Frame structure, carrier

Abstract

The application relates to a frame structure and a carrier. The frame structure comprises: a chassis, which defines a front-rear direction and a left-right direction; two longitudinal beams, which are oppositely arranged on the chassis along the left-right direction, and each longitudinal beam comprises a frame-shaped part and an extension part, the extension part is connected to the frame-shaped part and extends along the front-rear direction; an upper cross beam, which is connected between the two frame-shaped parts; and two walking modules, which are arranged on the chassis and surrounded by the corresponding frame-shaped parts, and each walking module comprises a driving wheel and a suspension part, the suspension part is used for protruding the driving wheel downward from the chassis. The frame structure can adapt to a road surface with large ups and downs.

Description

Technical Field

[0001] This application relates to the field of material handling machinery technology, and in particular to chassis structures and handling vehicles. Background Technology

[0002] With the development of automated warehousing, Automated Guided Vehicles (AGVs) have been widely used. AGV frames are often low-slung and flat, resulting in a low center of gravity.

[0003] Box robots, which combine multi-layer storage capacity with high-density picking efficiency, have been widely accepted by the market. However, box robots are relatively tall, typically ranging from 4 to 6 meters in height, with a center of gravity usually around 2 meters.

[0004] Although warehouse floors are generally flat, there can still be uneven areas, and after prolonged use, there may be areas with significant undulations. An excessively high center of gravity will generate a large torque on the vehicle frame, posing a significant risk to the stability of the AGV. Utility Model Content

[0005] Therefore, it is necessary to provide a chassis structure and a transport vehicle to address at least one of the above-mentioned problems.

[0006] In a first aspect, this application provides a vehicle frame structure, which includes: a chassis defining a front-rear direction and a left-right direction; two longitudinal beams disposed opposite to each other on the chassis in the left-right direction, each longitudinal beam including a frame portion and an extension portion, the extension portion being connected to the frame portion and extending in the front-rear direction; an upper crossbeam connecting the two frame portions; and two running modules disposed on the chassis and surrounded by corresponding frame portions, each running module including a drive wheel and a suspension component, the suspension component being used to cause the drive wheel to protrude downward from the chassis.

[0007] By incorporating a frame section, this chassis structure can be applied to handling applications with a high center of gravity; the upper crossbeam enhances the rigidity and strength of the two longitudinal beams in the lateral direction; the placement of the travel module ensures a compact chassis structure while also guaranteeing the travel of the drive wheels, enabling it to adapt to uneven road surfaces.

[0008] In some embodiments, the walking module further includes a driver that is oscillatingly connected to the chassis, with a drive wheel disposed at the oscillating end of the driver, and the driver is used to drive the drive wheel to rotate.

[0009] With this configuration, the drive unit is connected to the drive wheels, and the whole structure swings relative to the chassis, resulting in structural stability.

[0010] In some embodiments, the frame includes an upper frame; the suspension member is a suspension spring, which is supported between the upper frame and the swing end.

[0011] With this configuration, the suspension provides a sufficiently long travel distance for the drive wheels; the supporting force acts on the upper frame, which helps to improve the rigidity of the frame and ensure stable support.

[0012] In some embodiments, the frame includes an upper frame; an upper crossbeam connects the two upper frames and is an upward-opening channel-shaped sheet metal piece.

[0013] This design ensures good top rigidity of the frame section.

[0014] In some embodiments, the frame portion includes an upper frame; the frame structure also includes at least one connecting bracket disposed on the corresponding upper frame and protruding from the inner side of the frame portion in the left-right direction; the upper crossbeam is located on one side of the connecting bracket in the front-back direction.

[0015] With this configuration, the chassis structure can accommodate and secure objects with a high center of gravity, such as mast structures, and the chassis structure can have good rigidity to maintain stability.

[0016] In some implementations, the connecting bracket is mounted on the top surface of the corresponding upper frame, and the top surface of the upper frame is at a height of 0.4m to 0.45m above the ground.

[0017] This configuration results in a suitable and versatile chassis structure that can be used for taller gantry structures while maintaining sufficient structural rigidity.

[0018] In some embodiments, the frame structure also includes four caster bosses and a rear crossbeam. The four caster bosses are located at the four corners of the chassis, and the rear crossbeam is located on the chassis. The rear crossbeam connects between two caster bosses located at the rear of the chassis, and each longitudinal beam connects between the corresponding two caster bosses.

[0019] This configuration, with the longitudinal beams and rear crossbeams working in conjunction with the caster bosses, achieves high rigidity.

[0020] In some implementations, the frame structure also includes locating pins fixed to the chassis and located between two longitudinal beams.

[0021] This setup allows for accurate positioning of the gantry structure using locating pins.

[0022] In some embodiments, the locating pin has threads for screwing onto the chassis, and the locating pin has an assist hole that intersects the axial direction of the locating pin.

[0023] This configuration allows for tightening of the threads using the assist hole, and ensures a secure connection between the locating pin and the chassis, thus aiding in accurate positioning.

[0024] For example, the lower part of the locating pin is threaded, the middle part of the locating pin is a cylindrical section, the assist hole is located in the middle part of the locating pin, and the upper part of the locating pin is chamfered.

[0025] This setup allows for the smooth installation of the mast structure onto the chassis structure while also ensuring the structural strength of the locating pins and guaranteeing accurate positioning.

[0026] Secondly, this application provides a transport vehicle, which includes: the aforementioned frame structure; and a gantry structure disposed on the chassis of the frame structure and located between two frame sections.

[0027] By designing the frame structure, the high center of gravity of the gantry structure can be well supported, the frame structure has good rigidity, and the gantry structure is installed stably. Attached Figure Description

[0028] Figure 1 This is a structural schematic diagram of a vehicle frame structure according to one or more embodiments;

[0029] Figure 2 A schematic side view of the frame structure in a first driving state according to one or more embodiments;

[0030] Figure 3 A schematic side view of the frame structure in a second driving state according to one or more embodiments;

[0031] Figure 4 A schematic front view of a vehicle frame structure according to one or more embodiments;

[0032] Figure 5 This is a schematic top view of a vehicle frame structure according to one or more embodiments;

[0033] Figure 6 A schematic front view of a transport vehicle according to one or more embodiments;

[0034] Figure 7 This is a schematic diagram of the structure of a transport vehicle according to one or more embodiments;

[0035] Figure 8 for Figure 7 A magnified schematic view of area A in the middle;

[0036] Figure 9 This is a force analysis diagram of a transport vehicle according to one embodiment.

[0037] Explanation of reference numerals in the attached drawings: 1. Chassis; 2. Longitudinal beam; 210. First longitudinal beam; 220. Second longitudinal beam; 21. Frame-shaped part; 211. Upper frame; 2111. Top surface; 212. Front side frame; 213. Rear side frame; 22. Extension; 3. Upper crossbeam; 4. Walking module; 410. First walking module; 420. Second walking module; 41. Drive wheel; 42. Suspension component; 43. Driver; 431. Connecting end; 432. Swinging end; 5. Connecting bracket; 501. Connecting surface; 510. First connecting bracket; 520. Second connecting bracket; 6. Caster boss; 7. Rear crossbeam; 8. Positioning pin; 801. Power assist hole;

[0038] 1000, pallet truck; 1100, frame structure; 1200, gantry structure; 1210, column; 1220, base plate. Detailed Implementation

[0039] To make the above-mentioned objectives, features, and advantages of this application more apparent and understandable, the specific embodiments of this application are described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a thorough understanding of this application. However, this application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of this application. Therefore, this application is not limited to the specific embodiments disclosed below.

[0040] In the description of this application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc., indicating the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, are only for the convenience of describing this application 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 application.

[0041] In this application, unless otherwise expressly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0042] Furthermore, the terms "first," "second," and "third," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. For example, a first longitudinal beam may also be referred to as a second longitudinal beam, and a second longitudinal beam may also be referred to as a first longitudinal beam. In the description of this application, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0043] In this application, unless otherwise expressly specified and limited, the terms "connected," "linked," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; a flexible connection or a rigid connection along at least one direction; a mechanical connection or an electrical connection; a direct connection or an indirect connection through an intermediate medium, or a direct connection with an intermediate medium present; and they can also refer to the internal communication of two components or the interaction between two components, unless otherwise expressly limited. The terms "installed," "set," "fixed," etc., can be broadly understood as connection. For those skilled in the art, the specific meaning of the above terms in this application can be understood according to the specific circumstances.

[0044] refer to Figure 1 , Figure 1 A chassis structure 1100 according to an embodiment of this application is shown. In an exemplary embodiment, the chassis structure 1100 includes a chassis 1, longitudinal beams 2, upper crossbeams 3, and a running gear 4.

[0045] The chassis 1 is mainly used to bear the load of the entire vehicle, which includes the weight of the frame structure 1100 and the load itself. The chassis 1 is also used to install various components. For ease of description, a spatial rectangular coordinate system XYZ is established. The X-axis can be parallel to the front-rear direction, the Y-axis can be parallel to the left-right direction, and the Z-axis can be parallel to the up-down direction.

[0046] The frame structure 1100 may include two longitudinal beams 2. Exemplarily, the frame structure 1100 includes a first longitudinal beam 210 and a second longitudinal beam 220, the first longitudinal beam 210 being referred to as the left longitudinal beam and the second longitudinal beam 220 as the right longitudinal beam. The two longitudinal beams 2 are arranged opposite to each other in the left-right direction on the chassis 1, and the longitudinal beams 2 may be close to the edge of the chassis 1. The longitudinal beams 2 are the main supporting beams, increasing the overall rigidity of the frame structure 1100. The length of the longitudinal beam 2 may be greater than half the length of the chassis 1.

[0047] The longitudinal beam 2 may include a frame-shaped portion 21 and an extension portion 22, the extension portion 22 being connected to the frame-shaped portion 21 and extending in the front-to-back direction. The frame-shaped portion 21 has a certain span along the X-axis and a certain height along the Z-axis. The frame-shaped portion 21 can be used to support loads with a high center of gravity.

[0048] The upper crossbeam 3 connects the two frame sections 21, which can improve the rigidity and strength of the first longitudinal beam 210 and the second longitudinal beam 220 in the left and right directions.

[0049] The chassis structure 1100 may include two running gear modules 4. Exemplarily, the chassis structure 1100 includes a first running gear module 410 and a second running gear module 420, the first running gear module 410 being referred to as the left running gear module and the second running gear module 420 as the right running gear module. The running gear modules 4 are disposed on the chassis 1 and may be surrounded by corresponding frame-shaped portions 21, specifically, they may be partially surrounded from the upper side. The running gear module 4 includes a drive wheel 41 and a suspension member 42, the suspension member 42 being used to cause the drive wheel 41 to protrude downwards from the chassis 1. The drive wheel 41 is used to contact the ground to enable the chassis structure 1100 to move. (Reference) Figure 2 and Figure 3 The position of the drive wheel 41 relative to the chassis 1 is movable. The suspension 42 can absorb the travel of the drive wheel 41 and apply force to the axis of the drive wheel 41 to ensure that the drive wheel 41 is in good contact with the ground and prevents it from being suspended.

[0050] The frame structure 1100 of this embodiment can be applied to handling applications with a high center of gravity. The two frame sections 21 can be used for support, and the upper crossbeam 3 can improve the rigidity and strength of the two longitudinal beams 2 in the lateral direction, preventing excessive deformation of the frame structure 1100 when the center of gravity shifts. The placement of the travel module 4 ensures that the frame structure 1100 is relatively compact, while also ensuring the travel of the drive wheels 41, enabling it to adapt to uneven road surfaces.

[0051] The walking module 4 may also include a driver 43. The driver 43 may include a body and an output shaft, the output shaft being drivenly connected to the drive wheel 41, for example, directly coaxially fixed. The driver 43 is used to drive the drive wheel 41 to rotate.

[0052] The actuator 43 has a connecting end 431 and a swing end 432. The connecting end 431 is rotatably connected to the chassis 1, and the axis of rotation can be parallel to the Y-axis. The swing end 432 can be a certain distance from the connecting end 431. The actuator 43 is suitable for rotation, for example, swinging in the XZ plane, ensuring structural stability. The connecting end 431 can be located approximately in the middle of the actuator 43, allowing for the configuration of the actuator 43's center of gravity and the design of the swing stroke of the swing end 432. The drive wheel 41 is located at the swing end 432 of the actuator 43, and the drive wheel 41 can move with the swing end 432. Specifically, the stroke of the drive wheel 41 can be determined by the rise and fall of the lowest point of the drive wheel 41 along the Z-axis. The actuator 43 is connected to the drive wheel 41, and the entire structure swings relative to the chassis 1, ensuring structural stability.

[0053] refer to Figure 2 and Figure 3 , Figure 2In the vehicle frame structure 1100 of this application embodiment, in a first driving state, specifically, there is a bulge with a height difference of h on a generally flat ground, and the drive wheel 41 is located at the bulge. Figure 3 In the vehicle frame structure 1100 of this application embodiment, the vehicle is in a second driving state. Specifically, there is a pit with a height difference of h on a generally flat ground, and the drive wheel 41 is in the pit.

[0054] The suspension member 42 may be a suspension spring. The frame portion 21 may include an upper frame 211, a front side frame 212, and a rear side frame 213. The longitudinal beam 2 may be shaped like an inverted spoon. Inside the frame portion 21, the suspension spring may be supported between the upper frame 211 and the swing end 432, and the suspension member 42 provides a sufficiently long travel for the drive wheel 41.

[0055] like Figure 2 As shown, the drive wheel 41 moves upward, the suspension spring can be compressed, and the overall frame structure 1100 is relatively stable. Figure 3 As shown, the drive wheel 41 moves downward, allowing the suspension spring to extend and release, resulting in a relatively stable overall frame structure 1100. The supporting force applied to the upper frame 211 helps improve the rigidity of the frame section 21, ensuring stable support. For example, the compression and release strokes of the suspension component 42 can both be approximately 20mm, ensuring sufficient downforce while maintaining its own elasticity, thereby guaranteeing the traction of the drive wheel 41.

[0056] refer to Figure 1 , Figure 4 and Figure 5 The upper crossbeam 3 connects the two upper frame frames 211. It can effectively increase the rigidity and strength of the frame structure 1100 in the left and right directions, reduce the deformation of the frame structure 1100, and improve the machining accuracy.

[0057] The upper crossbeam 3 is an upward-opening channel-shaped sheet metal component that can be used as a cable tray. The height of the upper crossbeam 3 is suitable for wiring.

[0058] The frame structure 1100 may further include at least one connecting bracket 5, which is disposed on a corresponding upper frame 211. For example, a first connecting bracket 510 is disposed on the upper frame 211 of the first longitudinal beam 210, and a second connecting bracket 520 is disposed on the upper frame 211 of the second longitudinal beam 220. (Reference) Figure 4 The connecting bracket 5 protrudes from the inner side of the frame portion 21 in the left-right direction. The width of the longitudinal beam 2 can be different at different positions. For example, the upper frame 211 is wider. Therefore, the connecting bracket 5 can protrude inward from the upper frame 211. The side of the connecting bracket 5 is the connecting surface 501. The protruding connecting surface 501 can ensure reliable connection positioning.

[0059] refer to Figure 5 , Figure 6 and Figure 7 The upper crossbeam 3 is located on one side of the connecting bracket 5 along the front-rear direction, for example, on the front side. The frame structure 1100 can accommodate and fix objects with a high center of gravity, such as the mast structure 1200. The frame structure 1100 can have good rigidity to maintain stability and also prevent the mast structure 1200 from shaking or deforming excessively.

[0060] The frame structure 1100 may also include four caster bosses 6 and a rear crossbeam 7. The four caster bosses 6 are located at the four corners of the chassis 1 and are used to mount driven wheels, which can form support surfaces. The driven wheels may also have their own shock absorption mechanisms. The rear crossbeam 7 is located on the chassis 1 and connects between the two caster bosses 6 located at the rear of the chassis 1. Each longitudinal beam 2 connects between the corresponding two caster bosses 6. The longitudinal beams 2 and the rear crossbeam 7, together with the caster bosses 6, enhance the strength of the chassis 1. Furthermore, the upper crossbeam 3 achieves a closed rectangular reinforced enclosure structure, thereby strengthening the overall strength and rigidity of the frame structure 1100.

[0061] refer to Figure 8 The frame structure 1100 may also include a locating pin 8. The locating pin 8 is fixed to the chassis 1, and exemplaryly, the locating pin 8 is threaded to be screwed onto the chassis 1. The locating pin 8 is located between two longitudinal beams 2, enabling the mast structure 1200 to be accurately positioned.

[0062] The gantry structure 1200 may include a column 1210 and a base plate 1220, and the positioning pin 8 can be used to mate with the positioning hole of the base plate 1220. The connecting surface 501 of the connecting bracket 5 can connect to and clamp the column 1210.

[0063] refer to Figure 1 and Figure 8 The locating pin 8 has an assist hole 801, which intersects the axial direction of the locating pin 8. When tightening the locating pin 8, a tool, such as a pry bar, can be used to make it easier to tighten. The assist hole 801 allows the threads to be tightened, ensuring a secure connection between the locating pin 8 and the chassis 1, thus aiding in accurate positioning.

[0064] The lower part of the locating pin 8 may be threaded, and the middle part of the locating pin 8 is a cylindrical section, which helps to ensure the structural strength of the locating pin and ensure accurate positioning. The upper part of the locating pin 8 is chamfered, which allows the gantry structure 1200 to be smoothly installed onto the frame structure 1100. The assist hole 801 is located in the middle of the locating pin 8, and exemplaryly, its position may be higher than the base plate 1220.

[0065] In some embodiments, the top surface 2111 of the upper frame 211 has a ground clearance ranging from 0.4m to 0.45m. This ground clearance can be referenced to the support surface formed by the driven wheel. The connecting bracket 5 is installed on the corresponding top surface 2111 of the upper frame 211. The frame structure 1100 is appropriately constructed, adaptable to both high and low masts, and works in conjunction with the travel module 4 to ensure reliable use of the drive wheel 41.

[0066] For example, the top surface 2111 has a ground clearance of 0.45m, and the connecting bracket 5 can connect to the gantry structure 1200. The frame structure 1100 can be used for the taller gantry structure 1200 and maintains sufficient structural rigidity, effectively avoiding the risks of significant deformation and tilting of the gantry structure 1200.

[0067] refer to Figure 9 The gantry structure is 6m high, with deformation of less than 2mm during deceleration and minimal deformation during acceleration. It meets both the requirements for high-level loading and general usage.

[0068] refer to Figure 6 and Figure 7 This application provides a transport vehicle 1000. The transport vehicle 1000 includes a frame structure 1100 and a gantry structure 1200. The frame structure 1100 may be the frame structure 1100 of the aforementioned embodiment. The gantry structure 1200 is disposed on the chassis of the frame structure 1100 and is located between two frame-shaped portions 21.

[0069] The frame structure 1100 of the pallet truck 1000 can effectively support the gantry structure 1200, which has a high center of gravity, such as a 6m high gantry structure 1200. The pallet truck 1000 has good overall rigidity, is adaptable to ground with uneven areas, and has good transportation performance.

[0070] The technical features of the above-disclosed embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0071] The embodiments disclosed above merely illustrate several implementation methods of this application, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of patent protection of this application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the scope of patent protection claimed by this application. Therefore, the scope of patent protection of this application should be determined by the appended claims.

Claims

1. A frame structure, characterized in that, include: Chassis, which defines the front-to-back and left-to-right directions; Two longitudinal beams are disposed opposite to each other on the chassis along the left-right direction. Each longitudinal beam includes a frame-shaped part and an extension part. The extension part is connected to the frame-shaped part and extends along the front-back direction. The upper crossbeam connects the two frame sections. as well as Two walking modules are provided, each walking module is mounted on the chassis and surrounded by a corresponding frame portion. Each walking module includes a drive wheel and a suspension component, the suspension component being used to make the drive wheel protrude downward from the chassis.

2. The vehicle frame structure according to claim 1, characterized in that, The walking module also includes a driver, which is oscillatingly connected to the chassis. The drive wheel is located at the oscillating end of the driver, and the driver is used to drive the drive wheel to rotate.

3. The frame structure according to claim 2, characterized in that, The frame includes an upper frame; the suspension member is a suspension spring, which is supported between the upper frame and the swing end.

4. The frame structure according to claim 1, characterized in that, The frame-shaped part includes an upper frame; the upper crossbeam is connected between the two upper frames, and the upper crossbeam is a channel-shaped sheet metal part with an upward opening.

5. The frame structure according to claim 1, characterized in that, The frame portion includes an upper frame; the frame structure also includes at least one connecting bracket, which is disposed on the corresponding upper frame and protrudes from the inner side of the frame portion along the left-right direction. The upper crossbeam is located on one side of the connecting bracket along the front-back direction.

6. The frame structure according to claim 5, characterized in that, The connecting bracket is installed on the top surface of the corresponding upper frame, and the height of the top surface of the upper frame from the ground ranges from 0.4m to 0.45m.

7. The frame structure according to claim 1, characterized in that, It also includes four caster bosses and a rear crossbeam. The four caster bosses are located at the four corners of the chassis, and the rear crossbeam is located on the chassis. The rear crossbeam is connected between two caster bosses located at the rear of the chassis, and each longitudinal beam is connected between two corresponding caster bosses.

8. The frame structure according to any one of claims 1 to 7, characterized in that, It also includes a positioning pin, which is fixed to the chassis and located between the two longitudinal beams.

9. The frame structure according to claim 8, characterized in that, The lower part of the positioning pin has threads for screwing onto the chassis. The middle part of the positioning pin is a cylindrical section. The positioning pin has an assist hole located in the middle part of the positioning pin and intersecting the axial direction of the positioning pin. The upper part of the positioning pin has a chamfer.

10. A transport vehicle, characterized in that, include: The frame structure as described in any one of claims 1 to 9; and A mast structure is disposed on the chassis of the vehicle frame structure and located between the two frame sections.

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