounting a third caster group (606).

15. The mobile robot chassis frame according to claim 14, characterized in that, The adjustable connection structure of the original left mounting part (21) and the original right mounting part (22) of the front vehicle frame base body (2) is: a strip-shaped boss (26) arranged in the width direction of the vehicle frame, and the strip-shaped boss (26) is used for processing mounting through holes corresponding to different sizes. At the tops of the left mounting part (2001) and the right mounting part (2003) of the front vehicle frame (200), there are mounting through holes corresponding to the second size processed from the strip-shaped boss (26), and the mounting through holes are through holes arranged at positions close to the central axis in the length direction of the vehicle frame along the width direction. The left storage tank body (100) is fixedly connected to the left mounting part (2001) through the mounting through hole on the left mounting part (2001), and the right storage tank body (110) is fixedly connected to the right mounting part (2003) through the mounting through hole on the right mounting part (2003).

16. The mobile robot chassis vehicle frame according to claim 9, wherein When the target drive form of the vehicle frame is the omnidirectional drive form and the target size is the first size The left outer storage rack (1002) of the left storage tank body (100) includes: a fifth outer support vertical plate (10321); the left outer storage rack (1002) is formed by removing all the first original bridge body installation frame grooves (1212) from the first storage tank base body (1) and 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 tank body (100) includes: a fifth inner support vertical plate (10311); the left inner storage rack (1001) is formed by processing the first storage tank base body (1) after removing all the second original bridge mounting frame grooves (1222); the left storage tank body (100) only retains the original fixed plate (13) at one end of the first storage tank 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 tank body (110) includes: a sixth outer support vertical plate (11321) and a fifth mounting 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 second storage tank base body (1) after retaining the first original support vertical plate (1211) of the first-sized original storage rack (121) and one first original bridge mounting frame groove (1212); the fifth mounting frame groove (11322) is used to mount the steering wheel bridge (801); The right inner storage rack (1101) of the right storage tank body (110) includes: a sixth inner support vertical plate (11311); the right inner storage rack (1101) is formed by processing the second storage tank base body (1) after removing all the second original bridge mounting frame grooves (1222); the right storage tank body (110) only retains the original fixed plate (13) at one end of the second storage tank base body (1) to connect the right outer storage rack (1102) and the right inner storage rack (1101); The front vehicle frame (200) is formed by processing a front vehicle frame base body (2) into a size adapted to the first size based on the adjustable connection structure, removing the caster mounting portion (24) of the front vehicle frame base body (2) and retaining the extension portion (25) of the original left mounting portion (21). It is a front vehicle frame that can mount the steering wheel bridge (801) on the outside of the right storage tank body (110) and mount the fourth caster group (804) and the second steering wheel group (805) at the corresponding position on the other side.

17. The mobile robot chassis vehicle frame according to claim 9, wherein, when the target driving form of the vehicle frame is the omnidirectional driving form and the target size is the first size, The left outer storage rack (1002) of the left storage tank body (100) includes: 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 storage tank base body (1) after retaining the first original support vertical plate (1211) of the first-sized original storage rack (121) and one first original bridge mounting frame groove (1212); the sixth mounting frame groove is used to mount the steering wheel bridge (801); The left inner storage rack (1001) of the left storage tank body (100) includes: a seventh inner support vertical plate; the left inner storage rack (1001) is formed by processing the first storage tank base body (1) after removing all the second original bridge body installation frame grooves (1222); the left storage tank body (100) only retains the original fixed plate (13) at one end of the second storage tank 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 tank body (110) includes: an eighth inner support vertical plate; the right inner storage rack (1101) is formed by removing all the second original bridge body installation frame grooves (1222) from the second storage tank base body (1) and processing the second original support vertical plate (1221) of the second-sized original storage rack (122); The right outer storage rack (1102) of the right storage tank body (110) includes: an eighth outer support vertical plate; the right outer storage rack (1102) is formed by processing the second storage tank base body (1) after removing all the first original bridge body installation frame grooves (1212); the right storage tank body (110) only retains the original fixed plate (13) at one end of the second storage tank base body (1) to connect the right outer storage rack (1102) and the right inner storage rack (1101); The front vehicle frame (200) is formed by processing a front vehicle frame base body (2) into a size adapted to the first size based on the adjustable connection structure, removing the caster mounting portion (24) of the front vehicle frame base body (2) and retaining the extension portion (25) of the original right mounting portion (22), and is a front vehicle frame capable of installing a steering wheel bridge (801) on the outer side of the left storage tank body (100) and installing a fourth caster group (804) and a second steering wheel group (805) at the corresponding position on the other side.

18. The mobile robot chassis frame according to claim 16 or 17, characterized in that, The adjustable connection structure of the original left mounting portion (21) and the original right mounting portion (22) of the front vehicle frame base body (2) is: a strip-shaped boss (26) arranged along the width direction of the vehicle frame, and the strip-shaped boss (26) is used for processing mounting through holes corresponding to different sizes; At the tops of the left mounting portion (2001) and the right mounting portion (2003) of the front vehicle frame (200), there are mounting through holes corresponding to the first size processed from the strip-shaped boss (26), and the mounting through holes are through holes arranged at positions away from the central axis of the vehicle frame length direction along the width direction; The left storage tank body (100) is fixedly connected to the left mounting portion (2001) through the mounting through hole on the left mounting portion (2001), and the right storage tank body (110) is fixedly connected to the right mounting portion (2003) through the mounting through hole on the right mounting portion (2003).

19. The mobile robot chassis vehicle frame according to claim 9, characterized in that when the target driving form of the vehicle frame is an omnidirectional driving form and the target size is the second size, The left outer storage rack (1002) of the left storage tank body (100) includes: a ninth outer support vertical plate (10421); the left outer storage rack (1002) is formed by removing all the second original bridge mounting frame grooves (1222) from the first storage tank base body (1) and processing the second original support vertical plate (1221) of the second-sized original storage rack (122). The left inner storage rack (1001) of the left storage tank body (100) includes: a ninth inner support vertical plate (10411); the left inner storage rack (1001) is formed by processing the first storage tank base body (1) after removing all the first original bridge mounting frame grooves (1212); the left storage tank body (100) only retains the original fixing plate (13) at one end of the first storage tank 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 tank body (110) includes: 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 tank base body (1) after retaining the second original support vertical plate (1221) and one second original bridge mounting frame groove (1222) of the second-sized original storage rack (122); the seventh mounting frame groove (11422) is used to mount the steering wheel bridge (801). The right inner storage rack (1101) of the right storage tank body (110) includes: a tenth inner support vertical plate (11411); the right inner storage rack (1101) is formed by processing the second storage tank base body (1) after removing all the first original bridge mounting frame grooves (1212); the right storage tank body (110) only retains the original fixing plate (13) at one end of the second storage tank base body (1) to connect the right outer storage rack (1102) and the right inner storage rack (1101). The front vehicle frame (200) is formed based on the adjustable connection structure by processing a front vehicle frame base body (2) into a size adapted to the second size, removing the caster mounting portion (24) of the front vehicle frame base body (2), and retaining the extension portion (25) of the original left mounting portion (21). It is a front vehicle frame capable of mounting a steering wheel bridge (801) on the outside of the right storage tank body (110) and mounting a fourth caster group (804) and a second steering wheel group (805) at the corresponding position on the other side.

20. The mobile robot chassis vehicle frame according to claim 9, wherein when the target driving form of the vehicle frame is the omnidirectional driving form and the target size is the second size, The left outer storage rack (1002) of the left storage tank body (100) 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 left outer storage rack (1002) is formed by processing the second storage tank base body (1) after retaining the second original support vertical plate (1221) and one second original bridge installation frame groove (1222) of the second-size original storage rack (122); the eighth installation frame groove is used for installing the steering wheel bridge (801); The left inner storage rack (1001) of the left storage tank body (100) includes: an eleventh inner support vertical plate; the left inner storage rack (1001) is formed by processing the first storage tank base body (1) after removing all the first original bridge installation frame grooves (1212); the left storage tank body (100) only retains the original fixed plate (13) at one end of the first storage tank 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 tank body (110) includes: a twelfth inner support vertical plate; the right inner storage rack (1101) is formed by processing the second storage tank base body (1) after removing all the first original bridge installation frame grooves (1212) 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 tank body (110) includes: a twelfth outer support vertical plate; the right outer storage rack (1102) is formed by processing the second storage tank base body (1) after removing all the second original bridge installation frame grooves (1222); the right storage tank body (110) only retains the original fixed plate (13) at one end of the second storage tank base body (1) to connect the right outer storage rack (1102) and the right inner storage rack (1101); The front vehicle frame (200) is formed based on the adjustable connection structure by processing a front vehicle frame base body (2) into a size adapted to the second size, removing the caster mounting portion (24) of the front vehicle frame base body (2) and retaining the extension portion (25) of the original right mounting portion (22), and is a front vehicle frame capable of installing a steering wheel bridge (801) on the outer side of the left storage tank body (100) and installing a fourth caster group (804) and a second steering wheel group (805) at the corresponding position on the other side.

21. The mobile robot chassis frame according to claim 19 or 20, characterized in that, The adjustable connection structure of the original left mounting portion (21) and the original right mounting portion (22) of the front vehicle frame base body (2) is: a strip-shaped boss (26) arranged along the width direction of the vehicle frame, and the strip-shaped boss (26) is used for processing mounting through holes corresponding to different sizes; At the tops of the left mounting portion (2001) and the right mounting portion (2003) of the front vehicle frame (200), there are mounting through holes processed from the strip-shaped boss (26) corresponding to the first size, which are through holes arranged at positions along the width direction away from the central axis of the vehicle frame length direction; The left storage tank body (100) is fixedly connected to the left mounting part (2001) through the mounting through holes on the left mounting part (2001), and the right storage tank body (110) is fixedly connected to the right mounting part (2003) through the mounting through holes on the right mounting part (2003).

22. A frame base body, characterized in that, The frame base body includes: a storage tank base body (1) and a front frame base body (2); the frame base body is used to form the mobile robot chassis frame described in any one of claims 1 to 21.

23. A mobile robot chassis, characterized in that, Including: The chassis frame and the moving mechanism described in any one of claims 1 to 21.

24. The mobile robot chassis according to claim 23, wherein The moving mechanism is in the form of differential drive or omnidirectional drive.

25. The mobile robot chassis according to claim 24, wherein The front frame (200) is further provided with a caster mounting part (24); The moving mechanism is in the form of differential drive, including: Two drive axles symmetrically arranged on the outer sides of the left storage tank body (100) and the right storage tank body (110) respectively; each drive axle connects a drive wheel set (605) located in the middle of the outer side of the left storage tank body (100) or the right storage tank body (110) and a first caster wheel set (604) located at the second end of the left storage tank body (100) or the right storage tank body (110); And a third caster wheel set (606) arranged on the caster mounting part (24) of the front frame (200).

26. The mobile robot chassis according to claim 24, characterized in that, The left mounting part (2001) or the right mounting part (2003) of the front frame (200) is further provided with an extension part (25); The moving mechanism is in the form of omnidirectional drive, including: A steering wheel bridge (801) arranged on the first outer side of the left storage tank body (100) or the right storage tank body (110); the steering wheel bridge (801) connects a first steering wheel set (803) at the first end of the left storage tank body (100) or the right storage tank body (110) along the length direction and a second caster wheel set (802) at the second end of the left storage tank body (100) or the right storage tank body (110) along the length direction; A second steering wheel set (805) and a fourth caster wheel set (804) arranged on the second outer side of the left storage tank body (100) or the right storage tank body (110); the second steering wheel set (805) is arranged at a position opposite to the second caster wheel set (802) of the left storage tank body (100) or the right storage tank body (110) through the extension part (25); the fourth caster wheel set (804) is arranged at a position opposite to the first steering wheel set (803) of the left storage tank body (100) or the right storage tank body (110).

27. A production method of a chassis frame, characterized in that, For manufacturing the chassis frame described in any one of claims 1 to 21; the method includes: Preparing at least two storage tank base bodies and at least one front frame base body; Processing the two storage tank base bodies respectively according to the target drive form and the target size to obtain a left storage tank body and a right storage tank body; Processing one front frame base body according to the target drive form and the target size to obtain a front frame; The front frame is detachably installed at 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.

Images