阅读说明：本技术 一种框架围板安装结构及agv (Frame bounding wall mounting structure and AGV ) 是由 宋浩 王真真 孙广炎 于 2020-06-18 设计创作，主要内容包括：本发明涉及一种框架围板安装结构及AGV。框架围板安装结构包括：安装框架,包括上下相对间隔布置的上、下梁,上、下梁之间通过支撑柱支撑；围板,包括围板板体；下梁具有下梁立壁,围板板体的下侧位置连接有卡片,卡片与围板板体之间形成开口朝下的卡槽,围板板体通过卡槽与所述下梁立壁卡接；上梁具有水平承托壁,围板板体的内侧面上侧位置连接有挂片,挂片向围板板体内向延伸,并可搭放在所述水平承托壁上；水平承托壁上与挂片通过螺纹连接件或铆钉连接。本发明的框架围板安装结构拆装方便、连接可靠,而且结构紧凑,在用于AGV的行走底盘上时,外观美观。(The invention relates to a frame coaming mounting structure and an AGV. The frame coaming mounting structure includes: the mounting frame comprises an upper beam and a lower beam which are arranged at intervals up and down, and the upper beam and the lower beam are supported by a support column; the coaming comprises a coaming plate body; the lower beam is provided with a lower beam vertical wall, the lower side position of the surrounding plate body is connected with a clamping piece, a clamping groove with a downward opening is formed between the clamping piece and the surrounding plate body, and the surrounding plate body is clamped with the lower beam vertical wall through the clamping groove; the upper beam is provided with a horizontal bearing wall, the upper side of the inner side surface of the coaming plate body is connected with a hanging piece, and the hanging piece extends inwards towards the coaming plate body and can be placed on the horizontal bearing wall; the horizontal bearing wall is connected with the hanging piece through a threaded connecting piece or a rivet. The frame coaming mounting structure is convenient to disassemble and assemble, reliable in connection and compact in structure, and has attractive appearance when being used on a traveling chassis of an AGV.)

1. A frame panel mounting structure, characterized by comprising:

the mounting frame comprises an upper beam and a lower beam which are arranged at intervals up and down, and the upper beam and the lower beam are supported by a support column;

the coaming comprises a coaming plate body;

the lower beam is provided with a lower beam vertical wall, the lower side position of the surrounding plate body is connected with a clamping piece, a clamping groove with a downward opening is formed between the clamping piece and the surrounding plate body, and the surrounding plate body is clamped with the lower beam vertical wall through the clamping groove;

the upper beam is provided with a horizontal bearing wall, the upper side of the inner side surface of the coaming plate body is connected with a hanging piece, and the hanging piece extends inwards towards the coaming plate body and can be placed on the horizontal bearing wall;

the horizontal bearing wall is connected with the hanging piece through a threaded connecting piece or a rivet.

2. A frame enclosure mounting arrangement according to claim 1 wherein the clip is located on the inside face of the enclosure panel so that the enclosure panel conceals the mounting frame.

3. A frame enclosure mounting arrangement according to claim 1 wherein the upper beam further includes an upper beam upright wall connected to the outer edge of the horizontal support wall and in the same vertical plane as the lower beam upright wall.

4. A frame enclosure mounting structure according to claim 3 wherein the lower beam is of square steel construction, the outer side wall of the square steel type lower beam forms the vertical wall of the lower beam, and the upper side wall of the square steel type lower beam is provided with a bayonet close to the outer side wall and communicating with the inner cavity, so that a card can be inserted into the bayonet to clamp the bayonet with the vertical wall of the lower beam.

5. A frame enclosure mounting structure according to claim 4, wherein the upper beam is a square steel structure, the outer side wall of the square steel type upper beam forms the upper beam vertical wall, the lower side wall of the square steel type upper beam forms the horizontal bearing wall, the outer side wall of the square steel type upper beam is provided with side openings for the hanging pieces to be inserted into the inner cavity of the square steel type upper beam and to be lapped with the lower side wall of the square steel type upper beam, and the upper side wall of the square steel type upper beam is provided with relief holes for the threaded connecting pieces to be inserted into at positions corresponding to the connection positions of the hanging pieces and the horizontal bearing wall.

6. A frame enclosure mounting arrangement according to claim 5, wherein the enclosure plate has a dimension in the up-down direction equal to the distance between the upper side wall of the upper beam and the lower side wall of the lower beam to completely enclose the mounting frame.

7. A frame enclosure mounting arrangement according to any one of claims 1 to 6, wherein the tabs and the hanging pieces are each arranged in a discrete pattern at a plurality of points along the length of the enclosure, the tabs and hanging pieces corresponding in the up-down direction.

8. A frame enclosure mounting arrangement according to any one of claims 1 to 6 wherein the threaded connectors are attachment screws and the horizontal support wall is provided with screw holes.

9. An AGV, comprising:

the walking device comprises a walking chassis, a walking mechanism arranged on the walking chassis and a power supply module arranged on the walking chassis;

the walking chassis is characterized by comprising the frame enclosing plate mounting structure as claimed in any one of claims 1 to 8, wherein the mounting frame of the frame enclosing plate mounting structure is a closed annular frame structure as a whole, and the enclosing plate is arranged outside the annular frame structure in an enclosing mode.

Technical Field

The invention relates to a frame coaming mounting structure and an AGV.

Background

Along with the rapid popularization of automation and intellectualization, intelligent machine equipment is greatly developed, for example, intelligent maintenance robots, intelligent inspection robots, intelligent dust collectors and automatic tracking trolleys which are mostly used for warehouse logistics, namely, AGVs and the like appear in disputes. The intelligent machine equipment is generally provided with a walking chassis with a walking function, the structural design of the walking chassis mostly refers to the design mode of a common vehicle, but along with the continuous improvement of the use quality of products, the intelligent machine equipment is also integrated with the design concepts of integration, compactness, miniaturization and attractive appearance.

The walking chassis of the existing intelligent machinery equipment such as an AGV generally comprises a mounting frame and a coaming connected to the outer edge part of the mounting frame, and the coaming is directly connected with the mounting frame through spot welding or screw connection. However, the spot welding method is troublesome to operate, the requirements on the welding quality and consistency of each welding point are high, and the coaming is subjected to local deformation due to the existence of welding stress caused by multiple welding, so that the appearance of the product is affected. For the mode of adopting screw connection, in some medium-sized intelligent machine equipment, the coaming is generally made of a steel plate with the thickness of about 2mm, the weight is heavier, and the connection reliability is insufficient through the screw connection; if the number of the connecting screws is increased for improving the connecting strength, the assembling process is troublesome and inefficient, and a large number of screw heads are exposed outside the coaming, thereby affecting the appearance of the product.

Disclosure of Invention

The invention aims to provide a frame enclosing plate mounting structure which is used for solving the problems that a chassis peripheral plate of the existing intelligent machine equipment is troublesome and unreliable in mounting and poor in product appearance. Meanwhile, the invention also aims to provide the AGV adopting the frame enclosing plate mounting structure, which is used for solving the problems of troublesome and unreliable installation of the enclosing plate and poor appearance of the conventional AGV walking chassis.

The frame surrounding plate mounting structure of the invention comprises:

the mounting frame comprises an upper beam and a lower beam which are arranged at intervals up and down, and the upper beam and the lower beam are supported by a support column;

the coaming comprises a coaming plate body;

the lower beam is provided with a lower beam vertical wall, the lower side position of the surrounding plate body is connected with a clamping piece, a clamping groove with a downward opening is formed between the clamping piece and the surrounding plate body, and the surrounding plate body is clamped with the lower beam vertical wall through the clamping groove;

the upper beam is provided with a horizontal bearing wall, the upper side of the inner side surface of the coaming plate body is connected with a hanging piece, and the hanging piece extends inwards towards the coaming plate body and can be placed on the horizontal bearing wall;

the horizontal bearing wall is connected with the hanging piece through a threaded connecting piece or a rivet.

When the coaming of the framework coaming installation structure is installed on the installation frame, the lower side clamping piece is clamped with the lower beam of the installation frame, the lower beam supports the coaming plate body in an upward direction, the coaming plate body is ensured to be tightly attached to the lower beam in the horizontal direction, the upper side hanging piece is arranged on the horizontal bearing wall of the upper beam and is connected with the horizontal bearing wall through the threaded connecting piece, so that the coaming plate body is reliably hung on the installation frame through the vertical matching of the clamping piece and the hanging piece, the coaming plate body is also ensured not to be separated from the installation frame from the upper side and the horizontal side through the threaded connecting piece, the integral connection is reliable, the number of the threaded connecting pieces is small, the connection is convenient, the threaded connecting pieces are hidden inside the coaming plate body.

Furthermore, the card is located the inboard face of bounding wall plate body, and makes the bounding wall plate body shelter from the installation frame in. When the coaming plate body is connected to the installation frame, the outer side face of the coaming plate body is integrally the outer side face of the coaming plate body, so that the coaming plate body is smooth and flat, and the attractive appearance of a product is ensured.

Furthermore, the upper beam also comprises an upper beam vertical wall, and the upper beam vertical wall is connected to the outer edge of the horizontal bearing wall and is positioned in the same vertical plane with the lower beam vertical wall. When the bounding wall is connected on the installation frame like this, the medial surface of bounding wall plate body can be found wall and underbeam and found the wall through pasting tightly with the upper beam, guarantees bounding wall and installation frame connection's reliability, can stand the relative position of wall to lacing film and horizontal bearing wall on the horizontal direction through the upper beam in addition and fix a position, the threaded connection spare's of being convenient for location installation.

Further, the underbeam is the square steel structure, and the lateral wall of square steel type underbeam constitutes the wall is found to the underbeam, sets up the bayonet socket of intercommunication inner chamber in the position that is close to the lateral wall on the last lateral wall of square steel type underbeam to supply the card to insert and realize the draw-in groove and found the joint of wall along with the underbeam. The underbeam of square steel structure is not only structural strength high, and moreover, the bayonet socket is seted up in the position department that is close to the lateral wall of lateral wall on the square steel, and after the card was gone into, the lateral wall of square steel and last lateral wall can both play limiting displacement to the bounding wall in the horizontal direction, and the joint is firm reliable.

Furthermore, the entablature is the square steel structure, and the lateral wall of square steel type entablature constitutes the wall is found to the entablature, and the lower lateral wall of square steel type entablature constitutes horizontal bearing wall is equipped with on the lateral wall of square steel type entablature to supply the lacing film to insert the inner chamber of square steel type entablature and with the lower lateral wall overlap joint side opening of square steel type entablature, be equipped with on the last lateral wall of square steel type entablature corresponding to the hookup film and the hookup location of horizontal bearing wall to supply the hole of dodging that threaded connection spare packed into. After the hanging piece is connected to the upper beam in the structure form, the hanging piece and the threaded connecting piece are wrapped in the upper beam, so that the hanging piece and the threaded connecting piece are not easy to collide and interfere by an external structure, the structure is compact, and the occupied space is small.

Further, the dimension of the coaming plate body in the vertical direction is equal to the distance between the upper side wall of the upper beam and the lower side wall of the lower beam, so that the mounting frame is completely sheltered. Therefore, the whole outer side surface of the whole structure is the outer side surface of the coaming, and the appearance is complete, smooth and consistent.

Furthermore, the card and the hanging piece are arranged in a multi-point discrete mode in the length direction of the enclosing plate, and the card and the hanging piece correspond to each other in the up-down direction. Therefore, on the premise of ensuring the connection reliability, the structural design and the whole weight of the structure are simplified, and the cost is reduced.

In addition, the threaded connecting piece is a connecting screw, and a screw hole is formed in the horizontal bearing wall. The connection of the hanging piece and the horizontal bearing wall is realized by adopting screws, the assembly and disassembly are convenient, and the assembly efficiency is high.

The AGV of the present invention includes:

the walking device comprises a walking chassis, a walking mechanism arranged on the walking chassis and a power supply module arranged on the walking chassis;

the walking chassis comprises a frame coaming mounting structure, and the frame coaming mounting structure comprises:

the mounting frame comprises an upper beam and a lower beam which are arranged at intervals up and down, and the upper beam and the lower beam are supported by a support column;

the coaming comprises a coaming plate body;

the lower beam is provided with a lower beam vertical wall, the lower side position of the surrounding plate body is connected with a clamping piece, a clamping groove with a downward opening is formed between the clamping piece and the surrounding plate body, and the surrounding plate body is clamped with the lower beam vertical wall through the clamping groove;

the upper beam is provided with a horizontal bearing wall, the upper side of the inner side surface of the coaming plate body is connected with a hanging piece, and the hanging piece extends inwards towards the coaming plate body and can be placed on the horizontal bearing wall;

the horizontal bearing wall is connected with the hanging piece through a threaded connecting piece or a rivet;

the whole installation frame of the frame coaming installation structure is of a closed ring frame structure, and the coaming is arranged on the outer side of the ring frame structure in a surrounding manner.

When the coaming of the AGV walking chassis is installed on the installation frame, the lower side clamping piece is clamped with the lower beam of the installation frame, the lower beam supports the coaming plate body in an upward direction, the coaming plate body is ensured to be tightly attached to the lower beam in the horizontal direction, the upper side hanging piece is placed on the horizontal bearing wall of the upper beam and is connected with the horizontal bearing wall through the threaded connecting piece, so that the coaming plate body is reliably hung on the installation frame through the vertical matching of the clamping piece and the hanging piece, the coaming plate body is ensured not to be separated from the installation frame from the upper side and the horizontal side through the threaded connecting piece, the integral connection is reliable, the number of the threaded connecting pieces is small, the connection is convenient, the threaded connecting pieces are hidden inside the coaming plate body, and the walking.

Furthermore, the card is located the inboard face of bounding wall plate body, and makes the bounding wall plate body shelter from the installation frame in. When the coaming plate body is connected to the installation frame, the outer side face of the coaming plate body is integrally the outer side face of the coaming plate body, so that the coaming plate body is smooth and flat, and the attractive appearance of a product is ensured.

Furthermore, the upper beam also comprises an upper beam vertical wall, and the upper beam vertical wall is connected to the outer edge of the horizontal bearing wall and is positioned in the same vertical plane with the lower beam vertical wall. When the bounding wall is connected on the installation frame like this, the medial surface of bounding wall plate body can be found wall and underbeam and found the wall through pasting tightly with the upper beam, guarantees bounding wall and installation frame connection's reliability, can stand the relative position of wall to lacing film and horizontal bearing wall on the horizontal direction through the upper beam in addition and fix a position, the threaded connection spare's of being convenient for location installation.

Further, the underbeam is the square steel structure, and the lateral wall of square steel type underbeam constitutes the wall is found to the underbeam, sets up the bayonet socket of intercommunication inner chamber in the position that is close to the lateral wall on the last lateral wall of square steel type underbeam to supply the card to insert and realize the draw-in groove and found the joint of wall along with the underbeam. The underbeam of square steel structure is not only structural strength high, and moreover, the bayonet socket is seted up in the position department that is close to the lateral wall of lateral wall on the square steel, and after the card was gone into, the lateral wall of square steel and last lateral wall can both play limiting displacement to the bounding wall in the horizontal direction, and the joint is firm reliable.

Furthermore, the entablature is the square steel structure, and the lateral wall of square steel type entablature constitutes the wall is found to the entablature, and the lower lateral wall of square steel type entablature constitutes horizontal bearing wall is equipped with on the lateral wall of square steel type entablature to supply the lacing film to insert the inner chamber of square steel type entablature and with the lower lateral wall overlap joint side opening of square steel type entablature, be equipped with on the last lateral wall of square steel type entablature corresponding to the hookup film and the hookup location of horizontal bearing wall to supply the hole of dodging that threaded connection spare packed into. After the hanging piece is connected to the upper beam in the structure form, the hanging piece and the threaded connecting piece are wrapped in the upper beam, so that the hanging piece and the threaded connecting piece are not easy to collide and interfere by an external structure, the structure is compact, and the occupied space is small.

Further, the dimension of the coaming plate body in the vertical direction is equal to the distance between the upper side wall of the upper beam and the lower side wall of the lower beam, so that the mounting frame is completely sheltered. Therefore, the whole outer side surface of the whole structure is the outer side surface of the coaming, and the appearance is complete, smooth and consistent.

Furthermore, the card and the hanging piece are arranged in a multi-point discrete mode in the length direction of the enclosing plate, and the card and the hanging piece correspond to each other in the up-down direction. Therefore, on the premise of ensuring the connection reliability, the structural design and the whole weight of the structure are simplified, and the cost is reduced.

In addition, the threaded connecting piece is a connecting screw, and a screw hole is formed in the horizontal bearing wall. The connection of the hanging piece and the horizontal bearing wall is realized by adopting screws, the assembly and disassembly are convenient, and the assembly efficiency is high.

Drawings

FIG. 1 is a schematic illustration of an AGV embodiment of the present invention prior to assembly of the chassis frame and enclosures;

FIG. 2 is a partial schematic structural view of the chassis frame of FIG. 1;

FIG. 3 is a cross-sectional view taken at A-A of FIG. 2;

FIG. 4 is a top view of FIG. 2;

FIG. 5 is a schematic cross-sectional view of the shroud of FIG. 1;

FIG. 6 is a schematic view of the arrangement of the closure when assembled to the chassis frame;

in the figure: 1-a mounting frame; 10-upper girth beam; 101-side opening; 102-upper girt floor; 103-avoiding holes; 104-screw holes; 11-lower girth beam; 110-bayonet; 12-a support column; 2-a coaming plate body; 20-hanging the board; 201-screw perforation; 21-card; 3-connecting the screw.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the detailed description and specific examples, while indicating the preferred embodiment of the invention, are intended for purposes of illustration only and are not intended to limit the scope of the invention. The components of embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.

Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the present invention without making any creative effort, shall fall within the protection scope of the present invention.

It is noted that relational terms such as "first" and "second," and the like, may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.

The features and properties of the present invention are described in further detail below with reference to examples.

The first specific embodiment of the AGV of the present invention:

the AGV comprises a walking chassis, a walking mechanism comprising a driving motor and walking wheels is arranged on the walking chassis, a power module is further mounted on the walking chassis and used for supplying power to the walking mechanism, and a chassis structure of a main carrier forming the walking chassis comprises a frame coaming mounting structure.

FIGS. 1-6 show a schematic representation of the frame enclosure mounting structure included in an AGV of the present invention. Specifically, the frame enclosure mounting structure includes a mounting frame 1 and an enclosure 2 attached to the mounting frame. In this embodiment, the installation frame is confined ring frame structure, and the ring frame is the octagon that forms for setting up the bevel edge in the four corners position of rectangle, and bounding wall 2 has four, has two in four bounding walls to be long straight structure for install in the long limit department of two parallels of octagon installation frame, two in addition for containing straight section and being in the slope section at two straight section both ends, be used for installing the both ends at octagon installation frame. Thus, after the fence is attached to the mounting frame, the outer frame of the AGV chassis structure of the present invention is formed.

The mounting frame 1 includes an upper girt 10 and a lower girt 11 which are arranged at a downward opposite interval, and the upper girt 10 and the lower girt 11 are supported and connected by a plurality of supporting columns 12. Two types of connecting structures are arranged on the enclosing plate 2 at intervals in the up-down direction and are respectively used for being connected with the upper enclosing beam 10 and the lower enclosing beam 11. One type of the connecting structure at the lower side is a clamping structure, such as a clamping groove, which is used for being clamped with a lower beam vertical wall included in the lower girth beam 11 from top to bottom, and realizing upward support of the coaming by the lower girth beam and limit in the horizontal direction; the connecting structure at the upper side is a screw connecting structure locked from the upper direction and the lower direction, such as a hanging sheet, and is used for being connected through screws after being placed on a horizontal bearing wall of the upper enclosing beam so as to realize the fixation of the enclosing plate to the upper enclosing beam in the upper direction and the lower direction and the horizontal direction.

In this embodiment, figures 3-5 show the mounting frame and shroud arrangement. In detail, the apron 2 includes an apron plate body whose plate surface extends in the vertical direction, and a hanging piece 20 and a clamping piece 21 which are connected to the inner side surface of the apron plate body. The hanging pieces 20 and the cards 21 are arranged in a pair in a group and correspond to each other in the up-down direction. The hanging piece 20 is an L-shaped piece, the vertical edge of the L-shaped piece is fixedly connected with the coaming plate body, the horizontal edge is perpendicular to the coaming plate body and extends towards the inner side of the coaming plate body to form a hanging structure, and a screw through hole 201 is formed in the hanging structure; the card 21 is the zigzag piece, and in two parallel edges of zigzag piece, one and the medial surface fixed connection of bounding wall plate body, another is in the bounding wall plate body inboard and forms the draw-in groove between the bounding wall plate body. The attachment tabs 20 are of the type described above on the upper side of the panel for attachment to the upper girt 10 and the clips 21 are of the type described above on the lower side of the panel for attachment to the lower girt 11.

The upper girt 10 and the lower girt 11 are square steel beams. The outer side wall of the upper surrounding beam 10 is provided with a side opening 101, the lower side wall is provided with a screw hole 104 extending up and down, and the upper side wall is provided with an avoiding hole 103 at a position corresponding to the screw hole 104. The upper side wall of the lower girth beam 11 is provided with a bayonet 110 at a position close to the edge of the outer side wall, and the bayonet 110 is communicated with the inner cavity of the square steel type lower girth beam 11.

When the coaming 2 is installed on the installation frame 1, the structure is as shown in fig. 6, firstly, the card 21 of the coaming 2 is inserted into the bayonet 110 from the top to the bottom, the outer side wall of the square steel type lower girth is clamped into the clamping groove formed by the card 21 and the coaming plate body, meanwhile, the side opening 101 of the horizontal side square steel type upper girth of the hanging piece 20 is inserted into the inner cavity of the upper girth, when the coaming falls to the lowest position, the horizontal side of the hanging piece 20 is just lapped on the lower side wall of the square steel type upper girth, and in this state, the inner side surface of the coaming plate body is clung to the outer side wall of the square steel type upper and lower girth, and the screw through hole 201 on the hanging piece 20 is corresponding to the screw hole 104 on the lower side wall of. Then, the connection screw 3, the elastic washer and the gasket are arranged in the avoidance hole 103 of the upper side wall of the square steel type upper surrounding beam, and the hanging piece 20 is connected with the lower side wall of the square steel type through the connection screw 3 in a locking mode.

As is also apparent from fig. 6, in the present embodiment, it is preferable that the height of the enclosing plate body in the vertical direction is equal to the distance between the upper and lower enclosing beams of the square steel type, so that the mounting frame can be completely shielded inside, and thus, the outer side surface of the chassis structure formed by the mounting frame and the enclosing plate is a smooth and complete plate body side surface, and the appearance is beautiful.

In the frame enclosing plate mounting structure of the AGV walking chassis, the mounting frame adopts a double-enclosing-beam structure, the enclosing plates adopt an upper connecting structure and a lower connecting structure which are respectively connected with the upper enclosing beam and the lower enclosing beam, one connecting structure adopts a clamping structure, the other connecting structure adopts a screw connection, the two mounting structures are matched, the fixing is reliable, the use of threaded connecting pieces is reduced, the disassembly and the assembly are convenient, and the assembly efficiency is improved; in addition, the framework coaming mounting structure completely wraps the mounting frame and the coaming connecting structure, so that the existing outer side is prevented from being exposed, and the attractive appearance of the walking chassis is ensured.

The AGV of the present invention is not limited to the above-described embodiments, and more modifications are provided below, particularly with respect to the mounting structure of the frame enclosure included in the running chassis of the AGV.

For example, in another embodiment, different from the above embodiment, the upper and lower surrounding beams may be both of an angle steel structure, the vertical edge of the angle steel type lower surrounding beam is located outside the horizontal edge and extends upward, the vertical edge of the angle steel type upper surrounding beam is located outside the horizontal edge and extends downward, the vertical edges of the angle steel type upper and lower surrounding beams are located in the same vertical plane, the horizontal edge of the angle steel type upper surrounding beam forms a horizontal bearing wall, a screw hole is formed in the horizontal bearing wall, the vertical edge of the angle steel type lower surrounding beam is used for overlapping the hanging piece of the surrounding plate and is connected with the hanging piece through a bolt and nut assembly, and the vertical edge of the angle steel type lower surrounding beam forms a lower beam vertical wall and is used for being connected with the clamping structure on the surrounding. Of course, in other embodiments, it is simpler that the upper girt may be of a flat plate type structure, the lower girt may be of a vertical plate type structure, the flat plate type upper girt itself constitutes the horizontal bearing wall, and the vertical plate type lower girt itself constitutes the vertical wall of the lower girt.

For example, in another embodiment, unlike the first embodiment, the lower edge of the surrounding plate body is integrally bent into a U-shaped structure with a downward opening, the lower surrounding beam is a channel steel structure with an upward opening, and the lower U-shaped channel of the surrounding plate body is directly clamped on the outer vertical wall of the channel steel structure, in this case, the outer channel wall of the lower U-shaped channel of the surrounding plate body can form a clamping piece, and the upper side of the surrounding plate body is attached to the outer wall of the upper surrounding beam of the square steel type through the inner side surface thereof as described in the first embodiment. In this embodiment, the lower beam vertical wall of the lower girth beam and the upper beam vertical wall of the upper girth beam are not in the same vertical plane, and the clamping pieces are not distributed on the girth plate body in a multi-point discrete manner.

For example, in another embodiment, different from the first embodiment but similar to the first embodiment, the upper surrounding beam is of a square steel structure, the upper side wall of the square steel type upper surrounding beam forms a horizontal supporting wall, screw holes are formed in the horizontal supporting wall, and the hanging pieces on the surrounding plate body are directly overlapped on the upper side wall of the square steel type upper surrounding beam and fixedly connected with the upper side wall of the square steel type upper surrounding beam through screws.

For example, in other embodiments, the horizontal support wall and the hanging strip are simply connected by rivets, in contrast to the first embodiment described above.

For another example, in another embodiment, unlike the first embodiment, the height of the coaming is smaller than the distance between the upper side of the upper girt and the lower side of the lower girt, the upper and lower edges of the coaming plate are respectively corresponding to the middle of the upper and lower girts of the square steel type, and some of the square steel type girts are not covered by the coaming.

The invention also provides a specific embodiment of the frame coaming mounting structure: the specific structure of the mounting structure is the same as that of the frame coaming mounting structure included in the walking chassis in the above AGV embodiment, and details are not repeated here, but it should be noted that the mounting structure of the frame coaming of the present invention is not limited to the walking chassis suitable for AGVs, and can also be used for chassis or bearing platforms of other intelligent machine devices.

The above description is only a preferred embodiment of the present invention, and not intended to limit the present invention, the scope of the present invention is defined by the appended claims, and all structural changes that can be made by using the contents of the description and the drawings of the present invention are intended to be embraced therein.