Lifting tray and autonomous mobile robot

Abstract

The embodiment of the utility model provides a lifting tray and an autonomous mobile robot. The lifting tray comprises a first layer plate and a second layer plate, the first layer plate and the second layer plate are consistent in size, and the first layer plate and the second layer plate are overlapped and buckled to form a lifting tray; a plurality of first through holes distributed at intervals are formed in the first layer plate, and the edges of the first through holes extend in the direction facing the second layer plate to form first through hole extending parts; second through holes in one-to-one correspondence with the first through holes are formed in the second laminate, and the edges of the second through holes extend in the direction facing the first laminate to form second through hole extending parts; the plurality of first through hole extension parts and the plurality of second through hole extension parts are buckled in a one-to-one correspondence manner, so that a plurality of hollow cylinder structures distributed at intervals are formed in a space between the first layer plate and the second layer plate; according to the embodiment of the utility model, the lightweight design of the lifting tray is realized with lower cost, and the problem that the lifting tray is too heavy in the prior art is solved on the premise of ensuring the bearing capacity of the lifting tray.

Description

Technical Field

[0001] The embodiments of the present application relate to the field of industrial robots, and in particular to a lifting pallet and an autonomous mobile robot. Background Art

[0002] An autonomous mobile robot (AMR) is a robot that integrates autonomous positioning, autonomous navigation and mobility functions. It is widely used in various industrial production processes that require human-machine collaboration. Logistics handling is an important use of AMRs, and lifting pallets is an important technical means for AMRs to achieve logistics handling.

[0003] In the prior art, the lifting tray provided on the AMR is generally made of a whole piece of low-carbon steel plate or aluminum alloy.

[0004] Lifting pallets made of low-carbon steel plates are generally heavier. If the AMR's handling load is higher, the corresponding lifting pallet will also be heavier, affecting the handling efficiency and human-machine collaboration. Although the weight of lifting pallets made of aluminum alloy is lower, the cost is higher. When the AMR's handling load is the same, the cost of a lifting pallet made of aluminum alloy can be several times that of a lifting pallet made of low-carbon steel plates. Utility Model Content

[0005] The embodiments of the present application provide a pallet lift and an autonomous mobile robot, which achieve a lightweight design for an AMR pallet lift at a low cost. While ensuring the pallet's carrying capacity, the problem of excessive weight in the AMR pallet lift in related technologies is resolved. The technical solution is as follows:

[0006] In a first aspect, the present invention provides a lifting tray, the lifting tray comprising: a first layer plate and a second layer plate;

[0007] The first layer plate and the second layer plate have the same size, and the first layer plate and the second layer plate are superimposed and buckled together to form the main body of the lifting tray;

[0008] The first layer plate is provided with a plurality of first through holes distributed at intervals, and the edges of the first through holes extend in a direction facing the second layer plate to form first through hole extensions; the second layer plate is provided with second through holes corresponding one to one with the first through holes, and the edges of the second through holes extend in a direction facing the first layer plate to form second through hole extensions;

[0009] The plurality of first through hole extensions are buckled with the plurality of second through hole extensions in a one-to-one correspondence, so that a plurality of hollow column structures distributed at intervals are formed in the space between the first layer board and the second layer board.

[0010] Optional,

[0011] The edge of the first layer is provided with a first folding structure bent toward the second layer; the edge of the second layer is provided with a second folding structure bent toward the first layer;

[0012] The outer diameter of the first folding structure is smaller than the inner diameter of the second folding structure, so that the outer side of the first folding structure is nested inside the inner side of the second folding structure to form the overall folding structure of the lifting tray;

[0013] Alternatively, the outer diameter of the second folding structure is smaller than the inner diameter of the first folding structure, so that the outer side of the second folding structure is nested in the inner side of the first folding structure to form the overall folding structure of the lifting pallet.

[0014] Optionally, the aperture of the second through hole is smaller than the aperture of the first through hole, so that the first through hole extension portion and the second through hole extension portion are clearance-fitted.

[0015] Optionally, a first code reading through hole is provided at the center of the first layer board, and a second code reading through hole is provided at a position of the second layer board corresponding to the center of the first layer board, and the first code reading through hole and the second code reading through hole are overlapped.

[0016] Optionally, the height of the hollow cylindrical structure formed by assembling the first through-hole extension portion and the second through-hole extension portion is equal to the sum of the thickness of the first layer of board and the thickness of the second layer of board.

[0017] Optionally, the shapes of the first through hole and the second through hole include one of a circle, a rectangle, a rhombus, a trapezoid, a triangle, a regular hexagon and an ellipse.

[0018] Optionally, the first through hole extension portion includes a first base extension portion and a first connecting extension portion; the width of the first base extension portion is greater than the width of the first connecting extension portion, and the height of the first connecting extension portion is greater than the height of the first base extension portion;

[0019] The second through hole extension portion includes a second base extension portion and a second connecting extension portion; the width of the second base extension portion is greater than the width of the second connecting extension portion, and the height of the second connecting extension portion is greater than the height of the second base extension portion;

[0020] The width of the second connecting extension portion is smaller than the width of the first connecting extension portion, so that the first connecting extension portion and the second connecting extension portion are clearance-fitted.

[0021] Optionally, the ratio of the total projected area of ​​the first through holes on the plane of the lifting tray to the total area of ​​the first layer of boards is greater than 50%.

[0022] Optionally, the ratio of the total projected area of ​​the first through holes on the plane of the lifting tray to the total area of ​​the first layer of boards is equal to 50%.

[0023] In a second aspect, the present invention provides an autonomous mobile robot comprising the lifting pallet described in any one of the above.

[0024] In the present invention, a lifting pallet is formed by overlapping and interlocking a first layer and a second layer, and a plurality of first through holes and second through holes are provided on the first and second layers, respectively, corresponding to each other, so that the extensions of the first through holes and the extensions of the second through holes interlock with each other, forming a hollow cylindrical structure between the first and second layers. The provision of the plurality of first through holes and the corresponding second through holes reduces the overall weight of the lifting pallet. At the same time, the combination of the first layer, the second layer, and the hollow cylindrical structure between the first and second layers makes the lifting pallet provided by the present invention present a structure similar to a honeycomb sandwich structure, further making the lifting pallet inherit the load characteristics of the honeycomb sandwich structure, that is, when the lifting pallet is subjected to load deformation while carrying cargo, the first layer and the second layer bear tensile pressure, and the hollow cylindrical structure bears shear force, thus having the advantages of light weight, high strength, and high rigidity of the honeycomb sandwich structure. In summary, the use of the lifting pallet provided by the present invention not only ensures the overall load-bearing capacity of the lifting pallet, but also reduces the overall weight of the lifting pallet. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 This is a disassembled schematic diagram of a lifting tray provided by the utility model;

[0026] Figure 2 A schematic top view of a lifting tray provided by the utility model;

[0027] Figure 3 It is a top view schematic diagram of a honeycomb structure;

[0028] Figure 4 A partial schematic diagram of the second layer of a lifting tray provided by the utility model;

[0029] Figure 5 This is a simulated deformation cloud diagram of a lifting tray provided by the utility model under rated load;

[0030] Figure 6 This is the simulated deformation cloud diagram of a lifting pallet made of carbon steel plate of the same size under the same rated load;

[0031] Figure 7 This is the simulated deformation cloud map of the lifting pallet made of aluminum alloy of the same size under the same rated load.

[0032] Among them, 10-first layer of board, 20-second layer of board, 30-total folding structure, 40-total code reading through hole, 11-first through hole, 12-first folding structure, 13-first code reading through hole, 111-first through hole extension, 21-second through hole, 22-second folding structure, 23-second code reading through hole, 211-second through hole extension, 2111-second basic extension, 2112-second connecting extension. DETAILED DESCRIPTION

[0033] The embodiments of the present application will be described in further detail below with reference to the accompanying drawings.

[0034] AMR is a robot with integrated autonomous positioning, autonomous navigation and movement functions, and is widely used in various industrial production processes that require human-machine collaboration. Logistics handling is an important application of AMR. AMR is usually equipped with sensors, control systems and navigation equipment. It can obtain environmental information, identify obstacles, and plan the safest avoidance route without external supervision. Through AMR, enterprises can realize the automation of material transportation, further optimize production efficiency, more effectively arrange production and delivery time, and reduce the restrictions of spatial factors on production.

[0035] The main structure of an AMR can be divided into a control system, a drive system, and a working system. The control system is responsible for functions such as positioning, navigation, and self-decision-making, while the drive system enables the AMR to move flexibly in various environments and provides a power source for other structures. The working system is used to perform various specific tasks. In different usage scenarios, AMRs can be equipped with different working systems. For example, for an AMR performing logistics handling, its working system can be a lifting mechanism for handling goods. In the AMR's lifting mechanism, the lifting pallet is used to place or lift goods and is a key functional component. In short, the lifting pallet is an important technical means for AMRs to achieve logistics handling.

[0036] In related technologies, lifting pallets are generally made from a single piece of low-carbon steel plate and are relatively heavy. Taking the common 600kg-load AMR lifting pallet on the market as an example, the weight of a lifting pallet made from a single piece of low-carbon steel plate generally exceeds 20kg, requiring at least one operator to perform collaborative operations and other operations related to the lifting pallet. If a 1000kg-load or 1500kg-load AMR lifting pallet is used, the weight of the lifting pallet made from a single piece of low-carbon steel plate may even require two or more operators to perform related operations. An overweight lifting pallet consumes additional power provided by the AMR's drive system, reducing the weight of the goods being handled by the AMR and affecting the AMR's cargo handling efficiency. In addition, AMR operating scenarios generally involve human-machine collaboration. An overweight lifting pallet will increase the workload of the workers in the human-machine collaborative operation scenario and even increase the number of workers, which runs counter to the AMR's goal of automating logistics handling.

[0037] In order to reduce the weight of the AMR lifting pallet, in the relevant technology, the AMR lifting pallet will be processed and formed by aluminum alloy plates. Compared with processing a whole piece of low-carbon steel plate, the AMR lifting pallet made of aluminum alloy is lighter, but it will introduce cost issues: under the same specifications, the production cost of the AMR lifting pallet made of aluminum alloy is generally more than 1.5 times the production cost of the AMR lifting pallet made of low-carbon steel.

[0038] In order to solve the above problems, the first aspect of the present invention provides a lifting pallet, which can achieve lightweighting of the lifting pallet at a lower cost while ensuring the carrying capacity of the lifting pallet.

[0039] refer to Figure 1 , which shows a disassembled schematic diagram of a lifting tray provided by the utility model, the lifting tray comprises: a first layer plate 10 and a second layer plate 20; the first layer plate 10 and the second layer plate 20 are of the same size, the first layer plate 10 and the second layer plate 20 are superimposed and buckled to form the main body of the lifting tray; the first layer plate is provided with a plurality of first through holes 11 distributed at intervals, and the edges of the first through holes 11 extend in the direction facing the second layer plate 20 to form a first through hole extension portion 111; the second layer plate 20 is provided with second through holes 21 corresponding to the first through holes 11 one by one, and the edges of the second through holes 21 extend in the direction facing the first layer plate 10 to form a second through hole extension portion 211; the plurality of first through hole extensions 111 are assembled in a one-to-one correspondence with the plurality of second through hole extensions 211, so that a plurality of hollow cylindrical structures distributed at intervals are formed in the space between the first layer plate 10 and the second layer plate 20 ( Figure 1 not shown).

[0040] The main body of the lifting tray provided by the utility model is formed by superimposing and buckling a first layer plate 10 and a second layer plate 20 of the same size; Figure 2 , which is a top view of a lifting tray provided by the present invention, a plurality of first through holes 11 spaced apart are provided on the first layer 10, referring to Figure 1 The first through-hole extension portion 111 on the first layer plate 10 and the second through-hole extension portion 211 on the second layer plate 20 are assembled one by one, so that the first through-hole extension portion 111 and the second through-hole extension portion 211 together constitute a hollow column structure; the superimposed and buckled first and second layers of plates, and a plurality of spaced-apart hollow column structures constitute the main structure of the lifting pallet provided by the present invention. This scheme first reduces the material usage of the lifting pallet during the production process: after the first layer of plates 10 and the second layer of plates 20 are superimposed and buckled, they are connected by a plurality of hollow column structures, and the hollow column structures are spaced-apart. The hollow column structures connect the two surfaces of the first layer of plates 10 and the second layer of plates 20 that are away from each other, thereby realizing the first weight reduction of the lifting pallet. Between the two surfaces of the first layer of plates 10 and the second layer of plates 20 facing each other, the spaced-apart hollow column structures constitute a space, thereby realizing the second weight reduction of the lifting pallet.

[0041] Furthermore, in the lifting pallet provided by the present invention, the first layer plate 10 and the first through-hole extension portion 111 on the first layer plate 10, the second layer plate 20 and the second through-hole extension portion 211 on the second layer plate 20 can all be manufactured and processed from low-carbon steel material, which maintains the advantage of lower production cost compared to the lifting pallet made of aluminum alloy.

[0042] While reducing the overall weight of the lifting tray, the combination of the first layer 10, the hollow column structure, and the second layer 20 makes the lifting tray present a structure similar to a honeycomb sandwich structure; the honeycomb sandwich structure is composed of two panels and a honeycomb core material in the panels. It is derived from bionics and is similar to the structure of a beehive in nature. It has the advantages of light weight, high strength, and good rigidity. When the honeycomb sandwich structure is subjected to load, the panels are subjected to tensile pressure, or the panels are subjected to in-plane stress, which plays a role in resisting bending, and the honeycomb core material is subjected to shear stress, which plays a role in resisting shearing. In the lifting pallet provided, the first layer 10 and the second layer 20 are equivalent to the two panels of the honeycomb sandwich structure, and the multiple spaced hollow column structures are equivalent to the honeycomb core material in the honeycomb sandwich structure; accordingly, when the lifting pallet is subjected to force deformation when carrying goods, the lifting pallet will exhibit load characteristics similar to those of the honeycomb sandwich structure: the first layer and the second layer bear the tensile force, and the hollow column structure bears the shear force, so that the lifting pallet inherits the advantages of the honeycomb sandwich structure of light weight, high strength and good rigidity, thereby ensuring the carrying capacity of the lifting pallet.

[0043] In the present invention, the main body of the lifting pallet is formed by overlapping and interlocking the first and second layers, and a plurality of first and second through holes corresponding to each other are provided on the first and second layers, respectively, so that the extensions of the first through holes and the extensions of the second through holes interlock with each other, forming a hollow cylindrical structure between the first and second layers. The provision of the plurality of first through holes and the corresponding second through holes reduces the overall weight of the lifting pallet. At the same time, the combination of the first and second layers and the hollow cylindrical structure between the first and second layers makes the lifting pallet provided by the present invention present a structure similar to a honeycomb sandwich structure, further making the lifting pallet inherit the load characteristics of the honeycomb sandwich structure, that is, when the lifting pallet is subjected to load deformation while carrying cargo, the first and second layers bear tensile pressure, and the hollow cylindrical structure bears shear force, thus having the advantages of light weight, high strength and high rigidity of the honeycomb sandwich structure. In summary, the use of the lifting pallet provided by the present invention not only ensures the overall load-bearing capacity of the lifting pallet, but also reduces the overall weight of the lifting pallet.

[0044] Optional, reference Figure 1 , the edge of the first layer 10 is provided with a first folding structure 12 bent toward the second layer 20; the edge of the second layer 20 is provided with a second folding structure 22 bent toward the first layer 10; further reference Figure 2 The outer diameter of the first folding structure 12 is smaller than the inner diameter of the second folding structure 22, so that the outer side of the first folding structure 12 is nested inside the inner side of the second folding structure 22, forming the total folding structure 30 of the lifting pallet; or, the outer diameter of the second folding structure 22 is smaller than the inner diameter of the first folding structure 12, so that the outer side of the second folding structure 22 is nested inside the inner side of the first folding structure 12, forming the total folding structure 30 of the lifting pallet.

[0045] A first folding structure 12 and a second folding structure 22 are respectively provided on the edges of the first layer 10 and the second layer 20, so that the first folding structure 12 covers the edge of the side of the first layer 10 away from the second layer 20 and the edge side of the first layer 10, and the second folding structure 22 covers the edge of the side of the second layer 20 away from the first layer 10 and the edge side of the second layer 20; the first folding structure 12 and the second folding structure 22 are nested and connected to constitute the total folding structure of the lifting pallet provided by the present invention, and the total folding structure covers the edge of the entire lifting pallet. In addition to the primary connection between the first layer 10 and the second layer 20 realized by the hollow column structure, the secondary connection of the first layer 10 and the second layer 20 is realized, thereby enhancing the overall stability of the lifting pallet and providing additional structural strength for the lifting pallet. In addition, the setting of the total folding structure enables the edge part of the lifting pallet to better resist the influence of the working environment, so that the sizes of the first layer 10 and the second layer 20 in the lifting pallet are consistent and tightly fitted, avoiding the edge of the lifting pallet from being mechanically damaged during operation or causing mechanical damage to other equipment; in short, through the first folding structure 12, the second folding structure 22 and the total folding structure composed of them, the structural strength and durability of the lifting pallet are enhanced, and the use effect and service life of the lifting pallet are improved.

[0046] Optional, reference Figure 1 The aperture of the second through hole 21 is smaller than the aperture of the first through hole 11 , so that the first through hole extension portion 111 and the second through hole extension portion 211 are clearance-fitted.

[0047] The first through-hole extension 111 and the second through-hole extension 211 are assembled in a one-to-one correspondence through a clearance fit. Specifically, the diameter of the second through-hole 21 is set to be smaller than the diameter of the first through-hole 11. Because the first through-hole extension 111 extends from the edge of the first through-hole 11, and the second through-hole extension 211 extends from the edge of the second through-hole 21, the width of the second through-hole extension 211 is smaller than the width of the first through-hole extension 111. When the first and second layer boards 10 and 20 are superimposed and fastened together, the second through-hole extension 211 will be inserted into the first through-hole extension 111, and the outer wall of the second through-hole extension 211 will be mated and connected with the inner wall of the first through-hole extension 111, thereby achieving a clearance fit between the first and second through-hole extensions 111 and 211. For example, if the diameter of the first through-hole is set to R, the diameter of the second through-hole can be set to Rn. n can be adjusted accordingly based on the actual production conditions of the lifting pallet. In general, n is 2 mm.

[0048] Furthermore, in the present invention, the aperture of the second through hole 21 may be larger than the aperture of the first through hole 11. In this case, the first through hole extension 111 will be inserted into the second through hole extension 211, and the inner wall of the second through hole extension 211 will be matched and connected with the outer wall of the first through hole extension 111, thereby achieving a clearance fit between the first through hole extension 111 and the second through hole extension 211; in addition, the upper and lower positions of the first layer plate 10 and the second layer plate 20 can also be interchanged with each other. The upper and lower positions here refer to the positions of the two plate surfaces of the lifting pallet relative to the goods to be transported by the AMR after the lifting pallet is installed on the top surface of the AMR. The side close to or in contact with the transported goods is the upper side, and the side away from the transported goods or close to the AMR body is the lower side. That is, the goods can be contacted and transported by the first layer plate, or the goods can be transported and contacted by the second layer plate.

[0049] Optional, reference Figure 1 The first layer 10 has a first code reading hole 13 at its center, and the second layer 20 has a second code reading hole 23 at a position corresponding to the center of the first layer 10. Figure 2 The first code reading through hole and the second code reading through hole are overlapped to form a total code reading through hole 40 for lifting the pallet.

[0050] When the AMR performs logistics handling operations through a lifting pallet, the lifting pallet is generally located on the top of the AMR, and the transported goods are placed on the lifting pallet. In order for the AMR to identify the transported goods, a barcode reader is generally installed in the center of the top of the AMR to scan and read the barcode information located on the bottom of the transported goods. In order to avoid the lifting pallet blocking the barcode reader, it is necessary to open a through hole in the lifting pallet relative to the barcode reader on the AMR to allow the barcode reader signal on the AMR to pass through; in the lifting pallet provided by the present invention, because the lifting pallet is formed by the first layer of plate 10 and the second layer of plate 20 stacked and fastened together, corresponding first barcode reading through holes 13 and second barcode reading through holes 23 need to be opened on the first layer of plate 10 and the second layer of plate 20 respectively, so that after the first layer of plate 10 and the second layer of plate 20 are stacked and fastened together, the first barcode reading through holes 13 and the second barcode reading through holes 23 can overlap to form the total barcode reading through holes 40 of the lifting pallet.

[0051] For further reference, Figure 2According to the type, setting position or setting number of the code reader on the AMR, the aperture size, setting position or setting number of the total code reading through hole 40 on the lifting tray will be adjusted accordingly. Therefore, when manufacturing the lifting tray provided by the present invention, it is necessary to consider the type, setting position and setting number of the code reader on the AMR assembled with the lifting tray, and set the corresponding total code reading through hole 40; at the same time, it should be noted that the opening of the first code reading through hole 13 and the second code reading through hole 23 should be obviously different from the aperture of the first through hole 11 and the aperture of the second through hole 21 in terms of size setting, so that the operator can effectively distinguish the total code reading through hole 40 from the hollow cylindrical structure.

[0052] Furthermore, in addition to the code reading holes, the lifting pallet provided by the present invention can also be provided with components or accessories with other functions, and the embodiments of the present invention do not limit this. For example, a coating can be provided on the surface of the lifting pallet, and the coating can be a scratch-resistant coating, a waterproof coating, a fire-retardant coating, etc.; or, a skin can be provided on the surface of the lifting pallet, and the skin can be made of silicone, rubber, etc. The provision of the skin can increase the friction between the lifting pallet and the transported goods, and ensure the stability of the goods during the transportation process. It should be noted that the provision of the skin should avoid shielding the code reading holes, that is, the skin can be provided with openings corresponding to the code reading holes at the corresponding positions of the code reading holes; or, a positioning component can be provided on the lifting pallet to fix the goods at a specific position of the lifting pallet when transporting the goods, to ensure that the goods are accurately positioned on the lifting pallet, to reduce the movement and shaking of the goods during transportation, to avoid the goods from tipping over or slipping, and to ensure the stability and safety of the transported goods.

[0053] Optionally, the height of the hollow cylindrical structure formed by assembling the first through-hole extension portion 111 and the second through-hole extension portion 211 is equal to the sum of the thickness of the first layer board 10 and the thickness of the second layer board 20 .

[0054] Regarding the dimensional parameters inside the lifting pallet, in a preferred embodiment of the present invention, the height of the hollow cylindrical structure formed by assembling the first through-hole extension 111 and the second through-hole extension 211 is generally equal to the sum of the thickness of the first layer 10 and the thickness of the second layer 20, so that the force load of the first layer 10, the second layer 20 and the hollow cylindrical structure in the lifting pallet reaches an optimal state. In a preferred embodiment, the thickness of the first layer 10 and the second layer 20 are consistent, and accordingly, the height of the hollow cylindrical structure is twice the thickness of the first layer 10; in some occasions where the load-bearing capacity of the lifting pallet is not strictly required, the height of the hollow cylindrical structure formed by assembling the first through-hole extension 111 and the second through-hole extension 211 can also be slightly greater than the sum of the thickness of the first layer 10 and the thickness of the second layer 20.

[0055] Optionally, the shapes of the first through hole and the second through hole include one of a circle, a rectangle and a diamond.

[0056] For the shape of the honeycomb core material in the honeycomb sandwich structure, refer to Figure 3 , are top-down schematic diagrams of three additional honeycomb structures, where Figure 3 a in Figure 3 b in Figure 3 The c in the figure respectively corresponds to the schematic top view of the honeycomb core materials of regular hexagon, rhombus and rectangle, and the top view here can be understood as the projection on the lifting pallet; in the embodiment provided by the present invention, the top view shape of the honeycomb core material can also be selected as a regular hexagon, rhombus, rectangle, etc., that is, the shape of the first through hole and the second through hole can be any one of a regular polygon, rhombus, rectangle, circle, trapezoid, triangle and ellipse, and the through holes can be opened adjacent to each other in addition to being opened at intervals; for the lifting pallet provided by the present invention, the preferred processing scheme is to set the first through hole and the second through hole to be circular, and the through holes are opened at intervals, while rectangle, rhombus, regular polygon, trapezoid, triangle and ellipse will be used as sub-preferred shape schemes. These sub-preferred shape schemes also have the function of reducing the overall weight of the lifting pallet while ensuring the carrying capacity of the lifting pallet, but due to the processing cost and the difference in process complexity, the more commonly used circular through hole scheme is selected.

[0057] Optionally, the first through hole extension portion includes a first base extension portion and a first connecting extension portion; the width of the first base extension portion is greater than the width of the first connecting extension portion, and the height of the first connecting extension portion is greater than the height of the first base extension portion; Figure 4 , which is a partial schematic diagram of the second layer of a lifting tray provided by the present invention, the second through-hole extension portion 211 includes a second base extension portion 2111 and a second connecting extension portion 2112; the width of the second base extension portion 2111 is greater than the width of the second connecting extension portion 2112, and the height of the second connecting extension portion 2112 is greater than the height of the second base extension portion 2111; the width of the second connecting extension portion 2112 is less than the width of the first connecting extension portion ( Figure 4 (not shown) so that the first connecting extension portion ( Figure 4 (not shown) and the second connecting extension portion 2112 are clearance-fitted.

[0058] The first through hole and the first through hole extension, the second through hole and the second through hole extension can be obtained by punching on the first layer of board and the second layer of board respectively, that is, the first through hole is punched on the first layer of board, and the punched hole portion retained on the first layer of board and extending toward the second layer of board constitutes the first through hole extension, and the second through hole is punched on the second layer of board, and the punched hole portion retained on the second layer of board and extending toward the first layer of board constitutes the second through hole extension; during the stamping operation, a rounded corner structure is set at the stamping position, that is, the first base extension portion and the second base extension portion, which can avoid local stress concentration, increase the strength of the hollow column structure, improve the safety performance of the lifting pallet, and reduce the loss of the stamping die.

[0059] Specifically, in the process of stamping the first through hole, if the first basic extension part is not provided on the edge of the first through hole, stress concentration is likely to occur, resulting in cracking or breaking of the first layer. The provision of the first basic extension part can effectively reduce the stress concentration phenomenon; the width of the first basic extension part is greater than the first connecting extension part, so that the hollow cylindrical structure distributes stress more evenly when subjected to force, thereby improving the strength of the hollow cylindrical structure; the provision of the first basic extension part enables a smooth transition between the first through hole and the first layer of plate, so that the edge of the first through hole is no longer sharp, avoiding safety hazards caused by sharp edges, such as damage to transported goods or harm to human-machine collaborative workers; in addition, for the stamping production process, if the edge of the first through hole is relatively sharp, it will grind the mold, resulting in a shortened mold life. The provision of the first basic extension part can slow down the wear rate of the mold, reduce the loss of the stamping mold, and extend the service life of the mold.

[0060] Furthermore, the above-mentioned stamping method is used to generate the extension of the through hole, and the extension is connected to form a hollow cylindrical structure. This is only a preferred embodiment of the present invention. In addition, the corresponding hollow cylindrical structure can be manufactured outside the first and second layers of plates, and the layer plates and the hollow cylindrical structure can be connected by riveting or pressing, or by welding.

[0061] Optional, reference Figure 2 The ratio of the total projected area of ​​the first through holes 11 on the plane of the lifting tray to the total area of ​​the first layer 10 is greater than 50%.

[0062] Optionally, the ratio of the total projected area of ​​the first through holes 11 on the plane of the lifting tray to the total area of ​​the first layer board 10 is equal to 50%.

[0063] While ensuring the carrying capacity of the lifting tray, the area ratio of the first through hole to the first layer of board can be increased as much as possible to minimize the weight of the lifting tray; in the lifting tray provided by the present invention, making the projected area of ​​the first through hole on the plane of the lifting tray occupy 50% of the total area of ​​the first layer of board is an optional implementation scheme, and making the projected area of ​​the first through hole on the plane of the lifting tray occupy more than 50% of the total area of ​​the first layer of board is another optional implementation scheme. Here, the total area of ​​the first layer of board refers to the area of ​​the first layer of board before the first through hole is opened and the first folding structure is not set; accordingly, the ratio of the projected area of ​​the second through hole on the plane of the lifting tray to the total area of ​​the second layer of board should be adaptively consistent with the ratio of the sum of the projected areas of the first through holes on the plane of the lifting tray to the total area of ​​the first layer of board; here, the total area of ​​the second layer of board refers to the area of ​​the second layer of board before the second through hole is opened and the second folding structure is not set.

[0064] Referring to the dimensions of a 600kg AMR lift pallet in the prior art, the lift pallet provided by this utility model is 880mm long, 550mm wide, and weighs approximately 6.5kg. To demonstrate the load-bearing capacity and weight reduction of the lift pallet provided by this utility model, the following simulation analysis was conducted on this lift pallet and two similarly sized lift pallets in the related art:

[0065] The deformation size of the lifting pallet under load is an important parameter for judging the carrying capacity of the lifting pallet. The deformation size of the lifting pallet under load can reflect whether the lifting pallet meets the use requirements; if under the same load conditions, two lifting pallets with the same plane size undergo the same or similar deformation, it can be considered that the carrying capacity of the two lifting pallets is equivalent.

[0066] refer to Figure 5 , is a simulated deformation cloud diagram of a lifting tray under rated load provided by the utility model, specifically, Figure 5 It refers to the simulation results of the deformation of a lifting tray with a length of 880mm and a width of 550mm and multiple hollow cylindrical structures under a load of 600kg; the simulation results show that the maximum deformation position of the lifting tray is located at both ends of the lifting tray, and the maximum deformation is about 1.7953mm.

[0067] Correspondingly, reference Figure 6 , is the simulated deformation cloud diagram of the lifting pallet made of carbon steel plate of the same size under the same rated load. Specifically, Figure 6This refers to the simulation results of the deformation of a lifting tray with a length of 880mm and a width of 550mm, which is formed from a whole piece of low-carbon steel plate, under a load of 600kg. The lifting tray is 6mm thick and weighs approximately 21kg. The simulation results show that the maximum deformation of the lifting tray is approximately 1.6878mm.

[0068] Correspondingly, reference Figure 7 , the simulated deformation cloud diagram of the lifting tray made of aluminum alloy with the same size under the same rated load, specifically, Figure 6 It refers to the simulation results of the deformation of a lifting tray made of aluminum alloy with a length of 880mm and a width of 550mm under a load of 600kg. The thickness of the lifting tray is 9mm and the mass is about 11kg. The simulation results show that the maximum deformation of the lifting tray is about 1.9192mm.

[0069] It can be seen from the above simulation results that the maximum deformation of the lifting pallet provided by the utility model, the lifting pallet formed by a whole piece of low carbon steel plate, and the lifting pallet made of aluminum alloy is not much different. It can be considered that these three lifting pallets have the same or similar load-bearing capacity. At the same time, by comparing the masses of the three, it can be seen that the mass of the lifting pallet provided by this application is less than 1 / 3 of the mass of the lifting pallet formed by a whole piece of low carbon steel plate, and slightly greater than 1 / 2 of the mass of the lifting pallet made of aluminum alloy. Obviously, on the basis of ensuring the load-bearing capacity, the lifting pallet provided by the utility model is a more lightweight solution.

[0070] In a second aspect, the present invention provides an autonomous mobile robot, comprising the lifting pallet provided in the first aspect above.

[0071] In order to adapt to the lifting pallet provided by the first aspect, the utility model also provides an autonomous mobile robot. Through the autonomous mobile robot and lifting pallet provided by the utility model, while ensuring the carrying capacity of the lifting pallet, that is, the logistics handling capacity of the autonomous mobile robot, the lightweight design of the lifting pallet of the autonomous mobile robot is realized, thereby improving the operability of the autonomous mobile robot during maintenance.

[0072] Furthermore, the lifting tray solution of the honeycomb sandwich structure composed of the first layer plate, the hollow column structure and the second layer plate of the utility model can be applied to the flat load structure other than the autonomous mobile robot to achieve a larger ratio of the flat load and the flat weight, ensure the load-bearing capacity and realize lightweight design.

[0073] In the present invention, a lifting pallet is formed by overlapping and buckling a first layer and a second layer, and a plurality of first through holes and second through holes corresponding to each other are provided on the first layer and the second layer, respectively, so that the extensions of the first through holes and the extensions of the second through holes are buckled to each other, forming a hollow column structure between the first layer and the second layer. The provision of a plurality of first through holes and corresponding second through holes reduces the overall weight of the lifting pallet. At the same time, the first layer, the second layer and the hollow column structure between the first layer and the second layer are combined together, so that the lifting pallet provided by the present invention presents a structure similar to a honeycomb sandwich structure, and further enables the lifting pallet to inherit the load characteristics of the honeycomb sandwich structure, that is, when the lifting pallet is subjected to stress and deformation while carrying goods, the first layer and the second layer bear tensile pressure, and the hollow column structure bears shear force, thus having the advantages of light weight, high strength and high rigidity of the honeycomb sandwich structure. To sum up, the lifting pallet provided by the utility model not only ensures the overall carrying capacity of the lifting pallet, but also reduces the overall weight of the lifting pallet. Compared with the lifting pallet made of aluminum alloy, the lifting pallet provided by the utility model has a lower cost. In summary, the embodiment of the utility model provides a lifting pallet and an autonomous mobile robot, which realizes the lightweight design of the lifting pallet of the autonomous mobile robot at a lower cost, and solves the problem of excessive weight of the lifting pallet in the related technology while ensuring the carrying capacity of the lifting pallet.

[0074] The terms "first," "second," and the like in the specification and claims of the present invention are used to distinguish similar objects, and are not used to describe a particular order or precedence. It should be understood that the terms used in this manner are interchangeable where appropriate, so that the embodiments of the present invention can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "first," "second," and the like generally distinguish objects of a class and do not limit the number of objects. For example, the first object may be one or more.

[0075] Other embodiments of the present invention will readily occur to those skilled in the art after considering the specification and practicing the applications disclosed herein. This invention is intended to cover any variations, uses, or adaptations of the invention that follow the general principles of the invention and include common knowledge or customary techniques in the art not disclosed herein. The description and examples are to be considered as exemplary only, with the true scope and spirit of the invention being indicated by the following claims.

[0076] It should be understood that the present invention is not limited to the precise structure described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from the scope thereof. The scope of the present invention is limited only by the appended claims.

[0077] The above description is only a preferred embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present application should be included in the scope of protection of the present application.

Claims

1. A lifting pallet, characterized in that: The lifting tray comprises: a first layer plate and a second layer plate; The first layer plate and the second layer plate have the same size, and the first layer plate and the second layer plate are superimposed and buckled together to form the main body of the lifting tray; The first layer plate is provided with a plurality of first through holes distributed at intervals, and the edges of the first through holes extend in a direction facing the second layer plate to form first through hole extensions; the second layer plate is provided with second through holes corresponding one to one with the first through holes, and the edges of the second through holes extend in a direction facing the first layer plate to form second through hole extensions; The plurality of first through hole extensions are buckled with the plurality of second through hole extensions in a one-to-one correspondence, so that a plurality of hollow column structures distributed at intervals are formed in the space between the first layer board and the second layer board.

2. The lifting tray according to claim 1, characterized in that: The edge of the first layer is provided with a first folding structure bent toward the second layer; the edge of the second layer is provided with a second folding structure bent toward the first layer; The outer diameter of the first folding structure is smaller than the inner diameter of the second folding structure, so that the outer side of the first folding structure is nested inside the inner side of the second folding structure to form the overall folding structure of the lifting tray; Alternatively, the outer diameter of the second folding structure is smaller than the inner diameter of the first folding structure, so that the outer side of the second folding structure is nested in the inner side of the first folding structure to form the overall folding structure of the lifting pallet.

3. The lifting tray according to claim 1, characterized in that: A first code reading through hole is provided at the center of the first layer board, and a second code reading through hole is provided at a position of the second layer board corresponding to the center of the first layer board. The first code reading through hole and the second code reading through hole are overlapped.

4. The lifting tray according to claim 1, characterized in that: The shapes of the first through hole and the second through hole include one of a circle, a rectangle, a rhombus, a trapezoid, a triangle, a regular hexagon and an ellipse.

5. The lifting tray according to claim 1, characterized in that: The height of the hollow column structure formed by assembling the first through-hole extension portion and the second through-hole extension portion is equal to the sum of the thickness of the first layer board and the thickness of the second layer board.

6. The lifting tray according to claim 1, characterized in that: The ratio of the total projected area of ​​the first through holes on the plane of the lifting tray to the total area of ​​the first layer of boards is greater than 50%.

7. The lifting tray according to claim 1, characterized in that: The ratio of the total projected area of ​​the first through holes on the plane of the lifting tray to the total area of ​​the first layer of boards is equal to 50%.

8. The lifting tray according to any one of claims 1 to 7, characterized in that: The aperture of the second through hole is smaller than that of the first through hole, so that the first through hole extension portion and the second through hole extension portion are loosely matched.

9. The lifting tray according to claim 8, characterized in that: The first through hole extension portion includes a first base extension portion and a first connecting extension portion; the width of the first base extension portion is greater than the width of the first connecting extension portion, and the height of the first connecting extension portion is greater than the height of the first base extension portion; The second through hole extension portion includes a second base extension portion and a second connecting extension portion; the width of the second base extension portion is greater than the width of the second connecting extension portion, and the height of the second connecting extension portion is greater than the height of the second base extension portion; The width of the second connecting extension portion is smaller than the width of the first connecting extension portion, so that the first connecting extension portion and the second connecting extension portion are clearance-fitted.

10. An autonomous mobile robot comprising the lifting tray according to any one of claims 1 to 9.

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