Frame and three-dimensional storage robot

Abstract

The utility model provides a frame and a three-dimensional storage robot, and relates to the technical field of storage logistics, the plate frame frame comprises outer frame plates and at least two inner plates, the outer frame plates are spliced end to end to form a rectangular structure, the adjacent outer frame plates are connected in a mortise and tenon joint mode, and the inner plates are arranged in the rectangular structure. The inner plate and at least one outer frame plate are arranged in parallel at a preset distance, and the end of the inner plate is in mortise and tenon connection with the outer frame plates. Non-welding assembly of the frame is achieved through tenon-and-mortise connection, tenon-and-mortise connection joints disperse stress concentration, the service life of the frame is prolonged, the size precision and the structural consistency are improved, the rigidity of the frame is enhanced through parallel layout of the inner plates, the number of the inner plates is conveniently adjusted according to bearing requirements through modular design, and the frame is suitable for layout of robots of different specifications.

Description

Technical Field

[0001] This utility model relates to the field of warehousing and logistics technology, and in particular to a chassis and an automated warehousing robot. Background Technology

[0002] In automated warehousing, in order to save manpower and improve work efficiency, automated warehousing robots are usually used to move goods. Automated warehousing robots are logistics equipment that move pallets of goods in four directions on a plane in automated warehouses. The operation mode is realized by two independent transmission mechanisms, a lifting transmission mechanism and a walking transmission mechanism, working together. At the same time, components such as batteries, electrical equipment, and sensors are also deployed.

[0003] Currently, modern warehousing generally also has the need for dense storage, which requires automated storage and retrieval systems (AS / RS) robots to be able to accommodate mechanical and electrical components that perform various functions while being thin and low in the height direction, and at the same time, they also need to have high structural strength.

[0004] The most common vehicle frame in the existing technology is a welded frame made of rectangular tubes or steel sections. This type of frame has disadvantages such as complex welding process, difficulty in ensuring high structural dimensional accuracy, and easy deformation during welding, which affects transmission accuracy. Utility Model Content

[0005] In view of this, one of the objectives of this utility model is to provide a frame that solves the technical problems of existing frames, which are mostly welded frames made of rectangular tubes or steel sections. Due to the complexity of the welding process, it is difficult to ensure high structural dimensional accuracy, and welding is prone to deformation, which affects transmission accuracy.

[0006] The second objective of this utility model is to provide a three-dimensional warehouse robot with a frame.

[0007] To achieve one of the above objectives, this utility model provides a vehicle frame, including an outer frame plate and an inner plate. The outer frame plate includes several pieces, which are spliced ​​end to end to form a rectangular structure. Adjacent outer frame plates are connected by mortise and tenon joints. The inner plate includes at least two pieces, which are disposed within the rectangular structure and are arranged parallel to at least one of the outer frame plates at a predetermined distance. The ends of the inner plates are connected to the outer frame plates by mortise and tenon joints.

[0008] Optionally, screw holes are provided between the ends of adjacent outer frame plates and / or inner plates and the outer frame plates, and the screw holes are used to install screws to enhance the connection strength.

[0009] Optionally, the outer frame panel includes four pieces, namely the left outer frame, the right outer frame, the front outer frame and the rear outer frame, which are connected end to end by tenon and mortise joints.

[0010] Optionally, both ends of the left outer frame and both ends of the right outer frame are provided with mortises, and both ends of the front outer frame and both ends of the rear outer frame are provided with tenons that are adapted to the mortises.

[0011] Optionally, the inner panel includes a front inner panel and a rear inner panel, both ends of the front inner panel and both ends of the rear inner panel are provided with tenons, and both the left outer frame and the right outer frame are provided with mortise holes that are adapted to the tenons;

[0012] Both the front inner plate and the rear inner plate are provided with lifting mounting holes for installing the lifting and reversing actuator.

[0013] Optionally, a block-shaped reinforcing plate is detachably provided between the front outer frame and the front inner panel. The block-shaped reinforcing plates are arranged in pairs and located on opposite sides of the front outer frame and the front inner panel.

[0014] And / or a block-shaped reinforcing plate is detachably provided between the rear outer frame and the rear inner plate, the block-shaped reinforcing plates being arranged in pairs and located on opposite sides of the rear outer frame and the rear inner plate;

[0015] The corners of the front inner panel and the left and right outer frames are detachably provided with corner reinforcing plates, and / or the corners of the rear inner panel and the left and right outer frames are detachably provided with corner reinforcing plates.

[0016] Optionally, a guide mechanism is provided between the front outer frame and the front inner panel, and a guide mechanism is also provided between the rear outer frame and the rear inner panel.

[0017] Optionally, an inner middle plate is provided between the left outer frame and the right outer frame, and both ends of the inner middle plate are mortised and tenoned to the left outer frame and the right outer frame.

[0018] Optionally, the inner panel further includes a left inner panel and a right inner panel, which are spaced apart by a preset distance and arranged parallel to each other between the front inner panel and the rear inner panel. Both ends of the left inner panel and both ends of the right inner panel are mortised and tenoned to the front inner panel and the rear inner panel.

[0019] To achieve the second objective mentioned above, this utility model provides a three-dimensional warehousing robot, including any of the aforementioned frames, and further including a walking drive mechanism, a lifting and reversing drive mechanism, a battery, and electrical components. The walking drive mechanism and the lifting and reversing drive mechanism are mounted on the inner plate, and the battery and the electrical components are mounted in the internal area of ​​the inner plate assembly.

[0020] The frame provided by this utility model has the following technical effects:

[0021] This type of plate-frame vehicle frame includes an outer frame plate and an inner plate. The outer frame plates are spliced ​​end to end to form a rectangular structure, and adjacent outer frame plates are connected by mortise and tenon joints. The inner plate includes at least two pieces, which are disposed within the rectangular structure and are arranged parallel to at least one outer frame plate at a predetermined distance. The ends of the inner plates are connected to the outer frame plates by mortise and tenon joints. This utility model utilizes mortise and tenon joints to achieve weld-free assembly of the vehicle frame. The mortise and tenon joint nodes disperse stress concentration, extend the service life of the vehicle frame, improve dimensional accuracy and structural consistency, enhance the rigidity of the frame by the parallel layout of the inner plates, and the modular design allows for adjustment of the number of inner plates according to load-bearing requirements, adapting to the layout of different robot specifications. Attached Figure Description

[0022] To more clearly illustrate the technical solutions in the embodiments of this utility model 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 utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0023] Figure 1 This is a three-dimensional structural schematic diagram of a preferred embodiment of the frame of this utility model;

[0024] Figure 2 yes Figure 1 Another three-dimensional structural diagram of the mid-frame;

[0025] Figure 3 yes Figure 1 Top view of the center frame;

[0026] Figure 4 yes Figure 1 Schematic diagram of the front inner plate structure of the mid-frame;

[0027] Figure 5 This is a structural schematic diagram of an automated storage and retrieval system (AS / RS) robot, including the chassis shown in the image.

[0028] in, Figures 1-5 :

[0029] 11. Left outer frame; 12. Right outer frame; 13. Front outer frame; 14. Back outer frame;

[0030] 21. Left inner panel; 22. Right inner panel; 23. Front inner panel; 231. Lifting mounting hole; 24. Rear inner panel;

[0031] 3. Block-shaped reinforcing plate;

[0032] 4. Angular reinforcing plate;

[0033] 51. Lifting and reversing drive mechanism; 52. Lifting and reversing actuator;

[0034] 61. Travel drive mechanism; 62. Main rail travel actuator; 63. Sub-rail travel actuator;

[0035] E, tenon; F, mortise; H, tenon groove. Detailed Implementation

[0036] To make the objectives, technical solutions, and advantages of this utility model clearer, the technical solutions of this utility model will be described in detail below. Obviously, the described embodiments are only a part of the embodiments of this utility model, and not all of them. Based on the embodiments of this utility model, all other implementation methods obtained by those skilled in the art without creative effort are within the scope of protection of this utility model.

[0037] In existing technologies, automated storage and retrieval systems (AS / RS) robots need to have a low-profile, thin structure to adapt to dense storage environments, while also accommodating a variety of mechanical and electrical components. Traditional chassis are manufactured using welding processes, which can lead to insufficient dimensional accuracy due to welding deformation. The complex welding process increases manufacturing costs, and stress concentration areas are prone to cracking, affecting structural reliability.

[0038] How to achieve high-precision assembly of the chassis without relying on welding? Explore ways to reduce processing difficulty through modular design and reduce stress concentration by using detachable connection methods.

[0039] Therefore, this utility model provides a vehicle frame, such as Figure 1-4 As shown, the frame includes an outer frame plate and an inner plate. The outer frame plate is a rectangular structure formed by splicing multiple pieces end to end. Adjacent outer frame plates are connected by mortise and tenon joints. The inner plate is set inside the rectangular structure and is arranged parallel to the outer frame plate at intervals. The ends of the inner plate are connected to the outer frame plate by mortise and tenon joints.

[0040] Mortise and tenon joints achieve positioning and fixing between boards by interlocking protrusions and grooves. Specifically, dovetail or right-angle tenon structures can be used to avoid welding deformation and improve assembly accuracy.

[0041] Specifically, the outer frame panels are joined together with mortise and tenon joints at both ends to form a closed rectangular frame, ensuring the overall structural stability. The inner panels are installed parallel to the inner side of the outer frame panels, with a gap maintained between them for the placement of electrical components. The two ends of the inner panels are embedded into the tenon grooves H of the outer frame panels for fixation.

[0042] Through the above technical solutions, this utility model achieves weld-free assembly of the chassis, improving dimensional accuracy and structural consistency. The parallel layout of the inner plates enhances the rigidity of the frame, and the mortise and tenon joints disperse stress concentration, extending the service life of the chassis. The modular design allows for adjustment of the number of inner plates according to load-bearing requirements, adapting to the layout of robots of different specifications.

[0043] To strengthen the connection of mortise and tenon joints, such as Figure 1-4As shown, screw holes are provided between the ends of adjacent outer frame panels or inner panels and the outer frame panel. The screw holes are used to install screws to strengthen the connection.

[0044] Screw holes are through holes added to the mortise and tenon joint structure to accommodate screws and provide mechanical fastening. The outer frame and inner panels of the mortise and tenon joint have through screw holes at the joint. When a screw is screwed in, its thread creates frictional resistance against the hole wall, while its head presses against the joint surface. This dual constraint mechanism counteracts the lateral shear force experienced by the frame during handling operations, especially under frequent start-stop conditions, preventing gaps from forming at the mortise and tenon joint due to vibration. The screw holes can be located in or near the overlapping area of ​​the tenon E and the mortise H, for example, multiple holes spaced apart near the tenon E to form multi-point locking.

[0045] As a preferred embodiment, such as Figure 1-3 As shown, the outer frame panel includes four pieces, namely the left outer frame 11, the right outer frame 12, the front outer frame 13 and the rear outer frame 14. The left outer frame 11, the right outer frame 12, the front outer frame 13 and the rear outer frame 14 are connected end to end with mortise and tenon joints.

[0046] The left outer frame 11, right outer frame 12, front outer frame 13 and rear outer frame 14 are provided with corresponding mounting holes, clearance holes and screw holes to facilitate the installation and fixing of electrical components.

[0047] The left outer frame 11 and right outer frame 12 are arranged parallel to each other, while the front outer frame 13 and rear outer frame 14 are arranged perpendicular to the left outer frame 11 and right outer frame 12, respectively. The four outer frames are connected end-to-end with mortise and tenon joints to form a rectangular frame structure. The two ends of the left outer frame 11 are connected to one end of the front outer frame 13 and the rear outer frame 14, respectively, and the two ends of the right outer frame 12 are connected to the other ends of the front outer frame 13 and the rear outer frame 14, respectively. The mortise and tenon joints create a stable right-angle butt joint between the outer frame panels, allowing for frame assembly without welding.

[0048] In detail, the two ends of the left outer frame 11 and the two ends of the right outer frame 12 are provided with mortise grooves H, and the two ends of the front outer frame 13 and the two ends of the rear outer frame 14 are provided with tenons E that are adapted to the mortise grooves H.

[0049] The tenon H is a groove structure formed at the ends of the left outer frame 11 and the right outer frame 12. It can be implemented using a rectangular or trapezoidal cross-section groove; in this embodiment, a rectangular groove is preferred. It is used to accommodate the tenon E and restrict relative displacement. The tenon E is a protrusion structure provided at the ends of the front outer frame 13 and the rear outer frame 14. It can be implemented using a rectangular or trapezoidal protrusion that matches the shape of the tenon H; in this embodiment, a rectangular protrusion is preferred. It is used to insert into the tenon H to form a fitting connection. The fit between the tenon H and the tenon E is controlled by dimensional tolerances, ensuring a tight fit between the outer frame panels.

[0050] In this embodiment, the left outer frame 11 and right outer frame 12 serve as longitudinal support structures on both sides of the frame. Their ends are connected to the tenons E of the front outer frame 13 and rear outer frame 14 via mortise and tenon joints H. The way the mortise and tenon joints H and E are engaged eliminates the need for welding when assembling the outer frame panels; positioning and fixing are achieved simply by pushing the tenon E along the direction of the mortise and tenon joints H. This connection method avoids welding deformation and enhances the connection strength through the self-locking characteristics of the mortise and tenon structure.

[0051] As a preferred embodiment, such as Figure 1-4 As shown, the inner panel includes a front inner panel 23 and a rear inner panel 24. Both ends of the front inner panel 23 and both ends of the rear inner panel 24 are provided with tenons E. The left outer frame 11 and the right outer frame 12 are provided with mortises F that are adapted to the tenons E.

[0052] The front inner panel 23 and the rear inner panel 24 are provided with corresponding mounting holes, clearance holes and screw holes to facilitate the installation and fixing of electrical components.

[0053] The front inner panel 23 and the rear inner panel 24 are inserted into the mortise holes F of the left outer frame 11 and the right outer frame 12 respectively through tenons E at their ends, forming a connection structure perpendicular to the left or right frame panel. The clearance fit between the tenon E and the mortise hole F can eliminate assembly errors and limit the relative displacement between the inner panel and the outer frame panel.

[0054] like Figure 1 , Figure 2 and Figure 4 As shown, both the front inner plate 23 and the rear inner plate 24 are provided with lifting mounting holes 231 for mounting the lifting and reversing actuator 52. The lifting mounting holes 231 are through holes penetrating the front inner plate 23 and the rear inner plate 24, used to fix the lifting and reversing actuator 52. The lifting mounting holes 231 are symmetrically distributed along the length of the front inner plate 23 and the rear inner plate 24, and their positions correspond to the mounting base of the lifting and reversing actuator 52, so that the center of gravity of the actuator is located in the central area of ​​the front inner plate 23 and the rear inner plate 24.

[0055] As a preferred embodiment, in order to strengthen the connection strength between the outer frame panels and the inner panels, such as Figure 1 and Figure 2 As shown, a block-shaped reinforcing plate 3 can be detachably provided between the front outer frame 13 and the front inner panel 23. The block-shaped reinforcing plates 3 are arranged in pairs and located on opposite sides of the front outer frame 13 and the front inner panel 23.

[0056] Alternatively, a block-shaped reinforcing plate 3 may be detachably provided between the rear outer frame 14 and the rear inner panel 24. The block-shaped reinforcing plates 3 are provided in pairs and located on opposite sides of the rear outer frame 14 and the rear inner panel 24.

[0057] The block-shaped reinforcing plate 3 is a rigid plate with a regular geometric shape. It can be made by stamping metal or composite materials. It is used to increase the connection strength at the front and rear ends of the frame while forming a local support structure.

[0058] Specifically, the block-shaped reinforcing plate 3 is installed between the front outer frame 13 and the front inner plate 23 or between the rear outer frame 14 and the rear inner plate 24 through a detachable connection, and the paired reinforcing plates form a clamping structure on both sides.

[0059] In addition, such as Figure 2 and Figure 3 As shown, the corners of the front inner panel 23 with the left outer frame 11 and the right outer frame 12 are detachably provided with corner reinforcing plates 4, or the corners of the rear inner panel 24 with the left outer frame 11 and the right outer frame 12 are detachably provided with corner reinforcing plates 4.

[0060] The corner reinforcement plate 4 refers to a plate-like structure with a right-angle shape, whose shape complements the corner area to disperse stress.

[0061] Specifically, at the right-angle intersection of the left outer frame 11, right outer frame 12, and front inner panel 23 or rear inner panel 24, an angled reinforcing plate 4 is installed to cover the corner area. The two edges of the angled reinforcing plate 4 are respectively attached to the side walls of the left outer frame 11 and right outer frame 12, and simultaneously attached to the end of the front inner panel 23 or rear inner panel 24, and then fixed with screws. When the frame bears a load, the angled reinforcing plate 4 transfers the load to the connection area between the outer frame and the inner panel through the contact surface, thereby reducing stress concentration at the corner. The angled reinforcing plate 4 adopts a split installation method, allowing for replacement or reinforcement without damaging the main structure.

[0062] In a preferred embodiment, a guide mechanism is provided between the front outer frame 13 and the front inner plate 23, and a guide mechanism is also provided between the rear outer frame 14 and the rear inner plate 24. The guide mechanism is used to guide the lifting and reversing actuator.

[0063] In a preferred embodiment, an inner middle plate is provided between the left outer frame 11 and the right outer frame 12, and both ends of the inner middle plate are mortised and tenoned to the left outer frame 11 and the right outer frame 12.

[0064] It should be noted that when an inner middle plate is present, the left inner plate 21 and the right inner plate 22 are not required.

[0065] The inner middle plate is a longitudinal support plate set between the left outer frame 11 and the right outer frame 12. It is used to form an auxiliary load-bearing structure in the middle of the frame and can fix the walking gearbox of the walking drive mechanism 61.

[0066] In a preferred embodiment, the inner panel also includes a left inner panel 21 and a right inner panel 22. The left inner panel 21 and the right inner panel 22 are spaced apart by a predetermined distance and are arranged parallel to each other between the front inner panel 23 and the rear inner panel 24. Both ends of the left inner panel 21 and both ends of the right inner panel 22 are mortised and tenoned to the front inner panel 23 and the rear inner panel 24.

[0067] The left inner plate 21 and the right inner plate 22 are provided with corresponding mounting holes, clearance holes and screw holes to facilitate the installation and fixing of electrical components.

[0068] It should be noted that this implementation does not have an inner plate.

[0069] The left inner panel 21 is the left side panel located between the front inner panel 23 and the rear inner panel 24, and the right inner panel 22 is the right side panel located between the front inner panel 23 and the rear inner panel 24. The preset spacing refers to maintaining a fixed distance between the left inner panel 21 and the right inner panel 22, which can be achieved by adjusting the position of the tenon and mortise connection. This is used to form a stable support network in a limited space and avoid structural redundancy.

[0070] Specifically, the left inner panel 21 and the right inner panel 22 are arranged parallel to each other between the front inner panel 23 and the rear inner panel 24, and their ends are embedded into the corresponding connection positions of the front inner panel 23 and the rear inner panel 24 through mortise and tenon structures. This layout forms a grid-like structure inside the frame, distributing the load through multi-directional force distribution while maintaining the overall low thickness of the frame. During assembly, the mortise and tenon connections of the left inner panel 21, the right inner panel 22, the front inner panel 23, and the rear inner panel 24 can achieve rapid positioning, avoiding deformation problems caused by welding.

[0071] Screw holes are provided at the mortise and tenon joints for further reinforcement with screws.

[0072] This utility model also provides a three-dimensional warehousing robot, such as Figure 5 As shown, it includes a frame, a walking drive mechanism 61, a lifting and reversing drive mechanism 51, a battery, and electrical components. The walking drive mechanism 61 and the lifting and reversing drive mechanism 51 are mounted on the inner panel, and the battery and electrical components are mounted in the internal area of ​​the inner panel assembly.

[0073] The area where the inner panel is assembled mainly includes the walking drive mechanism 61, the lifting and reversing drive mechanism 51, and the installation area for the battery and electrical equipment. The walking drive mechanism 61 is installed and fixed on the left inner panel 21 or the right inner panel 22, while the lifting and reversing drive mechanism 51 is installed and fixed on the front inner panel 23 and the rear inner panel 24. The battery and the main electrical components are located in the internal area of ​​the inner panel assembly.

[0074] The area formed between the front inner plate 23 and the rear inner plate 24 and the front outer frame 13 and the rear outer frame 14 is the working area of ​​the lifting and reversing actuator 52. The area between the left inner plate 21 and the right inner plate 22 and the left outer frame 11 and the right outer frame 12 is the installation area of ​​the traveling actuator (including the main rail traveling actuator 62 and the sub-rail traveling actuator 63).

[0075] The outer sides of the left outer frame 11 and the right outer frame 12 are equipped with sub-rail traveling wheels via bearing seats, while the main rail traveling wheels are installed on the lifting and reversing actuator 52.

[0076] Furthermore, a guide mechanism for the lifting and reversing actuator 52 is provided between the front inner panel 23 and the rear inner panel 24 and the front outer frame 13 and the rear outer frame 14.

[0077] In the description of this utility model, it should be noted that, unless otherwise stated, "a plurality of" means two or more; the terms "upper," "lower," "left," "right," "inner," "outer," "front end," "rear end," "head," "tail," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this utility model. Furthermore, the terms "first," "second," "third," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0078] In the description of this utility model, it should also be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0079] The above description is merely a specific embodiment of this utility model, but the protection scope of this utility model is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in this utility model should be included within the protection scope of this utility model. Therefore, the protection scope of this utility model should be determined by the protection scope of the claims.

Claims

1. A vehicle frame, characterized in that, It includes an outer frame panel and an inner panel. The outer frame panel consists of several pieces that are spliced ​​together end to end to form a rectangular structure. Adjacent outer frame panels are connected by mortise and tenon joints. The inner panel consists of at least two pieces that are disposed within the rectangular structure and are arranged parallel to at least one of the outer frame panels at a predetermined distance. The ends of the inner panels are connected to the outer frame panels by mortise and tenon joints.

2. The frame according to claim 1, characterized in that, Screw holes are provided between the ends of adjacent outer frame plates and / or inner plates and the outer frame plates, and the screw holes are used to install screws to strengthen the connection.

3. The frame according to claim 1, characterized in that, The outer frame panel comprises four pieces: a left outer frame, a right outer frame, a front outer frame, and a rear outer frame. The left outer frame, the right outer frame, the front outer frame, and the rear outer frame are connected end to end by tenon and mortise joints.

4. The frame according to claim 3, characterized in that, The left outer frame and the right outer frame are provided with mortise grooves at both ends, and the front outer frame and the rear outer frame are provided with tenons that are adapted to the mortise grooves at both ends.

5. The frame according to claim 3, characterized in that, The inner panel includes a front inner panel and a rear inner panel. Both ends of the front inner panel and both ends of the rear inner panel are provided with tenons. The left outer frame and the right outer frame are provided with mortise holes that are adapted to the tenons. Both the front inner plate and the rear inner plate are provided with lifting mounting holes for installing the lifting and reversing actuator.

6. The frame according to claim 5, characterized in that, A block-shaped reinforcing plate is detachably provided between the front outer frame and the front inner panel. The block-shaped reinforcing plates are arranged in pairs and located on opposite sides of the front outer frame and the front inner panel. And / or a block-shaped reinforcing plate is detachably provided between the rear outer frame and the rear inner plate, the block-shaped reinforcing plates being arranged in pairs and located on opposite sides of the rear outer frame and the rear inner plate; The corners of the front inner panel and the left and right outer frames are detachably provided with corner reinforcing plates, and / or the corners of the rear inner panel and the left and right outer frames are detachably provided with corner reinforcing plates.

7. The frame according to claim 5, characterized in that, A guide mechanism is provided between the front outer frame and the front inner panel, and a guide mechanism is also provided between the rear outer frame and the rear inner panel.

8. The frame according to any one of claims 5-7, characterized in that, An inner plate is provided between the left outer frame and the right outer frame, and both ends of the inner plate are mortised and tenoned to the left outer frame and the right outer frame.

9. The frame according to any one of claims 5-7, characterized in that, The inner panel also includes a left inner panel and a right inner panel. The left inner panel and the right inner panel are spaced apart by a preset distance and are arranged parallel to each other between the front inner panel and the rear inner panel. Both ends of the left inner panel and both ends of the right inner panel are mortised and tenoned to the front inner panel and the rear inner panel.

10. A three-dimensional warehousing robot, characterized in that, The vehicle frame includes any one of claims 1-9, and further includes a walking drive mechanism, a lifting and reversing drive mechanism, a battery, and electrical components. The walking drive mechanism and the lifting and reversing drive mechanism are mounted on the inner panel, and the battery and the electrical components are mounted in the internal area of ​​the inner panel assembly.

Images