Frame and transfer robot

Abstract

The embodiment of the utility model provides a vehicle frame and a transfer robot. The vehicle frame comprises a main force bearing frame and a bottom plate. The main force-bearing frame adopts a welding process and comprises the vehicle head transverse framework and the vehicle body longitudinal framework which are vertically welded with each other, and compared with a vehicle frame machined through a metal plate bending process, the rigidity and the strength are improved. The vehicle body longitudinal framework comprises a first outer longitudinal framework, an inner longitudinal framework and a second outer longitudinal framework which are sequentially arranged at intervals; the bottom of each framework is welded with the bottom plate to form a plurality of box body structures, so that the bending rigidity and the torsional rigidity of the main bearing frame are improved, and the rigidity and the strength of the frame are further improved. The frameworks of the main bearing frame are mutually spaced to form a hollow state, and the two openings are formed in the bottom plate, so that waste of middle materials is avoided, material cost is saved, and the weight of the frame is reduced.

Description

A chassis and a transport robot Technical Field

[0001] This application relates to the field of logistics handling technology, and in particular to a chassis and handling robot. Background Technology

[0002] In related technologies, the main forms of cargo handling by transport robots include carrying, forking, and towing. Among them, the forking transport robot includes: a frame and fork modules; the frame has a "comb" shaped structure to accommodate the fork modules; the fork modules are mounted on the frame and can extend out of the frame or retract into the frame.

[0003] The frame is generally manufactured using sheet metal bending forming process. On the one hand, during long-term operation, the thin sheet metal structure is prone to large elastic or plastic deformation, resulting in insufficient fatigue life. On the other hand, the processing precision of sheet metal bending parts is insufficient, which can easily lead to a high failure rate in the docking of the fork leg module and the frame.

[0004] In addition, to solve the problem of insufficient fatigue life, the thickness of the sheet metal can be increased, but this will significantly increase the weight of the entire vehicle, thus affecting the battery life of the handling robot; and the change in the size of the sheet metal will also increase the overall size of the robot, thereby reducing the business scenarios covered by the handling robot. Summary of the Invention

[0005] The purpose of this application is to provide a chassis and a handling robot that improves the rigidity and strength of the chassis without significantly increasing weight and cost. The specific technical solution is as follows:

[0006] This application provides a vehicle frame, including: a main load-bearing frame and a base plate; the main load-bearing frame is fixed to the top surface of the base plate; the main load-bearing frame includes: a front transverse frame and a body longitudinal frame welded perpendicularly to each other; the bottoms of the front transverse frame and the body longitudinal frame are both welded to the base plate; the front transverse frame is disposed on a first side of the base plate; the body longitudinal frame includes: a first outer longitudinal frame, an inner longitudinal frame and a second outer longitudinal frame arranged at intervals; a fork leg receiving space is formed between the first outer longitudinal frame and the inner longitudinal frame, and between the second outer longitudinal frame and the inner longitudinal frame, for accommodating fork leg modules; the base plate is provided with two openings facing a second side, the openings corresponding vertically to the fork leg receiving space, and the second side being opposite to the first side.

[0007] In some embodiments of this application, the first outer longitudinal frame and the second outer longitudinal frame have the same structure, with the first end welded to the front transverse frame and the second end extending to the second side of the bottom plate; the first outer longitudinal frame (121) and the second outer longitudinal frame divide the bottom plate into: two first bottom plates located on the outer side and a second bottom plate located in the middle for mounting the inner longitudinal frame; the outer surfaces of the first outer longitudinal frame and the second outer longitudinal frame are provided with a plurality of first body reinforcing ribs, the plurality of first body reinforcing ribs being spaced apart along the extension direction of the first outer longitudinal frame and welded to the first bottom plate.

[0008] In some embodiments of this application, both the first outer longitudinal frame and the second outer longitudinal frame include: an outer vertical mounting member; the two outer vertical mounting members extend downward and are welded to the first base plate; the first vehicle body reinforcing rib is disposed on the outer side surface of the outer vertical mounting member.

[0009] In some embodiments of this application, both the first outer longitudinal frame and the second outer longitudinal frame further include: a first rectangular tube; the first rectangular tube is welded to the top of the outer vertical mounting member; the first rectangular tube and the outer vertical mounting member are both welded to the front transverse frame.

[0010] In some embodiments of this application, the external vertical mounting component is a first vertical plate or an I-beam.

[0011] In some embodiments of this application, the outer side of the external vertical mounting member is further fixed with a drive axle hinge support; the drive axle hinge support has a longitudinal mounting groove for mounting the drive axle, the drive axle being parallel to the longitudinal frame of the vehicle body and passing through the plurality of first vehicle body reinforcing ribs.

[0012] In some embodiments of this application, a drive wheel and a rear caster are respectively provided at both ends of the drive axle; a first through hole is provided in the middle of each first base plate so that the drive wheel can pass through the first base plate and contact the ground; a second through hole is provided at the end of each first base plate near the second side so that the rear caster can pass through the first base plate and contact the ground.

[0013] In some embodiments of this application, the inner longitudinal frame includes: a first sub-frame and a second sub-frame; the first sub-frame and the second sub-frame have the same structure and are spaced apart along the length direction of the front transverse frame; a first device accommodating space is formed between the first sub-frame and the second sub-frame; the first sub-frame and the second sub-frame are welded to the front transverse frame; at least one second body reinforcing rib is provided between the first sub-frame and the second sub-frame; the at least one second body reinforcing rib is spaced apart along the extension direction of the inner longitudinal frame and is welded to the second bottom plate, the first sub-frame, and the second sub-frame.

[0014] In some embodiments of this application, the inner longitudinal frame further includes: a rear frame; the rear frame is welded to the end of the first sub-frame and the second sub-frame away from the front transverse frame, and its bottom is welded to the second base plate; a second device accommodating space is formed within the rear frame; the first device accommodating space and the second device accommodating space are used to accommodate electronic devices.

[0015] In some embodiments of this application, both the first sub-frame and the second sub-frame include: a second upright plate; the first ends of the two second upright plates are welded to the transverse frame of the vehicle head, and the bottoms of the two second upright plates extend downward and are welded to the base plate; a space for accommodating the first device is formed between the two second upright plates.

[0016] In some embodiments of this application, both the first sub-frame and the second sub-frame further include: a second rectangular tube; the second rectangular tube is welded to the top of the second upright plate; and the first end of the second rectangular tube is welded to the transverse frame of the vehicle head.

[0017] In some embodiments of this application, the transverse frame of the vehicle front includes: a channel steel with an upward opening; a first end of the longitudinal frame of the vehicle body is welded to a first side wall of the channel steel; a channel steel reinforcing plate is provided on the top of the channel steel, one end of the channel steel reinforcing plate is fixedly connected to the first side wall of the channel steel, and the other end is fixedly connected to the second side wall of the channel steel.

[0018] In some embodiments of this application, the transverse frame of the vehicle head further includes: a caster axle hinge point support; the caster axle hinge point support is fixed to the second side wall of the channel steel; the caster axle hinge point support has a transverse mounting groove for mounting the caster axle so that the caster axle is parallel to the channel steel.

[0019] In some embodiments of this application, a front caster is provided at each end of the caster bridge; a third through hole is provided at each end of the first side of the base plate, so that the front caster passes through the base plate and contacts the ground.

[0020] In some embodiments of this application, the first ends of the first and second outer longitudinal frames extend out of the second sidewall of the channel steel to form two opposing third body reinforcing ribs; the third body reinforcing ribs are perpendicular to the channel steel.

[0021] In some embodiments of this application, the front transverse frame further includes: a front reinforcing rib plate; the front reinforcing rib plate is located on both sides of the caster axle hinge point support and is parallel to the channel steel; one end of the front reinforcing rib plate is fixedly connected to the caster axle hinge point support and the other end is fixedly connected to the third body reinforcing rib plate.

[0022] This application also provides a handling robot, including: the frame and fork-leg module described in any of the above embodiments.

[0023] The vehicle frame and handling robot provided in this application embodiment employ a welding process for the main load-bearing frame, including a front transverse frame and a body longitudinal frame welded perpendicularly to each other. Compared to a frame manufactured using sheet metal bending, this improves rigidity and strength. The bottoms of both the front transverse frame and the body longitudinal frame are welded to a base plate, forming multiple box structures, which enhances the bending and torsional rigidity of the main load-bearing frame, thereby further improving the rigidity and strength of the vehicle frame. Furthermore, the various frames of the main load-bearing frame are spaced apart, creating a hollow structure, and two openings are provided on the base plate, avoiding material waste in the middle, saving material costs, and reducing the weight of the vehicle frame. Attached Figure Description

[0024] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings.

[0025] Figure 1 is a three-dimensional structural diagram of a forklift-type handling robot in related technologies;

[0026] Figure 2 is a three-dimensional structural diagram of the handling robot according to an embodiment of this application;

[0027] Figure 3 is an exploded view of the handling robot shown in Figure 2 (the fork-leg module is not shown).

[0028] Figure 4 is a perspective structural diagram of the vehicle frame according to the first embodiment of this application;

[0029] Figure 5 is an exploded view of the frame shown in Figure 4;

[0030] Figure 6 is a three-dimensional structural diagram of the base plate of the frame shown in Figure 4;

[0031] Figure 7 is a three-dimensional structural diagram of the frame shown in Figure 4 after removing the bottom plate and the rear frame;

[0032] Figure 8 is a three-dimensional structural diagram of the frame shown in Figure 7 from another angle;

[0033] Figure 9 is a perspective structural diagram of the vehicle frame according to the second embodiment of this application;

[0034] Figure 10 is an exploded view of the frame shown in Figure 9;

[0035] Figure 11 is a three-dimensional structural diagram of the frame shown in Figure 10 after removing the bottom plate and the rear frame;

[0036] Figure 12 is a three-dimensional structural diagram of the frame shown in Figure 11 from another angle.

[0037] Figure 1 reference numerals:

[0038] Frame 10; Fork leg module 20.

[0039] Figure 2 to Figure 12 reference numerals:

[0040] Frame 1;

[0041] Main load-bearing frame 100;

[0042] 110 transverse frame of the front of the vehicle; 111 channel steel; 111A first side wall; 111B second side wall; 112 channel steel reinforcing plate; 113 caster axle hinge point support; 1131 transverse mounting groove; 114 third body reinforcing rib plate; 115 front of the vehicle.

[0043] Vehicle body longitudinal frame 120; first outer longitudinal frame 121; inner longitudinal frame 122; first sub-frame 122A; second sub-frame 122B; rear frame 122C; second outer longitudinal frame 123; outer vertical mounting piece 124; first upright plate 124A; I-beam 124B; first rectangular tube 125; drive axle hinge point support 126; longitudinal mounting groove 1261; second upright plate 127; second rectangular tube 128; cable chain storage groove 129.

[0044] Leg support space 130; First body reinforcing rib 140; First component support space 150; Second body reinforcing rib 160; Second component support space 170;

[0045] Base plate 200; First base plate 200A; Second base plate 200B; Opening 210; First through hole 220; Second through hole 230; Third through hole 240;

[0046] 2. Fork leg module; 3. Drive axle; 31. Drive wheel; 32. Rear caster; 4. Caster axle; 41. Front caster; 5. Tabletop cover; 6. Housing; 7. Telescopic module. Detailed Implementation

[0047] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art based on this application are within the scope of protection of this application.

[0048] Forklift-type material handling is widely used because it doesn't require major modifications to existing material storage tools such as carriers, pallets, and trolleys. In recent years, in addition to traditional forklift-type AMRs, a new type of stealth forklift-type AMR has emerged with technological advancements. This stealth forklift-type AMR, due to its small size and small turning diameter, is widely used in narrow aisle and high-density storage scenarios, as shown in the figure below.

[0049] In related technologies, the main forms of cargo handling by transport robots include carrying, forking, and towing. Among these, forklift-type transport robots have extremely wide applications because they do not require significant modifications to existing material storage tools such as carriers / pallets / carts. See Figure 1, which shows a three-dimensional structural diagram of a forklift-type transport robot in related technologies. As shown in Figure 1, this forklift-type transport robot is a stealthy forklift-type transport robot. Due to its small size and small turning diameter, it is widely used in business scenarios such as narrow aisles and dense storage. This forklift-type transport robot includes: a frame 10 and fork-leg modules 20; the frame 10 has a "comb" shaped structure to accommodate the fork-leg modules 20; the fork-leg modules 20 are mounted on the frame 10 and can extend out of or retract into the frame 10.

[0050] The frame 10 is generally processed using sheet metal bending forming process. On the one hand, during long-term operation, the sheet metal thin plate structure is prone to large elastic or plastic deformation, resulting in insufficient fatigue life. On the other hand, the processing precision of sheet metal bending parts is insufficient, which can easily lead to a high failure rate in the docking of the fork leg module 20 and the frame 10.

[0051] In addition, to solve the problem of insufficient fatigue life, the thickness of the sheet metal can be increased, but this will significantly increase the weight of the entire vehicle, thus affecting the battery life of the handling robot; and the change in the size of the sheet metal will also increase the overall size of the robot, thereby reducing the business scenarios covered by the handling robot.

[0052] In order to improve the rigidity and strength of the chassis without significantly increasing weight and cost, this application provides a chassis and a handling robot. First, the handling robot provided in this application will be described in detail.

[0053] Referring to Figures 2 and 3, Figure 2 is a perspective structural diagram of the handling robot according to an embodiment of this application; Figure 3 is an exploded view of the handling robot shown in Figure 2 (the fork-leg module is not shown). The handling robot includes: a frame 1 and a fork-leg module 2. The specific structure of the frame 1 will be described in detail later.

[0054] As shown in Figures 2 and 3, the handling robot also includes: two drive axles 3, caster axles 4, tabletop cover 5, outer shell 6, telescopic module 7, and electronic components.

[0055] The platform cover 5 is installed on the top of the frame 1, and the outer shell 6 is installed on the periphery of the frame 1;

[0056] The top of the outer casing 6 is connected to the tabletop cover 5, and the bottom is connected to the base plate 200 of the frame 1 to form an internal installation space for mounting the main load-bearing frame 100, fork leg module 2, two drive axles 3, caster axle 4 and electronic components of the frame 1.

[0057] Specifically, the fork-leg module 2 has a driving force, which extends or retracts into its internal installation space to pick up external pallets and transport them onto the platform cover 5, or to transport pallets from the platform cover 5 to their destination. Furthermore, a telescopic module 7 is located on the side of the fork-leg module 2. During the extension or retraction of the fork-leg module 2, the telescopic module 7 acts as a guide to prevent the fork-leg module 2 from deviating and causing a docking failure between the fork-leg module 2 and the frame 1.

[0058] With two drive axles 3 and caster axles 4, the handling robot has a total of 6 wheels. Compared with the handling robots with four wheels commonly used in related technologies, the handling robot of this application embodiment has higher stability in handling goods and can adapt to various road conditions.

[0059] The frame 1 provided in this application will now be described in detail.

[0060] In the field of logistics handling technology, pallets can be divided into two main categories based on the center distance of the pallet fork holes: wide-pitch pallets and narrow-pitch pallets. Similarly, to adapt to pallets with different pitches, lurking forklift handling robots also have two corresponding types: wide-pitch layout frames (hereinafter referred to as: wide-body frames) and narrow-pitch layout frames (hereinafter referred to as: narrow-body frames), with center distances of 440mm and 370mm respectively. The frame 1 provided in the first embodiment of this application, shown in Figures 4 to 8, is a wide-body frame, while the frame 1 provided in the second embodiment, shown in Figures 9 to 12, is a narrow-body frame. This application provides both wide-body and narrow-body frame layouts, each capable of adapting to both wide and narrow pallets, thus meeting the needs of different business scenarios.

[0061] Referring to Figures 4 to 6, Figure 4 is a perspective structural diagram of the vehicle frame according to the first embodiment of this application; Figure 5 is an exploded view of the vehicle frame shown in Figure 4; and Figure 6 is a perspective structural diagram of the base plate of the vehicle frame shown in Figure 4.

[0062] As shown in Figures 2 to 4, the frame 1 includes a main load-bearing frame 100 and a base plate 200; the main load-bearing frame 100 is fixed to the top surface of the base plate 200.

[0063] The main load-bearing frame 100 includes: a front transverse frame 110 and a body longitudinal frame 120 welded perpendicularly to each other; the bottom of the front transverse frame 110 and the body longitudinal frame 120 are both welded to the base plate 200 to form multiple box structures.

[0064] The front transverse frame 110 is located on the first side of the base plate 200; the body longitudinal frame 120 includes: a first outer longitudinal frame 121, an inner longitudinal frame 122, and a second outer longitudinal frame 123 arranged in sequence at intervals.

[0065] A fork-leg receiving space 130 is formed between the first outer longitudinal frame 121 and the inner longitudinal frame 122, and between the second outer longitudinal frame 123 and the inner longitudinal frame 122, for accommodating the fork-leg module 2.

[0066] The base plate 200 is provided with two openings 210 facing the second side. The openings 210 correspond vertically to the fork leg receiving space 130, and the second side is opposite to the first side.

[0067] Specifically, as shown in Figure 2, the base plate 200 is a rectangular structure with two sets of opposite sides. The first side and the second side of the base plate 200 are a set of front and rear opposite sides, with the first side being the front side of the vehicle and the second side being the rear side of the vehicle.

[0068] The extension direction of the transverse frame 110 of the vehicle head is parallel to the first side, and the extension direction of the longitudinal frame 120 of the vehicle body is perpendicular to the first side. The first outer longitudinal frame 121, the inner longitudinal frame 122, and the second outer longitudinal frame 123 are arranged alternately, so that each frame of the main load-bearing frame 100 is evenly distributed above the base plate 200. When the handling robot handles goods, the load is transferred step by step along each frame of the main load-bearing frame 100, which can effectively prevent the frame from deforming and improve the load-bearing capacity of the frame and the stability when handling goods.

[0069] The bottom of the front transverse frame 110 and the body longitudinal frame 120 are welded to the base plate 200, dividing the top space of the frame 1 into multiple box spaces, such as: the front transverse frame 110 and the first outer longitudinal frame 121, the front transverse frame 110 and the second outer longitudinal frame 123, the front transverse frame 110 and the first outer longitudinal frame 121 and the inner longitudinal frame 122, the front transverse frame 110 and the second outer longitudinal frame 123 and the inner longitudinal frame 122. Each of the above combinations can form a box structure, and its internal space is the box space.

[0070] The base plate 200 has two openings 210 that correspond to the upper and lower openings of the fork leg receiving space 130. This can reduce the weight of the frame 1 and prevent the fork leg module 2 from having to climb a slope to retract into the fork leg receiving space 130, which would cause the goods to bounce. This makes the process of the fork leg module 2 entering and exiting the fork leg receiving space 130 smoother.

[0071] The vehicle frame 1 provided in this embodiment employs a welding process for its main load-bearing frame 100, including a front transverse frame 110 and a body longitudinal frame 120 welded perpendicularly to each other. Compared to a vehicle frame 1 manufactured using sheet metal bending, this improves rigidity and strength. The bottoms of both the front transverse frame 110 and the body longitudinal frame 120 are welded to a base plate 200, forming multiple box structures. This enhances the bending and torsional rigidity of the main load-bearing frame 100, further improving the rigidity and strength of the vehicle frame 1. Furthermore, the various frames of the main load-bearing frame 100 are spaced apart, creating a hollow structure. Two openings are provided on the base plate 200, avoiding material waste in the middle, saving material costs, and reducing the weight of the vehicle frame 1.

[0072] In some embodiments of this application, as shown in Figures 4 to 6, the first outer longitudinal frame 121 and the second outer longitudinal frame 123 have the same structure, with the first end welded to the front transverse frame 110 and the second end extending to the second side of the bottom plate 200.

[0073] The first outer longitudinal frame 121 and the second outer longitudinal frame 123 divide the base plate 200 into two outer first base plates 200A and a middle second base plate 200B for mounting the inner longitudinal frame 122.

[0074] Multiple first body reinforcing ribs 140 are provided on the outer sides of the first outer longitudinal frame 121 and the second outer longitudinal frame 123. The multiple first body reinforcing ribs 140 are spaced apart along the extension direction of the first outer longitudinal frame 121 and are welded to the first base plate 200A.

[0075] Specifically, the first base plate 200A and the second base plate 200B can be manufactured as a single piece. A large-sized base plate 200 requires large-sized processing equipment, so the first base plate 200A and the second base plate 200B can also be manufactured separately to accommodate more processing equipment.

[0076] Each first body reinforcing rib 140 extends parallel to the extension direction of the front transverse frame 110, from the first outer longitudinal frame 121 or the second outer longitudinal frame 123, to another set of left and right opposite sides of the bottom plate 200.

[0077] In the embodiment shown in Figure 4, four first body reinforcing ribs 140 are provided on the outer sides of the first outer longitudinal frame 121 and the second outer longitudinal frame 123. Of the four first body reinforcing ribs 140, two are located in the rear half of the base plate 200, and two are located in the front half of the base plate 200. Each adjacent first body reinforcing rib 140 and the first outer longitudinal frame 121 or the second outer longitudinal frame 123 also form multiple box structures, further improving the bending and torsional stiffness of the main load-bearing frame 100, as well as the stiffness and strength of the frame 1. It should be noted that in other embodiments of this application, the number of first body reinforcing ribs 140 may also be other, and this application does not limit the number.

[0078] In some embodiments of this application, as shown in Figures 4 and 5, both the first outer longitudinal frame 121 and the second outer longitudinal frame 123 include: an outer vertical mounting member 124; the two outer vertical mounting members 124 extend downward and are welded to the first base plate 200A; and the first body reinforcing rib plate 140 is disposed on the outer side surface of the outer vertical mounting member 124.

[0079] Both the first outer longitudinal frame 121 and the second outer longitudinal frame 123 further include: a first rectangular tube 125; the first rectangular tube 125 is welded to the top of the outer vertical mounting component 124. The first rectangular tube 125 and the outer vertical mounting component 124 are both welded to the front transverse frame 110.

[0080] Specifically, in the embodiment shown in Figure 4, the outer vertical mounting member 124 is a first upright plate 124A. The first outer longitudinal frame 121 and the second outer longitudinal frame 123 are both formed by welding the first rectangular tube 125 to the first upright plate 124A. Using standard profiles such as rectangular tubes and upright plates can reduce the cost of the frame 1 and reduce the amount of processing. In other embodiments of this application, the outer vertical mounting member 124 can also be an I-beam 124B, as detailed in the following second embodiment.

[0081] In some embodiments of this application, referring to Figures 7 and 8, Figure 7 is a three-dimensional structural view of the frame shown in Figure 4 after removing the bottom plate and the rear frame; Figure 8 is a three-dimensional structural view of the frame shown in Figure 7 from another angle. As shown in Figures 7 and 8, a drive axle hinge point support 126 is also fixed to the outer side of the outer vertical mounting member 124;

[0082] The drive axle hinge support 126 has a longitudinal mounting groove 1261 for mounting the drive axle 3, which is parallel to the longitudinal frame 120 of the vehicle body and passes through multiple first body reinforcing ribs 140.

[0083] As shown in Figure 3, a drive wheel 31 and a rear caster 32 are respectively provided at both ends of the drive axle 3.

[0084] As shown in Figure 6, each first base plate 200A has a first through hole 220 in the middle so that the drive wheel 31 can pass through the first base plate 200A and contact the ground; each first base plate 200A has a second through hole 230 at the end near the second side so that the rear caster 32 can pass through the first base plate 200A and contact the ground.

[0085] Specifically, the drive axle hinge support 126 is located in the rear half of the base plate 200, between the two first body reinforcing ribs 140. The middle part of the drive axle 3 is hinged to the drive axle hinge support 126.

[0086] Two first body reinforcing ribs 140 have through holes for the drive axle 3 to pass through. The vertical dimension of the through holes is larger than that of the drive axle 3, so that when the transport robot encounters undulations, the two ends of the drive axle 3 can float up and down, improving the stability during transport.

[0087] As shown in Figures 3 and 4, the drive wheel 31 is adjacent to a first body reinforcing rib plate 140 located in the front half of the base plate 200, and the motor part of the drive wheel 31 can be fixedly connected to the first body reinforcing rib plate 140.

[0088] In some embodiments of this application, as shown in Figures 5, 7 and 8, the inner longitudinal skeleton 122 includes: a first sub-skeleton 122A and a second sub-skeleton 122B.

[0089] The first sub-frame 122A and the second sub-frame 122B have the same structure and are spaced apart along the length of the transverse frame 110 at the front of the vehicle; a first device accommodating space 150 is formed between the first sub-frame 122A and the second sub-frame 122B.

[0090] The first sub-frame 122A and the second sub-frame 122B are welded to the front transverse frame 110.

[0091] At least one second body reinforcing rib plate 160 is provided between the first sub-frame 122A and the second sub-frame 122B.

[0092] At least one second body reinforcing rib plate 160 is spaced apart along the extension direction of the inner longitudinal frame 122 and is welded to the second base plate 200B, the first sub-frame 122A and the second sub-frame 122B.

[0093] Specifically, the first outer longitudinal frame 121, the first sub-frame 122A, the second sub-frame 122B, and the second outer longitudinal frame 123 are adjacent to each other, forming multiple box-type structures with the front transverse frame 110 and the bottom plate 200, which improves the rigidity and strength of the frame 1.

[0094] Preferably, the first outer longitudinal frame 121, the first sub-frame 122A, the second sub-frame 122B, and the second outer longitudinal frame 123 can be symmetrically distributed as shown in Figure 7 to improve the bending and torsional stiffness of the main load-bearing frame 100 and further improve the stiffness and strength of the frame 1.

[0095] As shown in Figures 5, 7, and 8, in this embodiment of the application, the number of second body reinforcing ribs 160 is four. In other embodiments of the application, the number of second body reinforcing ribs 160 may also be other than the number specified in this application. The shapes of the individual second body reinforcing ribs 160 may be the same, or they may be set to different shapes according to their respective arrangement positions and installation relationships, as shown in Figures 5, 7, and 8, appearing as flat plates or bent shapes. The bent second body reinforcing ribs 160 can be used to accommodate and fix electronic components.

[0096] At least one second body reinforcing rib 160 divides the first device accommodating space 150 into multiple sub-spaces. The side walls of each sub-space and the second bottom plate 200B also form a box structure, further improving the rigidity and strength of the frame 1.

[0097] In some embodiments of this application, as shown in FIG4, the inner longitudinal frame 122 further includes: a tail frame 122C; the tail frame 122C is welded to one end of the first sub-frame 122A and the second sub-frame 122B away from the front transverse frame 110, and its bottom is welded to the second base plate 200B; a second device accommodating space 170 is formed inside the tail frame 122C.

[0098] The first device receiving space 150 and the second device receiving space 170 are used to receive electronic devices.

[0099] Specifically, the lengths of the first sub-frame 122A and the second sub-frame 122B are shorter than those of the first outer longitudinal frame 121 and the second outer longitudinal frame 123, in order to leave installation space for the tail frame 122C. In other embodiments of this application, the tail frame 122C may not be provided, and the lengths of the first sub-frame 122A and the second sub-frame 122B may be increased, allowing the first sub-frame 122A and the second sub-frame 122B to extend to the second side of the base plate 200.

[0100] The rear frame 122C can be welded to the first subframe 122A and the second subframe 122B, or it can be welded to the second body reinforcing rib 160 located at the rear end of the first subframe 122A and the second subframe 122B. The rear frame 122C itself is a box structure, which can further improve the rigidity and strength of the frame 1.

[0101] The first device accommodating space 150 can be used to accommodate and install an industrial camera (not shown in the figure). A lens hole is provided on the base plate 200 at a corresponding position, allowing the industrial camera to scan QR codes on the ground through the lens hole. The second device accommodating space 170 can be used to accommodate and install control system devices, such as power batteries, sensors, controllers, light panels, and speakers. This application does not limit the types of devices installed in the first and second device accommodating spaces 150; the device layout can be arranged according to actual conditions.

[0102] In some embodiments of this application, as shown in Figures 4, 7 and 8, both the first sub-frame 122A and the second sub-frame 122B include a second upright plate 127.

[0103] The first ends of the two second upright plates 127 are welded to the transverse frame 110 of the vehicle head, and the bottoms of the two second upright plates 127 extend downward and are welded to the base plate 200. A first device receiving space 150 is formed between the two second upright plates 127.

[0104] Specifically, the bottoms of the two second upright plates 127 are welded to the edges of the second base plate 200B, and the ends of the two second upright plates 127 are welded together by the second body reinforcing rib plate 160 to form a box structure, improving the rigidity and strength of the frame 1. This creates a first component receiving space 150 that is enclosed on all four sides above the second base plate 200B. The use of standard profiles such as upright plates for the first sub-frame 122A and the second sub-frame 122B reduces the cost of the frame 1 and the amount of processing required.

[0105] In some embodiments of this application, both the first sub-frame 122A and the second sub-frame 122B further include a second rectangular tube 128. The second rectangular tube 128 is welded to the top of the second upright plate 127; the first end of the second rectangular tube 128 is welded to the front transverse frame 110 to further improve the rigidity and strength of the frame 1.

[0106] In some embodiments of this application, as shown in Figures 4, 5, 7 and 8, the front transverse frame 110 includes: channel steel 111 with an upward opening.

[0107] The first end of the longitudinal frame 120 of the vehicle body is welded to the first side wall 111A of the channel steel 111.

[0108] A channel steel reinforcing plate 112 is provided on the top of the channel steel 111. One end of the channel steel reinforcing plate 112 is fixedly connected to the first side wall 111A of the channel steel 111, and the other end is fixedly connected to the second side wall 111B of the channel steel 111.

[0109] Specifically, in the embodiment shown in Figure 4, the channel steel reinforcing plate 112 can be fixed to the channel steel 111 by screws or by welding. There are three channel steel reinforcing plates 112, two of which are strip-shaped and located inside the first outer longitudinal frame 121 and the second outer longitudinal frame 123, respectively; the third channel steel reinforcing plate 112 is plate-shaped and extends from the first end of the first sub-frame 122A to the first end of the second sub-frame 122B. The three channel steel reinforcing plates 112 are evenly distributed on the channel steel 111, improving the strength and rigidity of the channel steel 111, thereby improving the strength and rigidity of the vehicle body 1. It should be noted that in other embodiments of this application, the number of channel steel reinforcing plates 112 can also be other than those specified in this application.

[0110] In the design of the main load-bearing frame 100, the stress flow diagram of finite element simulation analysis can be used to locally strengthen the parts with high stiffness requirements and install the above-mentioned stiffening ribs.

[0111] In the embodiments of this application, the main load-bearing frame 100 uses standard profiles such as channel steel, vertical plates, I-beams, and rectangular tubes as the load-bearing skeleton, and is supplemented with plates such as the base plate 200 to form an integrated welded frame frame 1. Through this "skeleton" + "skin" layout concept, and combined with the stress flow diagram to reasonably arrange the position of the reinforcing ribs, the utilization efficiency of the above-mentioned structural components can be maximized, the overall performance of the frame can be improved, and a good cost reduction effect can be achieved.

[0112] In some embodiments of this application, as shown in Figures 7 and 8, the front transverse frame 110 further includes: a caster axle hinge point support 113; the caster axle hinge point support 113 is fixed to the second side wall 111B of the channel steel 111.

[0113] The caster axle hinge support 113 has a transverse mounting groove 1131 for mounting the caster axle 4 so that the caster axle 4 is parallel to the channel steel 111.

[0114] Each end of the caster bridge 4 is provided with a front caster 41. Each end of the first side of the base plate 200 is provided with a third through hole 240, so that the front caster 41 can pass through the base plate 200 and contact the ground.

[0115] Specifically, the frame 1 has one caster axle hinge point support 113 and two drive axle hinge point supports 126. The load-bearing support points of the frame 1 are located on these three axle supports. The load on the platform cover plate 5 is transferred step by step along the main load-bearing frame 100 to these three axle supports, and then transferred to the ground through the axle supports. The outer shell 6 and the base plate 200 are only used as skins for the main structure of the handling robot, for installing some components or for appearance design, and do not serve a load-bearing function.

[0116] In some embodiments of this application, as shown in Figures 4, 7, and 8, the first ends of the first outer longitudinal frame 121 and the second outer longitudinal frame 123 extend out of the second sidewall 111B of the channel steel 111, forming two opposing third body reinforcing ribs 114. The third body reinforcing ribs 114 are perpendicular to the channel steel 111.

[0117] The transverse frame 110 of the front of the vehicle also includes: a front reinforcing rib plate 115; the front reinforcing rib plate 115 is located on both sides of the caster axle hinge point support 113 and is parallel to the channel steel 111.

[0118] One end of the front reinforcing rib plate 115 is fixedly connected to the caster axle hinge point support 113, and the other end is fixedly connected to the third body reinforcing rib plate 114.

[0119] Specifically, after a portion of the outer vertical mounting parts 124 of the first outer longitudinal frame 121 and the second outer longitudinal frame 123 are cut off, they extend out from the bottom of the channel steel 111 to form the third body reinforcing rib plate 114.

[0120] By applying the embodiments of this application, a third body reinforcing rib plate 114 and a front reinforcing rib plate 115 are provided to form more box structures, which can further improve the strength and rigidity of the vehicle body 1.

[0121] As previously mentioned, in the frame 1 of the first embodiment shown in Figure 4, the first outer longitudinal frame 121 and the second outer longitudinal frame 123 are welded together by the first upright plate 124A and the first rectangular tube 125, and the first sub-frame 122A and the second sub-frame 122B of the inner longitudinal frame 122 are welded together by the second upright plate 127 and the second rectangular tube 128. In other embodiments of the frame 1, the first outer longitudinal frame 121 and the second outer longitudinal frame 123 may also be welded together by the I-beam 124B and the first rectangular tube 125, and the first sub-frame 122A and the second sub-frame 122B of the inner longitudinal frame 122 may only include the second upright plate 127.

[0122] Referring to Figures 9 to 12, Figure 9 is a perspective structural diagram of the frame of the second embodiment of this application; Figure 10 is an exploded view of the frame shown in Figure 9; Figure 11 is a perspective structural diagram of the frame shown in Figure 10 after removing the bottom plate and the rear frame; Figure 12 is a perspective structural diagram of the frame shown in Figure 11 from another angle.

[0123] The second embodiment shown in Figure 9 has the same frame layout as the first embodiment shown in Figure 4. Both are formed by welding a front transverse frame 110 and a first outer longitudinal frame 121, an inner longitudinal frame 122 and a second outer longitudinal frame 123 perpendicular to it to form a main load-bearing frame 100 to transfer the load.

[0124] The differences between the second embodiment shown in Figure 9 and the first embodiment shown in Figure 4 are as follows:

[0125] The first outer longitudinal frame 121 and the second outer longitudinal frame 123 are different in the two embodiments, as shown in Figures 9 to 12. In the second embodiment, the outer vertical mounting member 124 of the first outer longitudinal frame 121 and the second outer longitudinal frame 123 is an I-beam 124B.

[0126] The locations of the cable chain storage slots 129 differ between the two embodiments, as shown in Figures 9 to 12. In the second embodiment, the inner groove of the I-beam 124B serves as the cable chain storage slot 129 for mounting the cable chain of the fork-leg module 2. In the first embodiment, as shown in Figure 8, the cable chain storage slot 129 is located on the outer side of the first sub-frame 122A and the second sub-frame 122B.

[0127] The first sub-frame 122A and the second sub-frame 122B of the two embodiments are different, as shown in Figures 9 to 12. In the second embodiment, the first sub-frame 122A and the second sub-frame 122B have the two second rectangular tubes 128 removed, and only the second upright plate 127 is included.

[0128] In the second embodiment, apart from the differences mentioned above, the structures of the remaining transverse frame 110 and the bottom plate 200 of the vehicle head can be exactly the same as those in the first embodiment shown in Figure 4, and will not be described again here.

[0129] The handling robot provided in this application includes: the frame 1 and the fork-leg module 2 as described in any of the above embodiments.

[0130] In practical applications, regardless of whether the first or second embodiment, or a variation thereof, is used, the chassis and handling robot of this application are manufactured using a welding process for the chassis 1. Compared to a chassis 1 manufactured using sheet metal bending, this improves rigidity and strength. The bottoms of the transverse frame 110 at the front and the longitudinal frame 120 of the body are welded to the base plate 200, forming multiple box structures. This improves the bending and torsional rigidity of the main load-bearing frame 100, thereby further enhancing the rigidity and strength of the chassis 1. Furthermore, the various frames of the main load-bearing frame 100 are spaced apart, forming a hollow structure. Two openings are provided on the base plate 200, avoiding waste of material in the middle, saving material costs, and reducing the weight of the chassis 1.

[0131] The above description is merely a preferred embodiment of this application and is not intended to limit the scope of protection of this application. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application are included within the scope of protection of this application.

Claims

1. A vehicle frame, characterized in that, include: Main load-bearing frame (100) and base plate (200); The main load-bearing frame (100) is fixed to the top surface of the base plate (200); the main load-bearing frame (100) includes: a front transverse frame (110) and a body longitudinal frame (120) welded perpendicularly to each other; the bottoms of the front transverse frame (110) and the body longitudinal frame (120) are welded to the base plate (200) to form multiple box structures; the front transverse frame (110) is located on the first side of the base plate (200); the body longitudinal frame (120) includes: a first outer longitudinal frame arranged at intervals. The frame (121), inner longitudinal frame (122) and second outer longitudinal frame (123) are provided; a fork-leg receiving space (130) is formed between the first outer longitudinal frame (121) and the inner longitudinal frame (122), and between the second outer longitudinal frame (123) and the inner longitudinal frame (122), for accommodating the fork-leg module (2); the base plate (200) is provided with two openings (210) facing the second side, the openings (210) are vertically corresponding to the fork-leg receiving space (130), and the second side is opposite to the first side.

2. The frame according to claim 1, characterized in that, The first outer longitudinal frame (121) and the second outer longitudinal frame (123) have the same structure. The first end is welded to the front transverse frame (110), and the second end extends to the second side of the bottom plate (200). The first outer longitudinal frame (121) and the second outer longitudinal frame (123) divide the bottom plate (200) into two first bottom plates (200A) located on the outer side and a second bottom plate (200B) located in the middle for mounting the inner longitudinal frame (122). The outer surfaces of the first outer longitudinal frame (121) and the second outer longitudinal frame (123) are provided with a plurality of first body reinforcing ribs (140). The plurality of first body reinforcing ribs (140) are spaced apart along the extension direction of the first outer longitudinal frame (121) and are welded to the first bottom plate (200A).

3. The frame according to claim 2, characterized in that, The first outer longitudinal frame (121) and the second outer longitudinal frame (123) both include: an outer vertical mounting member (124); the two outer vertical mounting members (124) extend downward and are welded to the first base plate (200A); the first body reinforcing rib plate (140) is disposed on the outer side surface of the outer vertical mounting member (124).

4. The frame according to claim 3, characterized in that, The first outer longitudinal frame (121) and the second outer longitudinal frame (123) both further include: a first rectangular tube (125); the first rectangular tube (125) is welded to the top of the outer vertical mounting part (124); the first rectangular tube (125) and the outer vertical mounting part (124) are both welded to the front transverse frame (110).

5. The frame according to claim 3, characterized in that, The external vertical mounting component (124) is either a first vertical plate (124A) or an I-beam (124B).

6. The frame according to claim 3, characterized in that, The outer side of the external vertical mounting component (124) is also fixed with a drive axle hinge support (126); the drive axle hinge support (126) has a longitudinal mounting groove (1261) for mounting the drive axle (3), the drive axle (3) being parallel to the longitudinal frame of the vehicle body (120) and passing through the plurality of first vehicle body reinforcing ribs (140).

7. The frame according to claim 6, characterized in that, The drive axle (3) has a drive wheel (31) and a rear caster (32) at each end; each first base plate (200A) has a first through hole (220) in the middle so that the drive wheel (31) can pass through the first base plate (200A) and contact the ground; each first base plate (200A) has a second through hole (230) at the end near the second side so that the rear caster (32) can pass through the first base plate (200A) and contact the ground.

8. The frame according to claim 2, characterized in that, The inner longitudinal frame (122) includes: a first sub-frame (122A) and a second sub-frame (122B); the first sub-frame (122A) and the second sub-frame (122B) have the same structure and are spaced apart along the length direction of the front transverse frame (110); a first device accommodating space (150) is formed between the first sub-frame (122A) and the second sub-frame (122B); the first sub-frame (122A) and the second sub-frame (122B) are welded to the front transverse frame (110); at least one second body reinforcing rib plate (160) is provided between the first sub-frame (122A) and the second sub-frame (122B); the at least one second body reinforcing rib plate (160) is spaced apart along the extension direction of the inner longitudinal frame (122) and is welded to the second bottom plate (200B), the first sub-frame (122A) and the second sub-frame (122B).

9. The frame according to claim 8, characterized in that, The inner longitudinal frame (122) further includes: a rear frame (122C); the rear frame (122C) is welded to the end of the first sub-frame (122A) and the second sub-frame (122B) away from the front transverse frame (110), and its bottom is welded to the second base plate (200B); a second device accommodating space (170) is formed inside the rear frame (122C); the first device accommodating space (150) and the second device accommodating space (170) are used to accommodate electronic devices.

10. The frame according to claim 8, characterized in that, The first sub-frame (122A) and the second sub-frame (122B) both include: a second upright plate (127); the first ends of the two second upright plates (127) are welded to the front transverse frame (110), and the bottom of the two second upright plates (127) extends downward and is welded to the bottom plate (200); the first device receiving space (150) is formed between the two second upright plates (127).

11. The frame according to claim 10, characterized in that, The first sub-frame (122A) and the second sub-frame (122B) both further include: a second rectangular tube (128); the second rectangular tube (128) is welded to the top of the second upright plate (127); the first end of the second rectangular tube (128) is welded to the front transverse frame (110).

12. The frame according to claim 1 or 2, characterized in that, The transverse frame (110) of the vehicle front includes: a channel steel (111) with the opening facing upward; the first end of the longitudinal frame (120) of the vehicle body is welded to the first side wall (111A) of the channel steel (111); a channel steel reinforcing plate (112) is provided on the top of the channel steel (111), one end of the channel steel reinforcing plate (112) is fixedly connected to the first side wall (111A) of the channel steel (111), and the other end is fixedly connected to the second side wall (111B) of the channel steel (111).

13. The frame according to claim 12, characterized in that, The transverse frame (110) of the vehicle head also includes: a caster axle hinge point support (113); the caster axle hinge point support (113) is fixed to the second side wall (111B) of the channel steel (111); the caster axle hinge point support (113) has a transverse mounting groove (1131) for mounting the caster axle (4) so ​​that the caster axle (4) is parallel to the channel steel (111).

14. The frame according to claim 13, characterized in that, The caster bridge (4) is provided with a front caster (41) at each end; the base plate (200) is provided with a third through hole (240) at each end of the first side, so that the front caster (41) can pass through the base plate (200) and contact the ground.

15. The frame according to claim 13, characterized in that, The first end of the first outer longitudinal frame (121) and the second outer longitudinal frame (123) extends out of the second sidewall (111B) of the channel steel (111) to form two opposing third body reinforcing ribs (114); the third body reinforcing ribs (114) are perpendicular to the channel steel (111).

16. The frame according to claim 15, characterized in that, The front transverse frame (110) further includes: a front reinforcing rib plate (115); the front reinforcing rib plate (115) is located on both sides of the caster axle hinge point support (113) and is parallel to the channel steel (111); one end of the front reinforcing rib plate (115) is fixedly connected to the caster axle hinge point support (113), and the other end is fixedly connected to the third body reinforcing rib plate (114).

17. A transport robot, characterized in that, include: The frame (1) and fork leg module (2) as described in any one of claims 1 to 16.

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