Chassis frame, mobile chassis and mobile robot

Abstract

The utility model discloses a chassis frame, a mobile chassis and a mobile robot, and relates to the field of transfer robots. The chassis frame comprises a bottom plate main body, an outer frame and a plurality of wheel mounting frames; the wheel mounting frame is used for mounting wheels; a plurality of accommodating openings are formed in the bottom plate main body; the accommodating opening penetrates through a mounting surface and a bottom surface which are oppositely arranged on the bottom plate main body along the thickness direction; the plurality of wheel mounting frames correspond to the plurality of accommodating openings and are positioned on the peripheries of the corresponding accommodating openings; one side of the outer frame is integrally connected with the edge of the bottom plate body and surrounds the multiple containing openings and the multiple wheel mounting frames. The wheel mounting frame comprises at least one mounting plate which is vertically arranged on the mounting surface; and the mounting plate is integrally connected with the mounting surface. The chassis frame has the advantages of high strength and high rigidity.

Description

Technical Field

[0001] The utility model relates to the field of handling robots, and particularly relates to a chassis frame, a mobile chassis and a mobile robot. Background Art

[0002] A handling robot includes a mobile chassis and accessories mounted thereon, and is used for loading, unloading and operating materials. Since the handling robot is mainly used for material handling, strict requirements are imposed on the structural strength of the mobile chassis, especially when handling heavy materials.

[0003] Currently, the overall frame of the mobile chassis is usually composed of steel plates, wheel assembly columns welded to the steel plates, and rectangular tubes arranged in a staggered manner on the surface of the steel plates. The rectangular tubes are fixed to the steel plates by welding, playing a role similar to that of reinforcing ribs, and an outer shell is additionally provided outside. However, the overall frame strength of the mobile chassis with this structure is limited, and the assembly process is relatively cumbersome. Summary of the Utility Model

[0004] The utility model aims to solve one of the technical problems in the related art to a certain extent. For this purpose, the utility model provides a chassis frame, a mobile chassis and a mobile robot, and the chassis frame has the advantages of high strength and high stiffness.

[0005] In order to achieve the above purpose, the utility model adopts the following technical solutions:

[0006] A chassis frame includes a bottom plate main body, an outer frame and a plurality of wheel mounting brackets; the wheel mounting brackets are used for mounting wheels; a plurality of receiving openings are provided on the bottom plate main body; the receiving openings penetrate through the opposite mounting surface and bottom surface thereof along the thickness direction of the bottom plate main body; the plurality of wheel mounting brackets correspond to the plurality of receiving openings and are located outside the corresponding receiving openings; one side of the outer frame is integrally connected to the edge of the bottom plate main body and surrounds the plurality of receiving openings and the plurality of wheel mounting brackets; the wheel mounting bracket includes at least one mounting plate erected on the mounting surface; the mounting plate is integrally connected to the mounting surface.

[0007] Through optimized design, the chassis frame of the utility model realizes significant advantages and improvements. Inside the bottom plate main body, the wheel mounting bracket adopts a mounting plate, and the mounting plate is integrally connected to the bottom plate main body, so that the connection part is a continuous line connection, playing an effect equivalent to that of a reinforcing rib. Compared with the traditional design of only welding a rectangular frame on a steel plate, by integrally arranging the mounting plate with the bottom plate main body, part or even all of the rectangular frames can be replaced, and while the strength of the steel plate is improved, the anti-twisting ability of the chassis frame is also significantly enhanced.

[0008] At the same time, this design not only strengthens the structural strength of the inner area of the bottom plate main body, but can also be directly used as a partition, thus eliminating the process of installing an additional partition. This design simplifies the assembly process, further improves production efficiency, and ensures the durability and reliability of the chassis frame during use.

[0009] The outer frame adopts an integrated annular structure and is integrally connected to the outer side area of the bottom plate main body. This not only provides a more solid external support but also greatly improves the torsional resistance of the bottom plate. After one side of the outer frame is integrally connected to the bottom plate main body, the other side can be connected to the cover plate, and the two work together to make the overall strength of the chassis frame higher and the structure more stable.

[0010] In addition, different from the traditional design, in this chassis frame, both the outer frame and the wheel mounting brackets are arranged on the mounting surface of the bottom plate main body. The wheel mounting brackets and the bottom plate main body can be directly integrally connected by welding, and the outer frame is welded to the mounting surface or the peripheral side surface of the bottom plate main body. Compared with the design of being separately arranged on the upper and lower side surfaces in the prior art, this chassis frame can simplify the welding process.

[0011] Specifically, since all welding is concentrated on the mounting surface on the upper side of the bottom plate main body, during production, only the rectangular steel plate needs to be placed flat to complete the welding operations of the wheel mounting brackets and the outer frame, and no cumbersome flipping process is required. This design greatly improves production efficiency, reduces the process complexity, and at the same time reduces production costs.

[0012] Generally speaking, through ingenious design improvements, this chassis frame simplifies the components, improves production efficiency, and also significantly enhances the structural performance of the chassis frame.

[0013] Optionally, at least one of the wheel mounting brackets includes two of the mounting plates, and the two mounting plates are oppositely arranged at the two radial ends of the corresponding receiving opening.

[0014] Optionally, at least one other of the wheel mounting brackets includes two support columns and a strip-shaped plate connecting the two support columns;

[0015] One end of the two support columns and one side of the strip-shaped plate are integrally connected to the mounting surface to form a partition to separate the corresponding two receiving openings.

[0016] Optionally, the chassis frame further includes an outer frame; one side of the outer frame is integrally connected to the edge of the bottom plate main body and surrounds the plurality of receiving openings and the plurality of wheel mounting brackets.

[0017] Optionally, the mounting plate extends towards the edge of the bottom plate main body on the mounting surface of the bottom plate main body and is integrally connected to the inner surface of the outer frame.

[0018] Optionally, the outer frame has two opposite frame openings of different sizes; a step surface is provided between the two frame openings; and one of the frame openings with a smaller size is integrally connected to the base plate body.

[0019] Optionally, a margin is left between the smaller frame opening of the outer frame and the edge of the bottom plate body; the chassis frame also includes a plurality of corner reinforcement ribs, which are arranged along the margin around the outer frame and integrally connect the outer frame and the bottom plate body.

[0020] Optionally, the outer frame is provided with a plurality of side ears on a side opposite to the bottom plate body, and the plurality of side ears are folded toward the inner side or the outer side of the outer frame.

[0021] Optionally, it also includes multiple partitions, which are upright on the mounting surface of the base plate body and arranged within the outer frame; the multiple partitions are respectively integrally connected to the base plate body to divide the area on the base plate body into multiple accommodating areas; the outer frame and one of the mounting plates are integrally connected to at least one partition.

[0022] Optionally, a cover plate is further included; the cover plate and the base plate body are arranged on both sides of the outer frame opposite to each other.

[0023] In addition, the utility model also provides a mobile chassis, which includes any one of the chassis frames described above.

[0024] A plurality of wheel assemblies respectively correspond to the plurality of receiving openings; the plurality of wheel assemblies include at least one steering wheel assembly;

[0025] The steering wheel assembly includes an outer support frame, an inner support frame, two running wheels and corresponding drive assemblies;

[0026] The outer support frame is connected to the wheel mounting frame located around the receiving opening;

[0027] The inner support frame includes a turntable rotatably connected to the outer support frame;

[0028] The two running wheels are juxtaposed and rotatably fixed on a side of the turntable opposite to the support frame; in the traveling direction of the running wheels, the two driving assemblies are respectively arranged on the front and rear sides of the running wheels.

[0029] The reasoning process of the beneficial effects of the mobile chassis provided by the present invention and the aforementioned chassis frame is similar, and will not be repeated here.

[0030] Optionally, the driving assembly includes a driving motor and a reducer, and the driving motor and the walking wheel are connected by transmission via the reducer;

[0031] The axis of the driving motor is in the same direction as the axis of rotation of the traveling wheel; the distance from the axis of the driving motor to the main body of the bottom plate is less than the distance from the axis of rotation of the traveling wheel to the main body of the bottom plate.

[0032] Meanwhile, the present invention also provides a mobile robot, including an auxiliary mechanism for handling operations and the above-mentioned mobile chassis, and the auxiliary mechanism is arranged on the mobile chassis.

[0033] These features and advantages of the present invention will be disclosed in detail in the following specific embodiments and the accompanying drawings. The best embodiments or means of the present invention will be shown in detail in combination with the accompanying drawings, but it is not a limitation of the technical solution of the present invention. In addition, there are multiple occurrences of these features, elements, and components in each of the following texts and drawings, and different symbols or numbers are marked for convenience of representation, but they all represent components with the same or similar structures or functions. Description of the Drawings

[0034] The present invention will be further described below in conjunction with the accompanying drawings:

[0035] Figure 1 It is a schematic structural diagram of the chassis frame in some embodiments.

[0036] Figure 2 It is Figure 1 An enlarged view of part A in, showing the corner reinforcing rib.

[0037] Figure 3 It is a top view of the chassis frame in some embodiments, and the shaded parts in the figure respectively show the mounting plate, the support column, the strip plate, and the mounting member.

[0038] Figure 4 It is a bottom view of the mobile chassis in some embodiments, showing the omnidirectional wheel assembly at the bottom.

[0039] Figure 5 It is a schematic structural diagram of the omnidirectional wheel assembly in some embodiments.

[0040] Figure 6 It is a schematic structural diagram of the handling robot in some embodiments.

[0041] Among them, 100 is the bottom plate main body; 110 is the receiving opening; 111 is the first opening; 112 is the second opening; 120 is the corner reinforcing rib; 200 is the outer frame; 210 is the stepped surface; 220 is the side ear; 310 is the mounting plate; 320 is the support column; 321 is the strip plate; 400 is the partition board; 500 is the cover plate; 600 is the steering wheel assembly; 610 is the inner support frame; 611 is the turntable; 612 is the fixing plate; 613 is the connecting plate; 620 is the traveling wheel; 630 is the driving assembly; 700 is the lifting mechanism; 800 is the mounting member. Detailed implementation manners

[0042] The embodiments of the present utility model will be described in detail below. The examples of the embodiments are shown in the drawings, in which the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. Based on the embodiments in the implementation manners, it is intended to explain the present utility model and should not be construed as a limitation to the present utility model.

[0043] In the description of the present utility model, it should be understood that the orientation or positional relationship indicated by the terms "longitudinal", "transverse", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present utility model and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation to the present utility model.

[0044] In the description of the present utility model, it should be noted that unless otherwise clearly specified and limited, the terms "mounting", "connecting", and "coupling" should be understood in a broad sense. For example, it may be a fixed connection, a detachable connection, or an integral connection; it may be a mechanical connection or an electrical connection; it may be directly connected or indirectly connected through an intermediate medium, and it may be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present utility model can be understood according to specific situations.

[0045] In the description of the present utility model, unless otherwise specified, "a plurality of" means two or more, and "several" means one or more.

[0046] As used herein, the phrase "in one embodiment" or "an example" or "an instance" means that a particular feature, structure, or characteristic described in connection with the embodiment itself can be included in at least one embodiment of the present disclosure. The appearances of the phrase "in one embodiment" in various places in the specification are not necessarily all referring to the same embodiment.

[0047] The current chassis frame design is to weld rectangular tubes and columns on both sides of a steel plate respectively. Specifically, the columns are located in the internal space of the chassis frame, while the rectangular tubes are welded to the bottom surface of the steel plate. This layout brings an obvious problem: during the welding process, the steel plate must be flipped to weld both of its sides respectively. This additional flipping process not only increases the production time but also introduces additional complexity, which may lead to problems in process coordination and precision.

[0048] Secondly, in order to reasonably accommodate multiple components within the internal space of the chassis frame, it is necessary to additionally set up partition plates. The installation of these partition plates requires the use of fasteners for fixation, which further increases the number and complexity of the processes. This design not only reduces the production efficiency but also may increase the manufacturing cost.

[0049] In addition, welding the rectangular tubes on the surface of the steel plate only increases the local thickness of the steel plate, but has limited improvement in the torsional resistance of the overall structure. That is to say, this design is not ideal in enhancing the chassis rigidity and cannot effectively cope with the twisting and deformation problems that may occur under complex usage environments.

[0050] Generally speaking, the existing chassis frame design has significant deficiencies in both manufacturing processes and structural performance. These problems not only affect the production efficiency but also limit the performance improvement space of the product. Therefore, it is necessary to optimize the design to improve the overall manufacturing efficiency and the structural performance of the product.

[0051] Embodiment:

[0052] As the first aspect of the present utility model, as Figure 1 Figure 2 and Figure 3 shown, a chassis frame is shown. The chassis frame mainly includes a bottom plate main body 100, wheel mounting brackets, an outer frame 200, and a cover plate 500. The bottom plate main body 100 is made of a steel plate, is rectangular as a whole, and has a certain length, width, and thickness. One side of the outer frame surrounds the edge of the bottom plate main body and is integrally connected thereto. When used as a chassis frame, the bottom plate main body 100 is arranged parallel to the ground, and usually its length direction is the traveling direction. The bottom plate main body 100 has opposite mounting surfaces and a bottom surface in the thickness direction. The bottom surface faces the ground, and the mounting surface faces upward and is inside the chassis frame. The wheel mounting brackets are arranged on the mounting surface of the bottom plate main body 100.

[0053] A plurality of receiving openings 110 are provided on the bottom plate main body 100. The receiving openings 110 are used for installing wheels, such as three, four, six, etc. Only four receiving holes distributed at the four corners of the bottom plate main body are shown in the figure. One wheel assembly can be installed in one receiving opening 110. The wheel assembly includes one or more wheels, and the wheels include driving wheels and driven wheels.

[0054] A plurality of wheel mounting brackets respectively correspond to a plurality of receiving openings 110. One or more wheel mounting brackets are provided beside each receiving opening 110 so as to be able to mount the corresponding wheels. According to the type or function of the wheels, the structure of the wheel mounting brackets is adaptively changed.

[0055] In some embodiments, the same wheel mounting bracket can be shared between two adjacent receiving openings.

[0056] The wheel mounting brackets are erected on the mounting surface of the bottom plate body 100. Usually, they are erected vertically, or can be erected obliquely at a certain angle, which is not limited here. Among them, at least one wheel mounting bracket includes at least one mounting plate erected on the mounting surface. The mounting plate is located beside the corresponding receiving opening, and the bottom of the mounting plate is integrally connected to the mounting surface, such as by welding. The plurality of mounting plates corresponding to the plurality of receiving openings can be connected into one body, such as crossing or continuously extending.

[0057] By integrally connecting the bottom of the mounting plate to the bottom plate body, it not only plays the role of a reinforcing rib, but also plays a certain separating role, and can also improve the high strength and high stiffness of the chassis frame, thereby improving the anti-bending and anti-twisting capabilities in a certain direction. At the same time, because the mounting plate plays the roles of a reinforcing rib and a separator, compared with the existing solutions, additional reinforcing ribs and separators can be omitted, thereby simplifying the components and assembly processes, and further improving the production efficiency.

[0058] The wheel mounting bracket located beside one of the receiving openings 110 includes two oppositely arranged mounting plates 310. The two mounting plates 310 are respectively erected on the mounting surface of the bottom plate body 100, and the lower sides of the two mounting plates 310 are respectively integrally connected to the mounting surface of the bottom plate body 100. For example, by using welding to achieve the integral connection, two parallel and nearly equal-length welds can be formed on the mounting surface of the bottom plate body 100. The receiving opening 110 corresponding to the two mounting plates 310 is located within the area defined by the two welds. By welding the mounting plates 310 erected on the mounting surface of the bottom plate body 100, on the one hand, the strength of the receiving opening 110 between the two mounting plates 310 can be strengthened, and on the other hand, the mounting plate 310 provides a mounting basis for the wheel assembly within the receiving opening 110. In addition, the mounting plate 310 can also be used as a separator to separate the wheels from other components, without the need to additionally install separators.

[0059] In some embodiments, the plurality of receiving openings 110 include two first openings 111 and two second openings 112. The first openings and the second openings are respectively located on the front and rear sides in the length direction of the bottom plate body. The two first openings 111 are oppositely arranged in the width direction of the bottom plate body 100, and the two second openings are also oppositely arranged in the width direction of the bottom plate body.

[0060] The first opening is used for installing a fixed-axis wheel. That is, relative to the floating wheel, the distance between the axle of the fixed-axis wheel and the bottom plate is fixed and unchanged.

[0061] In the length direction of the bottom plate body 100, two mounting plates 310 corresponding to the first opening 111 are arranged oppositely. On the mounting surface of the bottom plate body, the mounting plates extend along the width direction of the bottom plate body towards the edge of the bottom plate body and are integrally connected to the inner surface of the outer frame, such as by welding, so that a local T-shaped structure is formed between the mounting plate 310 and the inner surface of the outer frame 200, thereby further increasing the torsional resistance of the chassis frame.

[0062] In the length direction of the bottom plate body 100, one of the mounting plates 310 is opposite to the inner wall on one side of the outer frame 200, and the distance between this mounting plate 310 and the opposite inner wall of the outer frame 200 is greater than the diameter of the receiving opening 110. The area between the mounting plate 310 and the opposite inner wall of the outer frame 200 can not only accommodate other components, but also, by designing to meet certain conditions with the diameter of the receiving opening 110, make the bottom plate body 100 in this area have sufficient strength to avoid insufficient strength caused by the influence of the receiving opening 110. At the same time, for installing other components, an integrally connected mounting part is also provided on the mounting plate opposite to the outer frame. The mounting part is usually integrally connected to the bottom plate body by a thin-wall structure.

[0063] The second opening 112 is used for installing a floating wheel. The so-called floating wheel means that the distance between the axle of the wheel and the bottom plate body 100 is variable. The floating wheels in the two second openings 112 are connected by a rotating arm hinged to the bottom plate body 100.

[0064] In the length direction of the bottom plate body 100, the two second openings 112 respectively correspond to and are arranged oppositely to the two first openings 111. With such an arrangement, the wheelbase between the two floating wheels is the same as the wheelbase between the two fixed-axis wheels, so that the chassis frame can be evenly stressed.

[0065] The wheel mounting brackets corresponding to the two second openings 112 include two support columns 320 and a strip-shaped plate 321 connecting the two support columns 320. The height of the strip-shaped plate 321 is less than the height of the support columns 320. The lower ends of the two support columns 320 and the lower side of the strip-shaped plate 321 are integrally connected to the surface of the bottom plate body 100, such as by welding, to form a partition to separate the two second openings 112. An avoidance opening is formed between the upper side of the strip-shaped plate 321 and the upper ends of the two support columns 320. The rotating arm is installed at and passes through this avoidance opening. To save space, the rotating arm is plate-shaped and is provided with reinforcing ribs on the surface. The reinforcing ribs extend along the width direction of the bottom plate body. The rotating arm is rotatably connected to the two support columns 320 respectively through a rotating shaft intersecting the body.

[0066] In this embodiment, the two support columns 320 are rectangular, and a strip plate 321 is connected to the opposite two side surfaces thereof. Welding two parallel strip plates 321 between the two support columns 320 can further improve the strength, and the strip plate 321 can also position the rotating arm during installation.

[0067] In some embodiments, the outer frame 200 stands on the installation surface of the bottom plate main body 100 and is connected to the installation surface or the peripheral side of the bottom plate main body 100. The cover plate 500 and the bottom plate main body 100 are arranged opposite to each other on both sides of the outer frame 200. The cover plate 500 can be composed of one piece or multiple pieces spliced together, without limitation.

[0068] The contour shape of the outer frame 200 is adapted to the shape of the bottom plate main body 100. The outer frame 200 can be formed by welding multiple steel plates, or formed by welding the head and tail of a strip steel plate after multiple bends, or formed by cutting and stamping and folding a steel plate.

[0069] The outer frame 200 is annular and has two opposite frame openings. The outer frame 200 surrounds the outside of the plurality of receiving openings 110 and their corresponding wheel mounting brackets. The lower frame opening of the outer frame 200 is integrally connected to the bottom plate main body 100, such as by welding, and can fix the peripheral area of the bottom plate main body 100.

[0070] By arranging both the outer frame 200 and the wheel mounting bracket on the installation surface of the bottom plate main body 100, wherein the wheel mounting bracket is integrally connected to the installation surface of the bottom plate main body 100, such as by welding, and the outer frame 200 is integrally connected to the installation surface or the peripheral side surface of the bottom plate main body 100, such as by welding, instead of being separately arranged on the opposite upper and lower side surfaces in the prior art. Therefore, when the chassis frame of this embodiment is integrally connected, such as by welding, only the raw material of the bottom plate main body 100, i.e., the rectangular steel plate, needs to be laid flat with one side facing up to complete the welding of the wheel mounting bracket and the outer frame 200, thereby reducing the process of flipping the steel plate and improving the production efficiency. At the same time, the outer frame 200 can provide support for the outer area of the bottom plate main body 100. Since the outer frame 200 is an integral annular structure, after one side of the frame opening is welded to the bottom plate main body 100, the other side of the frame opening can be connected to the cover plate 500. Cooperating with the cover plate 500 can not only greatly improve the overall strength, but also improve the anti-torsion performance compared with the rectangular tubes that are welded on the steel plate in a crisscross pattern in the prior art. And the wheel mounting bracket adopts the design of the mounting plate 310, which can not only strengthen the structural strength of the inner area of the bottom plate main body 100, but also be used as the partition 400, thereby reducing the process of additionally installing the partition 400.

[0071] In some embodiments, the sizes of two opposite frame openings of the outer frame 200 are different. Specifically, in the direction perpendicular to the mounting surface of the bottom plate main body 100, that is, in the height direction, the size of the lower frame opening of the outer frame 200 is slightly smaller than the size of the bottom plate main body 100, while the size of the upper frame opening of the outer frame 200 is the same as the size of the bottom plate main body 100. For example, the size of the bottom plate main body 100 is 50 cm * 100 cm, and the size of the lower frame opening of the outer frame 200 is 45 cm * 95 cm, so as to reserve a certain margin between the lower frame opening of the outer frame 200 and the edge of the bottom plate main body 100 for installing other components, such as anti-collision rings, sensors, etc.

[0072] In the vertical direction, a horizontal middle frame is provided at the connection between the two frame openings. The middle frame forms a step surface 210 between the two frame openings, thereby increasing the strength of the outer frame 200 at the corner and also improving the torsional resistance to a certain extent.

[0073] In some embodiments, a margin is left between the smaller frame opening of the outer frame 200 and the edge of the bottom plate main body 100. The chassis frame further includes a plurality of corner reinforcing ribs 120. The plurality of corner reinforcing ribs 120 are arranged around the outer frame along this margin and integrally connect the outer frame and the bottom plate main body. For example, the corner reinforcing ribs 120 are in an L shape or a triangle, and one side thereof is welded to the outer wall of the outer frame, and the other side is welded to the surface of the bottom plate main body. Through holes are provided on the corner reinforcing ribs 120 and penetrate along their thickness direction. These through holes can be used to provide an installation part for the anti-collision ring.

[0074] In some embodiments, a plurality of side ears 220 are provided on the side of the outer frame 200 opposite to the bottom plate main body 100, and the plurality of side ears 220 are folded inward or outward of the outer frame 200. In this embodiment, only the structure in which the side ears 220 are folded inward of the outer frame 200 is shown. The side ears 220 can be continuous, especially the side ears 220 located at the corners of the outer frame 200. The folded side ears 220 can not only strengthen the strength of the outer frame 200, but also provide an installation base for the cover plate 500 or other components.

[0075] In some embodiments, the chassis frame further includes a plurality of partition plates 400. The plurality of partition plates 400 are erected on the surface of the bottom plate body 100 and arranged between the wheel mounting brackets and the outer frame 200. The plurality of partition plates 400 can be integrally connected to the bottom plate body 100, the wheel mounting brackets, and the outer frame 200 respectively, dividing the area on the bottom plate body 100 into a plurality of accommodation areas, so as to provide different spaces for installing other mechanisms and components. Since the partition plates 400 are also fixed to the bottom plate body 100, the wheel mounting brackets, and the outer frame 200 by welding respectively, after welding, an integrated frame structure is formed by the bottom plate body 100, the wheel mounting brackets, the outer frame 200, and the partition plates 400, which can not only improve the strength, stiffness, and torsional resistance, but also directly use the separated spaces to install other mechanisms and parts, eliminating the need to install other fasteners.

[0076] In addition, in the second aspect, the present utility model further provides a mobile chassis, such as Figure 4 and 5 The mobile chassis includes the chassis frame as described in the first aspect. A plurality of wheel assemblies correspond to the plurality of accommodation openings 110. At least one steering wheel assembly 600 is included in the plurality of wheel assemblies. In the figure, there are 4 accommodation openings 110 provided on the bottom plate body 100, and a steering wheel assembly 600 is respectively provided in two accommodation openings 110 in one diagonal direction, and a differential wheel assembly is respectively provided in the accommodation openings 110 in the other diagonal direction.

[0077] The steering wheel assembly 600 includes an outer support frame, an inner support frame 610, as well as two traveling wheels 620 and corresponding drive assemblies 630. Specifically, the outer support frame is connected to the corresponding wheel mounting bracket around the accommodation opening 110, and the outer support frame is not shown in the figure.

[0078] The inner support frame 610 includes a turntable 611 and two fixing plates 612 oppositely arranged in the radial direction of the turntable 611. The turntable 611 is rotatably connected to the outer support frame. The two traveling wheels 620 are installed between the two fixing plates 612. Each traveling wheel 620 is rotatably installed on its corresponding fixing plate 612. In the traveling direction of the traveling wheels 620, the two drive assemblies 630 are respectively arranged on both sides of the fixing plates 612.

[0079] Specifically, the inner support frame 610 further includes a horizontal connecting plate 613 connecting the two fixing plates 612. The turntable 611 is fixed on the upper surface of the connecting plate 613, while the fixing plates 612 are erected on the lower surface of the connecting plate 613. The distance between the two fixing plates 612 is slightly greater than the wheel widths of the two traveling wheels 620, so that the traveling wheels 620 can be installed side by side, ensuring the compactness of the structure.

[0080] In some embodiments, the driving assembly 630 includes a driving motor and a speed reducer. The driving motor is drivingly connected to the traveling wheel 620 through the speed reducer. The driving motor is disposed at a position slightly higher than the traveling wheel 620 and is fixed to the fixing plate 612 through its housing. The axis of the driving motor is in the same direction as the axis of rotation of the traveling wheel 620, but the distance from the axis of the driving motor to the bottom plate body 100 is less than the distance from the axis of rotation of the traveling wheel 620 to the bottom plate body 100.

[0081] The housing of the driving motor is designed in the shape of a cuboid. When lying horizontally, one of its side edges faces above the traveling wheel 620 and is disposed in the space between the connecting plate 613 and the traveling wheel 620. This design not only saves space but also optimizes the overall layout, making the inner support frame 610 more compact and efficient.

[0082] Moreover, the mobile chassis of this embodiment can be applied to mobile robots, such as handling robots. As Figure 6 shown, the handling robot includes a lifting mechanism 700 and the mobile chassis as shown in the second aspect. The lifting mechanism 700 is disposed on the mobile chassis. The lifting mechanism 700 includes four sets of hydraulic rods, which are respectively disposed at the four corners of the mobile chassis.

[0083] To enhance the strength of the chassis frame at the lifting mechanism, the same chassis frame further includes a thin-walled mounting member 800. The mounting member is a profile, which stands on the upper part of the bottom plate body and is located at the corner of the bottom plate body. The bottom of the mounting member is integrally connected to the bottom plate body. The peripheral side of the mounting member is integrally connected to one or more of the outer frame, the partition board, the mounting plate, and the support column, which is selected according to its specific position. The integral connection method usually adopts welding. The opening of the mounting member forms a mounting groove for accommodating the hydraulic rod after being welded to the outer frame.

[0084] The present utility model also provides a mobile robot in the third aspect. As Figure 6 shown, a mobile robot is shown. The mobile robot includes an auxiliary mechanism for handling operations and the mobile chassis as described in the second aspect. Since the mobile chassis adopts the chassis frame described in the first aspect, its strength is improved, enabling the mobile robot to be applicable to long-term heavy-load handling work. The auxiliary mechanism is disposed on the mobile chassis. The auxiliary mechanism includes various tools (jigs) for fixing goods, or mechanisms capable of performing handling actions, such as robotic arms, the lifting mechanism 700, including but not limited to various hydraulic cylinders, electric cylinders, lead screws, chains, etc., and a lifting mechanism that changes the height of the lifting platform by telescoping or rotating.

[0085] The above is only the specific implementation manner of the present utility model, but the protection scope of the present utility model is not limited thereto. Those skilled in the art should understand that the present utility model includes but is not limited to the content described in the drawings and the above specific implementation manner. Any modification that does not deviate from the functional and structural principles of the present utility model will be included in the scope of the claims.

Claims

1. A chassis frame, comprising a bottom plate main body, an outer frame and a plurality of wheel mounting brackets; the wheel mounting brackets are used for mounting wheels; a plurality of receiving openings are provided on the bottom plate main body; the receiving openings penetrate through the opposite mounting surface and bottom surface thereof along the thickness direction of the bottom plate main body; the plurality of wheel mounting brackets correspond to the plurality of receiving openings and are located around the corresponding receiving openings; characterized in that, One side of the outer frame is integrally connected to the edge of the bottom plate body and surrounds a plurality of receiving openings and a plurality of wheel mounting brackets; the wheel mounting brackets include at least one mounting plate erected on the mounting surface; the mounting plate is integrally connected to the mounting surface.

2. The chassis frame according to claim 1, wherein At least one of the wheel mounting brackets includes two of the mounting plates, and the two mounting plates are oppositely arranged at the two radial ends of the corresponding receiving opening.

3. The chassis frame according to claim 2, characterized in that, At least another one of the wheel mounting brackets includes two support columns and a strip-shaped plate connecting the two support columns; One ends of the two support columns and one side of the strip-shaped plate are integrally connected to the mounting surface to form a partition to separate the corresponding two receiving openings.

4. The chassis frame according to claim 1, wherein, The mounting plate extends on the mounting surface of the bottom plate body towards the edge of the bottom plate body and is integrally connected to the inner surface of the outer frame.

5. The chassis frame according to claim 4, characterized in that, The outer frame has two opposite frame openings with different sizes; a stepped surface is provided between the two frame openings; one of the smaller-sized frame openings is integrally connected to the bottom plate body.

6. The chassis frame according to claim 5, characterized in that, A margin is left between the smaller frame opening of the outer frame and the edge of the bottom plate body; the chassis frame further includes a plurality of corner reinforcing ribs, and the plurality of corner reinforcing ribs are arranged around the outer frame along this margin and integrally connect the outer frame and the bottom plate body.

7. The chassis frame according to claim 4, characterized in that, The outer frame is provided with a plurality of side ears on the side opposite to the bottom plate body, and the plurality of side ears are folded inwards or outwards of the outer frame.

8. The chassis frame according to any one of claims 1-7, characterized in that, It further includes a plurality of partition plates, and the plurality of partition plates are erected on the mounting surface of the bottom plate body and arranged inside the outer frame; the plurality of partition plates are respectively integrally connected to the bottom plate body to divide the area on the bottom plate body into a plurality of receiving areas; one of the outer frame and the mounting plate is integrally connected to at least one partition plate.

9. The chassis frame according to any one of claims 1-7, characterized in that, It further includes a cover plate; the cover plate and the bottom plate body are oppositely arranged on both sides of the outer frame.

10. A mobile chassis, comprising a plurality of wheel assemblies and a chassis frame as described in any one of claims 1-9, characterized in that, A plurality of wheel assemblies respectively correspond to the plurality of receiving openings; at least one of the plurality of wheel assemblies is a steering wheel assembly; The steering wheel assembly includes an outer support frame, an inner support frame, and two traveling wheels and corresponding drive assemblies; The outer support frame is connected to the wheel mounting bracket around the receiving opening; The inner support frame includes a turntable rotatably connected to the outer support frame; The two traveling wheels are juxtaposed and rotatably fixed on the side of the turntable opposite to the support frame; in the traveling direction of the traveling wheels, the two drive assemblies are respectively arranged on the front and rear sides of the traveling wheels.

11. A mobile robot, comprising an auxiliary mechanism for handling operations and the mobile chassis as described in claim 10, characterized in that, The auxiliary mechanism is arranged on the mobile chassis.

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