Suspension systems for automated guided vehicles

Abstract

The present invention discloses a system and method for an automated guided vehicle for transporting one or more objects, the automated guided vehicle comprising a chassis; a suspension system comprising a first arm connected to the chassis via a first coupling and a second arm connected to the chassis via a second coupling; the first arm is pivotable relative to the chassis and pivotable around a first pivot axis; the second arm is pivotable relative to the chassis and pivotable around a second pivot axis; one or more first motion structures associated with the first arm; one or more second motion structures associated with the second arm; the second arm is arranged transversely relative to the first arm, and the first pivot axis and the second pivot axis are transverse to each other.

Description

Technical Field

[0001] The present invention relates to a suspension system for an automated guided vehicle (AGV). Background Art

[0002] Warehousing is becoming increasingly popular, especially with the growing popularity of online shopping and goods delivery. A warehouse is an example of an indoor environment where automated guided vehicles are often used. An automated guided vehicle (AGV) is a motion robot or motion vehicle that is used in a warehouse for various functions, such as moving shelves, or moving goods between shelves or stacking goods, etc. AGVs are also used to transport other objects, such as boxes or goods in an environment (such as around a warehouse). Multiple AGVs are often used in an indoor environment, such as in a warehouse. The environment AGV can be uneven and have uneven surfaces, such as uneven floors in a warehouse. The AGV includes a suspension system that attempts to adapt to uneven surfaces. Current suspension systems still result in unstable motion in some cases and can cause instability of the AGV during acceleration and deceleration. Summary of the invention

[0003] It is an object of the present invention to provide a suspension system for an automated guided vehicle (AGV) that helps to smooth the movement of the AGV or provide a useful alternative to the public.

[0004] Other objects of the present invention (or inventions) may become apparent from the following description and accompanying drawings, which are given by way of example only.

[0005] The present disclosure relates to a suspension system for an automated guided vehicle that enhances the stability of a load supported by an automated guided vehicle (AGV). The suspension system decouples the wheels or other moving structures of the AGV from the load supported by the AGV so that the load remains substantially level and / or stable.

[0006] According to a first aspect, the invention relates to an automated guided vehicle for transporting one or more objects, the automated guided vehicle comprising:

[0007] Chassis;

[0008] a suspension system, the suspension system comprising a first arm coupled to the chassis via a first coupling and a second arm coupled to the chassis via a second coupling;

[0009] The first arm is pivotable relative to the chassis and pivotable about a first pivot axis;

[0010] the second arm is pivotable relative to the chassis and pivotable about a second pivot axis;

[0011] one or more first motion structures associated with the first arm;

[0012] one or more second motion structures associated with the second arm;

[0013] The second arm is disposed transversely relative to the first arm, and the first pivot axis and the second pivot axis are transverse to each other.

[0014] In one embodiment, the first pivot axis passes through the first coupling and the second pivot axis passes through the second coupling.

[0015] In one embodiment, the chassis includes a longitudinal axis and a transverse axis, the first arm is arranged parallel to the longitudinal axis, and the second arm is arranged parallel to the transverse axis.

[0016] In one embodiment, the first arm includes a drive wheel and a guide wheel, which are attached to the first arm, the drive wheel provides a driving force to propel the AGV, and the guide wheel is rotatably attached to the first arm so that the guide wheel can rotate relative to the first arm and / or relative to the chassis to assist the AGV in steering or turning.

[0017] In one embodiment, the chassis includes a drive assembly including an actuator coupled to the drive wheels to provide a driving force to the drive wheels to propel the AGV.

[0018] In one embodiment, the second arm comprises one or more guide wheels attached to the second arm.

[0019] In one embodiment, the guide wheels attached to the first arm comprise casters.

[0020] In one embodiment, the one or more guide wheels attached to the second arm comprise casters.

[0021] In one embodiment, the suspension system further comprises a pair of first arms and a single second arm, wherein the pair of first arms are spaced apart from each other and connected to the chassis at opposite sides of the chassis, and the second arm is connected to an end of the chassis, wherein the pair of first arms are arranged parallel to the longitudinal axis and the second arm is arranged parallel to the transverse axis.

[0022] In one embodiment, the chassis includes a plurality of components that are attached together to form a skeleton, and the skeleton defines the chassis.

[0023] In one embodiment, each of the first arm and the second arm comprises a solid and unitary structure.

[0024] In one embodiment, the chassis includes a platform disposed on the chassis in a stable and / or planar orientation, and the first arm and the second arm pivot in response to the AGV traveling over an uneven surface to maintain the platform in a substantially stable and / or planar orientation.

[0025] According to a second aspect, the present invention relates to an automated guided vehicle (AGV), comprising:

[0026] Chassis;

[0027] A suspension system coupled to the chassis, the suspension system comprising:

[0028] a longitudinal arm pivotably connected to the chassis;

[0029] a transverse arm pivotally connected to the chassis;

[0030] The longitudinal arm is pivotable in a first pivot plane relative to the chassis and the transverse arm is pivotable in a second pivot plane relative to the chassis; and

[0031] The first pivot plane is perpendicular to the second pivot plane.

[0032] In one embodiment, the transverse arm is arranged crosswise with the longitudinal arm on the chassis, and the longitudinal arm is spaced apart from the transverse arm.

[0033] In one embodiment, the longitudinal arm pivots about a first pivot axis and the transverse arm pivots about a second pivot axis, the first pivot axis being perpendicular to the second pivot axis.

[0034] In one embodiment, the suspension system includes a pair of longitudinal arms and a single transverse arm, wherein the first longitudinal arm is attached to a first side of the chassis, the second longitudinal arm is attached to an opposite side of the chassis, and the transverse arm is attached to an end of the chassis, wherein the end is perpendicular to the side.

[0035] In one embodiment, the chassis includes a plurality of frame members, at least one frame member defining a first side of the chassis, another frame member defining a second side of the chassis, and additional frame members defining ends of the chassis.

[0036] In one embodiment, each arm is coupled to one frame member and is pivotable relative to the frame member to which the arm is coupled.

[0037] In one embodiment, each longitudinal arm comprises a drive wheel and a guide wheel, and the transverse arm comprises two guide wheels.

[0038] In one embodiment, the guide wheels are spaced apart from one another on the transverse arm, and the drive wheel and guide wheel are spaced apart from one another on each longitudinal arm.

[0039] In one embodiment, each guide wheel includes a caster assembly and a wheel assembly such that each guide wheel is rotatable relative to each arm and each guide wheel is independently rotatable.

[0040] In one embodiment, each longitudinal arm is attached to the chassis by a coupling, wherein each longitudinal arm is pivotable about the coupling, and the transverse arm is attached to the chassis by a coupling, wherein the transverse arm is pivotable about the coupling.

[0041] In one embodiment, the AGV includes a load supporting structure carried by a chassis, and the suspension system is configured to decouple the load supporting structure and / or chassis from the arm so that the position and / or orientation of the load supporting structure remains substantially unchanged in response to movement of one or more arms.

[0042] In one embodiment, the suspension system is configured to decouple the chassis from the arm so that the center of gravity of the AGV remains stable even as the arm pivots when the AGV moves over an uneven surface.

[0043] According to another aspect, the present invention is broadly directed to a suspension system for use with an AGV, the suspension system comprising:

[0044] a pair of longitudinal arms configured to be pivotally attached to a chassis of the AGV;

[0045] a lateral arm configured to be pivotally attached to a chassis of the AGV;

[0046] The longitudinal arms are arranged parallel to each other;

[0047] The longitudinal arm is pivotable about a first pivot axis, and the transverse arm is pivotable about a second pivot axis, the second pivot axis being perpendicular to the first pivot axis.

[0048] In one embodiment, the longitudinal arm pivots in a first plane and the transverse arm pivots in a second plane, and wherein the first plane is perpendicular to the second plane.

[0049] In one embodiment, the longitudinal arm and the transverse arm each pivot in a rocking motion.

[0050] In one embodiment, each longitudinal arm comprises a drive wheel and a guide wheel.

[0051] In one embodiment, each guide wheel includes a wheel assembly and a caster assembly such that each guide wheel is independently rotatable.

[0052] In one embodiment, each arm is configured to independently move or pivot relative to the chassis.

[0053] In one embodiment, the suspension system is configured to decouple the chassis from the arms, with each arm being independently movable or pivotable relative to the chassis such that the center of gravity of the AGV is stabilized or remains substantially constant.

[0054] In one embodiment, the longitudinal arm is configured to absorb pitch motion of the AGV and the lateral arm is configured to absorb roll motion of the AGV.

[0055] It is intended that reference to a series of numbers disclosed herein (e.g., 1 to 10) also includes reference to all rational numbers within that range (e.g., 1, 1.1, 2, 3, 3.9, 4, 5, 6, 6.5, 7, 8, 9, and 10) and any range of rational numbers within that range (e.g., 2 to 8, 1.5 to 5.5, and 3.1 to 4.7), and thus all subranges of all ranges explicitly disclosed herein are expressly disclosed. These are merely examples of what is specifically intended, and all possible combinations of numerical values ​​between the lowest and highest values ​​recited should be considered to be expressly stated in this application in a similar manner.

[0056] The present invention can also be broadly described as including the parts, elements and features mentioned or indicated in the specification of this application individually or collectively, and any or all combinations of any two or more of the parts, elements or features, as well as the specific integers mentioned herein that have known equivalents in the field to which the present invention relates, and these known equivalents are deemed to be incorporated herein as if listed individually.

[0057] As used herein, the term "and / or" means "and" or "or", or both, as the context allows.

[0058] The present invention encompasses the foregoing and also contemplates the following structures, of which only examples are given below. In the following description, like numbers denote like features.

[0059] The term AGV is used here to refer to an automated guided vehicle that can move autonomously in an environment.

[0060] As used herein, "s" following a noun refers to the plural and / or singular form of the noun.

[0061] In the following description, specific details are given to provide a thorough understanding of the embodiments. However, those of ordinary skill in the art will appreciate that the embodiments may be practiced without these specific details. For example, circuits and the like may be shown in block diagrams so as not to obscure the embodiments with unnecessary details. In other cases, well-known modules, structures, and techniques may not be shown in detail so as not to obscure the embodiments.

[0062] In this specification, the word "comprise" and its variants, such as "comprising", have the usual meaning according to international patent practice. That is, the word does not exclude additional or unlisted elements, materials or method steps other than those specifically described. Therefore, the described device, system, material or method can have other elements, materials or steps in various embodiments. The term "comprise" (and its grammatical variants) used herein is used in the inclusive sense of "having" or "including", rather than in the sense of "consisting only of...". BRIEF DESCRIPTION OF THE DRAWINGS

[0063] Without having to resort to any other forms that may fall within the scope of the present disclosure, the preferred embodiments will now be described, by way of example only, with reference to the accompanying drawings, in which:

[0064] Figure 1 An isometric view of an exemplary embodiment of an automated guided vehicle (AGV) is shown, including a suspension system that stabilizes the AGV.

[0065] Figure 2 Shows Figure 1 Side view of the AGV.

[0066] Figure 3 For example, Figure 1 Top view of the AGV.

[0067] Figure 4 Shows Figure 1 End view (i.e. front view) of the AGV.

[0068] Figure 5 An example embodiment of a load support structure for an AGV is shown. DETAILED DESCRIPTION

[0069] Automated guided vehicles (AGVs) are becoming more common in multiple industries for a variety of applications. Automated guided vehicles (AGVs) are often used for material handling tasks in factories or warehouses or other environments. Some example uses of AGVs are for moving shelves, moving goods, or moving boxes / containers around a warehouse or factory. AGVs typically include a lifting device such as a platform or lifting arm or forks such as a forklift. The load (e.g., boxes, shelves, etc.) is supported by the lifting device.

[0070] Multiple AGVs are often used in indoor environments, such as in a warehouse. Due to space limitations in indoor environments, there is always a risk of collisions between AGVs in indoor environments and / or collisions between AGVs and other objects within the indoor environment. The AGVs may use any known guidance protocol (i.e., guidance method). For example, the environment may include waypoints or markers positioned along the floor of the environment, or the AGV may include a stored map that the AGV uses to navigate around the environment (e.g., a warehouse or factory).

[0071] Most automated guided vehicles (AGVs) available today are typically equipped with suspension systems to accommodate uneven surfaces as the AGV moves through the environment. A common problem with commonly used suspension systems is squatting and diving that occurs during acceleration and deceleration of the AGV, respectively. If the AGV carries a load, especially a heavy load, the acceleration and deceleration of the AGV can cause excessive body tilt and / or rolling or pitching motion around an axis. This can lead to instability of the AGV and also to instability of the load. Instability can cause the load to fall off the AGV and be damaged or can cause the AGV to fall and be damaged.

[0072] The present disclosure relates to a suspension system for an AGV and an AGV, including a suspension system that improves the stability of the AGV. The suspension system is configured to separate the AGV from its moving structure, for example, the wheels from the chassis keep the chassis substantially stable when the AGV moves. The suspension system is configured to stabilize the chassis when the AGV moves on an uneven surface. The suspension system absorbs shocks caused by the uneven surface or the acceleration / deceleration of the AGV, so that these shocks are isolated from the chassis. Even when the AGV is exposed to shocks, the chassis remains substantially horizontal, i.e., stable. The suspension system helps to keep the load supported by the AGV, such as the load supported by the chassis substantially stable. The suspension system helps to prevent the load supported by the AGV from moving in response to shocks. The suspension system is configured to keep the load in a substantially flat or planar orientation in response to shocks or forces when the AGV travels on an uneven surface.

[0073] In one exemplary configuration, the suspension system includes a pair of longitudinal arms configured to be pivotally attached to the chassis of the AGV; a transverse arm configured to be pivotally attached to the chassis of the AGV; the longitudinal arms are arranged parallel to each other; the longitudinal arms are pivotable about a first pivot axis, and the transverse arms are pivotable about a second pivot axis, and the second pivot axis is perpendicular to the first pivot axis. The longitudinal arms pivot in a first plane, the transverse arms pivot in a second plane, and wherein the first plane is perpendicular to the second plane. The longitudinal arms and the transverse arms each pivot in a rocking motion. The longitudinal arms and the transverse arms are substantially unitary structures, and each includes a single arm.

[0074] In another form, the present disclosure relates to an automated guided vehicle (AGV) comprising: a chassis; a suspension system coupled to the chassis, the suspension system comprising: a longitudinal arm pivotably connected to the chassis; a transverse arm pivotably connected to the chassis; the longitudinal arm is pivotable in a first pivot plane, the transverse arm is pivotable in a second pivot plane, and wherein the first pivot plane is perpendicular to the second pivot plane. The transverse arm is arranged crosswise (i.e., substantially perpendicular) to the longitudinal arm on the chassis, and the longitudinal arm is spaced apart from the transverse arm. The longitudinal arm pivots about a first pivot axis, the transverse arm pivots about a second pivot axis, and the first pivot axis is perpendicular to the second pivot axis. Optionally, the suspension system comprises a pair of longitudinal arms and a single transverse arm, the first longitudinal arm being attached to a first side of the chassis, the second longitudinal arm being attached to an opposite side of the chassis, and the transverse arm being attached to an end of the chassis, wherein the end is perpendicular to the side.

[0075] The longitudinal arms may include at least one drive wheel disposed on each longitudinal arm and at least one guide wheel disposed on each longitudinal arm. In these examples, the guide wheels may be implemented by using casters or any other type of wheel member that preferably supports a load placed thereon. Although in a preferred embodiment where the guide wheels are casters, the guide wheels may or may not be powered, such wheel members would not be powered and would simply support a load.

[0076] A pair of guide wheels are set on the cross arm. The drive wheel is used to propel the AGV, and the guide wheels allow the AGV to turn. The guide wheels are rotatable and can rotate 360 ​​degrees.

[0077] In another form, the present disclosure relates to an automated guided vehicle (AGV) including a suspension system, the AGV comprising: a chassis; a suspension system, the suspension system including a first arm, the first arm being connected to the chassis via a first coupling relative to the chassis and about a first pivot axis; a second arm pivotable relative to the chassis and about a second pivot axis; one or more first motion structures associated with the first arm; one or more second motion structures associated with the second arm; the second arm being arranged transversely relative to the first arm, and the first pivot axis and the second pivot axis being transverse to each other.

[0078] In this form, the first pivot axis passes through the first coupling and the second pivot axis passes through the second coupling. The chassis includes a longitudinal axis and a transverse axis, the first arm is arranged parallel to the longitudinal axis, and the second arm is arranged parallel to the transverse axis. The first arm includes a drive wheel and a guide wheel, the drive wheel and the guide wheel are attached to the first arm, the drive wheel provides a driving force to propel the AGV, and the guide wheel is rotatably attached to the first arm so that the guide wheel can rotate relative to the first arm and / or relative to the chassis to assist the AGV in steering or turning. The chassis includes a drive assembly, the drive assembly includes an actuator, and the actuator is connected to the drive wheel to provide a driving force to the drive wheel to propel the AGV. The second arm includes one or more guide wheels attached to the second arm.

[0079] Example embodiments will be described with reference to the accompanying drawings. Figures 1 to 4 An example embodiment of an automated guided vehicle (AGV) 100 including a suspension system 110 is shown. Figure 1 An isometric view of the AGV is shown. Figure 2 A side view of the AGV is shown. Figure 3 A plan view, i.e., a top view of the AGV, is shown. Figure 4 An end view (specifically, a front view) of the AGV is shown.

[0080] The suspension system 110 is adapted to improve the stability of the automated guided vehicle (AGV) when the AGV is traveling on an uneven surface. The suspension system 110 is also adapted to improve traction. The suspension system 110 is configured to maintain the chassis in a stable arrangement so that a load supported by the chassis 102 (i.e., by the AGV) is maintained in a stable orientation, e.g., the load is maintained in place with minimal movement and the load does not fall off the AGV 100.

[0081] like Figure 1 As shown, the chassis 102 includes a plurality of members 104. These members are arranged and coupled together to form a skeleton frame. The skeleton frame arrangement includes gaps or spaces 106 between the individual frame members 104 to reduce the overall mass of the chassis while still providing rigidity, firmness and structure to the chassis 102. The members 104 are substantially rigid to provide structure to the chassis 102. The members 104 can be formed of a rigid material, such as a metal, such as stainless steel or aluminum or other suitable metal.

[0082] Alternatively, the member 104 may be made of a rigid polymer material, such as a thermoplastic or thermosetting or rubber material. For example, the member may be made of polycarbonate or silicone or halogenated plastic or acrylic or any suitable rigid polymer. The chassis 102 may include a member 104 formed of a combination of metal and polymer materials or metal alloys.

[0083] exist Figure 1In the configuration shown, the chassis 102 comprises a rectangular shape. The members 104 are interconnected to form a rectangular shape (ie, a rectangular profile). When the chassis 102 is viewed from above, ie, when the chassis 102 is viewed in a plan view, a rectangular profile is defined. Figure 2 A plan view (ie, a top view) is shown. Alternatively, the chassis 102 may comprise other shapes, for example, a polygon, such as a square or a trapezoid or a parallelogram or any other predetermined shape.

[0084] The AGV 100 includes a drive assembly (not shown) disposed on a chassis. The drive assembly includes a propulsion unit, such as an electric motor. The drive assembly also includes additional components configured to transmit the propulsion force generated by the propulsion unit.

[0085] The AGV 100 includes one or more drive wheels 120 disposed on a chassis 102. The drive wheels are mechanically coupled to a propulsion unit to drive the drive wheels to propel the AGV forward or backward. The propulsion unit includes a controller adapted to control the propulsion unit to accelerate or decelerate the AGV or maintain a constant speed or stop. The AGV 100 also includes one or more steering mechanisms configured to allow the AGV to turn around an environment, such as a warehouse. The steering element may be controlled by a controller or may be a passive steering element.

[0086] like Figures 1 to 4 As shown, the suspension system 110 includes a pair of longitudinal arms 112, 114 (i.e., a pair of first arms) and a transverse arm 116 (i.e., a second arm). In the illustrated embodiment, the suspension system 110 includes a single transverse arm 116. Alternatively, the suspension system 110 may include a plurality of transverse arms. The plurality of transverse arms are preferably arranged parallel to each other. The longitudinal arms 112, 114 and the transverse arm 116 may pivot relative to the chassis 102.

[0087] The suspension system 110 is configured to decouple the chassis from the arm so that the chassis remains substantially stable in response to any load or impact caused by the AGV traveling on an uneven surface. The suspension system 110 is configured to stabilize the chassis and allow the AGV to move on an uneven surface with minimal disturbance to the chassis. The suspension system 110 is also configured to absorb forces or impacts as the AGV travels around the environment. This is advantageous because any objects supported by the chassis, such as shelves or boxes, are held stable as the AGV moves.

[0088] The longitudinal arms 112, 114 and the transverse arm 116 are disposed on the chassis. Each of the longitudinal arms 112, 114 and the transverse arm 116 is coupled to the chassis. More specifically, the longitudinal arms 112, 114 are coupled to opposite sides of the chassis 102, and the transverse arm 116 is coupled to one end of the chassis 102. The transverse arm 116 is arranged to cross the longitudinal arms 112, 114. Figure 3In the embodiment of the present invention, the transverse arm 116 is arranged substantially perpendicular to the longitudinal arms 112, 114. The transverse arm 116 is spaced apart from the longitudinal arms 112, 114.

[0089] like Figures 1 to 4 As shown, a first longitudinal arm 112 is attached to a first side of the chassis, a second longitudinal arm 114 is attached to the opposite side of the chassis, and a transverse arm 116 is attached to the end of the chassis. In the illustrated embodiment, the transverse arm 116 is attached to the rear end of the chassis and is disposed at the rear of the AGV 100. The end (i.e., the rear end) is perpendicular to the two sides of the chassis and extends between the two sides. Each arm 112, 114, and 116 is attached to a frame member of the chassis. The first longitudinal arm 112 is attached to a member that defines at least a portion of the first side of the chassis. The second longitudinal arm 114 is attached to a second frame member that defines at least a portion of the second side of the chassis, and the transverse arm 116 is attached to another frame member (i.e., the rear frame member) that defines a portion of the end of the chassis 102.

[0090] The shape of the chassis 102 is substantially rectangular. Figure 3 The chassis 102 includes a longitudinal axis 200 and a transverse axis 202. Figure 3 As shown. The longitudinal axis 200 and the transverse axis 202 pass through the center of the chassis. The longitudinal axis 200 and the transverse axis 202 are perpendicular to each other. The longitudinal arms 112, 114 (i.e., the first arms) are arranged parallel to the longitudinal axis 200, and the transverse arm 116 (i.e., the second arm) is arranged parallel to the transverse axis 202.

[0091] Each arm 112, 114, 116 of the suspension system 110 is coupled to one of the frame members and is pivotable relative to the frame member to which the arm is coupled. Each longitudinal arm 112, 114 is pivotably coupled to the chassis 102. The transverse arm is a first pivot plane 210 relative to the chassis and the transverse arm 116 is pivotable relative to the chassis in a second pivot plane 212. The first pivot plane is the longitudinal plane 210 and the second pivot plane is the transverse plane 212.

[0092] Figure 2 and 4 A first pivot plane and a second pivot plane are shown respectively. Figure 3 The first and second pivot planes are shown as lines when viewed in the front view, and the perpendicular relationship between the first pivot plane and the second pivot plane is shown. The first pivot plane 210 (i.e., the longitudinal plane) is perpendicular to the second pivot plane 212 (i.e., the transverse plane). The longitudinal arms 112, 114 pivot in a direction perpendicular to the transverse arm 116.

[0093] The longitudinal arms 112, 114 are configured to pivot about a first pivot axis 220, and the transverse arm 116 is configured to pivot about a second axis 222. The first pivot axis 220 is perpendicular to the second axis 222. Each longitudinal arm 112, 114 is coupled to the chassis 102 by a first coupling 130, and the transverse arm 116 is coupled to the chassis 102 by a second coupling 132. Each of the arms 112, 114, 116 pivots about a respective coupling. In other words, the longitudinal arms 112, 114 pivot about a respective first coupling 130, and the transverse arm 116 pivots about the second coupling 132.

[0094] The longitudinal arms 112, 114 and the transverse arms 116 may be identical to each other in size, material and mechanical properties. The size and structure of the first and second couplings 130, 132 may be identical. The first and second couplings 130, 132 may be pins or bolts or elongated couplings. The couplings may also include bearings to allow the arms 112, 114, 116 to pivot or move relative to the chassis and pivot about the couplings. The couplings pass through each arm and are coupled to the chassis. The arms 112, 114 and 116 pivot in a rocking motion.

[0095] The first pivot axis 220 passes through the first coupling 130 and the second pivot axis 222 passes through the second coupling 132 . Figure 3 A first pivot axis 220 is shown passing through the first coupling 130 and a second pivot axis 222 passing through the second coupling 132. The first pivot axis 220 extends perpendicular to the first pivot plane 210. The second pivot axis 222 extends perpendicular to the second pivot plane 212. Figure 2 Arrow A is shown, which illustrates the pivotal movement of the longitudinal arms 112 , 114 relative to the chassis 102 . Figure 4 Arrow B is shown, illustrating the pivotal movement of the lateral arm 116 relative to the chassis 102 .

[0096] Each longitudinal arm 112, 114 may include one or more drive wheels 120 disposed on each arm, and one or more guide wheels disposed on each arm. The transverse arm 116 may include one or more guide wheels. In another configuration, the transverse arm may also include one or more drive wheels disposed on the arm 116. Figure 3 and 4 In the illustrated embodiment, each longitudinal arm 112, 114 includes a drive wheel disposed on each arm 112, 114. The drive wheel 120 and the guide wheel 122 are spaced apart from each other on the longitudinal arm. Figure 3 As shown, each transverse arm 116 includes a pair of guide wheels 122. Each guide wheel is disposed at opposite ends of the transverse arm 116, and the guide wheels 122 are spaced apart from each other.

[0097] The guide wheels 122 can rotate independently, that is, each guide wheel can rotate freely. The guide wheels 122 include casters and wheel assemblies. The casters 124 allow the wheels to rotate freely, that is, rotate independently. Each arm 112, 114 and 116 includes a plurality of wheel frames 126. The guide wheels 122 are mounted on the wheel frames. The guide wheels 122 can rotate relative to the wheel frames. The drive wheel 120 receives the actuation force from the propulsion unit and applies the driving force to propel the AGV 100.

[0098] The AGV 100 includes a load-supporting structure 140 carried by a chassis. Figure 5 An example of a load support structure 140 is shown. The load support structure 140 includes a platform 142 disposed on a chassis. The platform 140 is configured to support a load such as a shelf or a box or cargo. The load support structure 140 is mounted to the chassis 102 by a plurality of struts. Figure 5 As shown, struts 152, 154, 156, and 158 mount the load support structure 140 to the chassis. The load support structure 140 may include a plurality of jacks that may raise or lower the platform 142. The jacks may be synchronized to raise or lower the platform. The platform 142 may also be coupled to a rotation mechanism that is configured to rotate the platform 142.

[0099] The suspension system 110 is configured to decouple the load support structure and / or chassis from the wheels via the arms 112, 114, 116. The platform 140 is decoupled from the wheels by the suspension system 110 such that the position and / or orientation of the platform 140 does not substantially change in response to movement of the AGV and / or in response to movement of the arms.

[0100] The pivoting of the longitudinal arms 112, 114 and the transverse arms 116 allows any force or load acting on the wheels to be absorbed due to the pivoting motion. The pivoting of the arms 112, 114, 116 separates the load support structure 140 from the wheels. The arms 112, 114 and 116 separate the load support structure 140 (i.e., the platform 140) from the wheels. The suspension system 110 is configured to separate the chassis 102 from the arms 112, 114, 116 so that even when the arms pivot when the AGV moves over an uneven surface, the center of gravity of the AGV remains stable. The movement of the AGV 100 on the uneven surface causes the wheels to be subjected to impact (i.e., force). The longitudinal arms 112, 114 and the transverse arms 116 independently pivot in response to the impact to absorb the impact so that the platform 140 remains unaffected. Due to the pivoting action of the arms 112, 114 and 116, the impact is not transmitted to the platform 140.

[0101] The suspension system 110 is configured to absorb pitch and roll motions to which the chassis may be exposed. When the AGV moves on an uneven surface, the chassis 102 may be exposed to pitch and roll motions. Pitch motion is a deflection or movement around the lateral axis of the AGV, and roll motion is a deflection or movement around the roll axis. Arrows P and R represent pitch and roll, respectively. When the AGV moves on an uneven surface, the chassis may experience pitch and / or roll or a combination thereof. The longitudinal arm is configured to absorb the pitch motion of the AGV, and the lateral arm is configured to absorb the roll motion of the AGV. Since the arm moves in response to the force causing the pitch and / or roll motion, the pitch motion and roll motion are absorbed. The suspension system 110 is configured to dynamically adjust to absorb the forces and / or energy generated by the AGV traveling on an uneven surface.

[0102] Alternative embodiments of AGVs including alternative embodiments of suspension systems will now be described. The AGV includes a chassis. The chassis includes a plurality of elongated members coupled together to define the chassis.

[0103] The chassis may be substantially rectangular in shape. Alternatively, the chassis may comprise any other polygonal shape, such as a parallelogram or a square or any other shape. The chassis may be made of a rigid material, such as metal or hard plastic.

[0104] The AGV also includes a drive assembly disposed on the chassis. The drive assembly includes a propulsion unit, such as an electric motor. The drive assembly also includes additional components that are configured to transmit the propulsion force generated by the propulsion unit to propel the AGV.

[0105] The alternative AGV also includes an alternative suspension system. The suspension system is configured to decouple the chassis so that the chassis is isolated from forces or impacts acting on the AGV when the AGV moves on an uneven surface. The alternative suspension system can also be configured to dynamically absorb forces and / or energy experienced by the AGV when the AGV travels on an uneven surface. The functionality of the alternative suspension system is similar to that of the suspension system 110.

[0106] In this alternative, the suspension system includes a first arm and a second arm, each arm being coupled to the chassis. The first arm is a longitudinal arm, which is coupled to the chassis and arranged parallel to the longitudinal axis of the chassis. The second arm is a transverse arm, which is arranged parallel to the transverse axis of the chassis. This alternative suspension system includes a single longitudinal arm and a single transverse arm.

[0107] The longitudinal arm and the transverse arm are both pivotally connected to the chassis via a coupling. The coupling may be a pin or bolt or other suitable coupling. Each arm is configured to pivot relative to the chassis and around the coupling. The transverse arm is arranged substantially perpendicular to the longitudinal arm. Each arm is independently pivotable, i.e., independently movable. As the AGV travels over an uneven surface, the arm pivots in response to forces acting on the chassis (and the AGV). The pivoting (i.e., movement) of the arm absorbs the force and separates the chassis from the arm so that the chassis does not move or experience the force.

[0108] The longitudinal arm can pivot about a first pivot axis. The transverse arm can pivot about a second pivot axis. The first pivot axis and the second pivot axis are perpendicular to each other. The longitudinal arm and the transverse arm pivot perpendicularly to each other.

[0109] Alternative embodiments of the AGV also include a load support structure. The load support structure is a platform capable of supporting objects, such as shelves or boxes or other objects. The longitudinal arm (i.e., the first arm) and the transverse arm are configured to pivot as the AGV travels on an uneven surface. The longitudinal arm and the transverse arm independently pivot in response to the forces experienced by the AGV when traveling on the uneven surface so as to absorb the forces and prevent the platform (and chassis) from moving. Due to the pivoting of the arms, the platform remains flat or stable when the AGV moves on the uneven surface. The alternative suspension system is configured to separate the chassis from the wheels so that any forces or impacts experienced by the wheels are not transmitted to the chassis. The impact or force causes the arms (i.e., the longitudinal arms and the transverse arms) to pivot, thereby absorbing the forces or impacts and preventing them from being transmitted to the chassis.

[0110] The suspension system described here includes a modified rocker-bogie type arrangement. However, the suspension systems each use a single unitary arm with a single pivot instead of multiple pivots. The suspension system does not require any springs or countershafts for each wheel. Using a pivoting arm as the suspension system reduces and can eliminate squat and dive motions during acceleration and deceleration of the AGV.

[0111] The independent pivoting action and independent pivoting capability of the arms allow the chassis to maintain at least the average pitch angle of the longitudinal arms while allowing the AGV to cross obstacles. The independent pivoting of the arms also allows the AGV to move on uneven surfaces and climb obstacles while keeping all wheels in contact with the ground, thereby increasing the overall stability of the AGV and improving traction. The described suspension system also allows the center of gravity of the chassis (and load support structure) to remain stable. The position and center of gravity of the chassis and load support structure are not affected by squat, dive and roll movements because the pivoting of the arms absorbs such movements. Because the suspension system helps to keep the object or load in a stable direction when the AGV moves, the chassis and load support structure are separated from the wheels. When the AGV accelerates and decelerates, the suspension system reduces and / or eliminates instability caused by uneven surfaces or due to squat and dive movements.

[0112] Some alternative configurations of AGV assemblies are described below. These configurations may be used in addition to or in place of the assemblies described above with reference to the accompanying drawings. In another configuration, the chassis may include one or more panels that are connected together to form a chassis of a predetermined shape, such as a rectangle. In this alternative configuration, a chassis of multiple panels may be connected together. In another alternative configuration, the chassis may include a solid block of material, such as a metal or polymer material.

[0113] In an alternative configuration, the AGV may include one or more motion structures in addition to wheels. The AGV includes one or more propulsion motion structures and one or more steering structures. The propulsion motion structure may be a track or a wheel and track assembly. The steering structure may be incorporated as part of the motion structure. For example, the steering structure may be part of a track or a track and wheel assembly. A single track or track and wheel assembly is attached to either side of the chassis, and each track may be driven independently. For example, to turn the AGV, one track may move in one direction and another track may move in another direction to turn the AGV.

[0114] In an alternative configuration, the load support structure 140 may include a lift arm and a mechanism configured to raise and lower the lift arm. In another alternative configuration, the load support structure may include a platform or plate disposed on an upper surface of the chassis and may include a vertical translation mechanism. The vertical translation mechanism is mechanically coupled to the platform to raise and lower the platform. For example, the vertical translation mechanism may include a pulley system or a hydraulic lift system or any other suitable system configured to raise and lower the platform.

[0115] In some embodiments, the platform may include a lifting mechanism including one or more jacks. One or more jacks may be synchronized to raise or lower the platform. In addition, the platform may also include a rotation mechanism configured to rotate the platform. When the AGV is exposed to impacts due to the AGV moving on an uneven surface, the combined rotation of the platform with the suspension system, particularly the pivoting of the longitudinal and transverse arms, helps to further keep the object stable. The rotating platform may be rotated to reduce any centripetal forces to which the platform may be exposed.

[0116] The description of any of these alternative embodiments is to be considered exemplary.Any of the alternative embodiments and features in the alternative embodiments may be used in combination with each other or with the embodiments described with respect to the figures.

[0117] The above describes only preferred embodiments of the invention and it will be apparent to those skilled in the art that modifications may be made within the scope of the invention. Although the invention has been described with reference to a number of preferred embodiments, the invention may be embodied in many other forms.

Claims

1. An automated guided vehicle for transporting one or more objects, characterized in that The automated guided vehicle comprises: Chassis; a suspension system comprising a pair of first arms respectively coupled to the chassis via a first coupling and a second arm coupled to the chassis via a second coupling; wherein each of the first arms is configured to independently pivot relative to the chassis and about a first pivot axis; the second arm being configured to pivot relative to the chassis and about a second pivot axis; one or more first kinematic structures associated with the first arm; one or more second kinematic structures associated with the second arm; wherein the second arm is disposed transversely relative to the first arm, the first pivot axis and the second pivot axis are transverse to each other, and wherein each of the first arms comprises a drive wheel and a guide wheel attached to and disposed at opposite ends of the respective first arm; wherein the chassis defines a longitudinal axis and a transverse axis, each of the first arms is arranged parallel to the longitudinal axis, and each of the second arms is arranged parallel to the transverse axis; and, Wherein, the chassis is also configured to maintain an average pitch angle of each of the first arms through independent pivoting action of each of the first arms, so as to improve the stability and traction of the automatic guided vehicle by keeping the drive wheels and guide wheels on the ground.

2. The automated guided vehicle according to claim 1, wherein: The first pivot axis passes through the first coupling, and the second pivot axis passes through the second coupling.

3. The automated guided vehicle according to claim 1, wherein: The drive wheel on each of the first arms is configured to provide driving force to propel the automatic guided vehicle, and the guide wheel is rotatably attached to each of the first arms so that the guide wheel can rotate relative to the corresponding first arm and / or relative to the chassis to assist the automatic guided vehicle in steering or turning.

4. The automated guided vehicle of claim 1, wherein: The second arm includes one or more guide wheels attached to the second arm.

5. The automated guided vehicle of claim 1, wherein: The guide wheels attached to each of the first arms comprise casters.

6. The automated guided vehicle of claim 4, wherein: The one or more guide wheels attached to the second arm comprise casters.

7. The automated guided vehicle of claim 1, wherein: The first arms are spaced apart from each other and coupled to the chassis at opposite sides of the chassis, and the second arms are coupled to ends of the chassis.

8. The automated guided vehicle of claim 1, wherein: The chassis includes a plurality of components that are attached together to form a skeleton, and the skeleton defines the chassis.

9. The automated guided vehicle of claim 1, wherein: Each of the first arm and the second arm comprises a solid and unitary structure.

10. The automated guided vehicle of claim 1, wherein: The chassis includes a platform disposed on the chassis in a stable and / or planar orientation, and each of the first and second arms pivots in response to the automated guided vehicle traveling over an uneven surface to maintain the platform in a substantially stable and / or planar orientation.

11. An automated guided vehicle, characterized in that: The automated guided vehicle comprises: Chassis; a suspension system coupled to the chassis, the suspension system comprising: a pair of longitudinal arms, each of the longitudinal arms being pivotally connected to the chassis; a transverse arm pivotally connected to the chassis; wherein each of the longitudinal arms is independently pivotable in a first pivot plane relative to the chassis, and the transverse arm is pivotable in a second pivot plane relative to the chassis; and wherein the first pivot plane is perpendicular to the second pivot plane; wherein each of the longitudinal arms comprises a driving wheel and a guide wheel, wherein the driving wheel and the guide wheel are attached to and disposed at opposite ends of the corresponding longitudinal arm; wherein the chassis defines a longitudinal axis and a transverse axis, each of the longitudinal arms is arranged parallel to the longitudinal axis, and each of the transverse arms is arranged parallel to the transverse axis; and, Wherein, the chassis is also configured to maintain an average pitch angle of each longitudinal arm through independent pivoting action of each longitudinal arm, so as to improve the stability and traction of the automatic guided vehicle by keeping the driving wheels and guide wheels on the ground.

12. The automated guided vehicle of claim 11, wherein: The transverse arms are arranged to cross each of the longitudinal arms on the chassis, and the longitudinal arms are spaced apart from the transverse arms.

13. The automated guided vehicle of claim 11, wherein: Each of the longitudinal arms pivots about a first pivot axis, and the transverse arm pivots about a second pivot axis, wherein the first pivot axis is perpendicular to the second pivot axis.

14. The automated guided vehicle of claim 11, wherein: A pair of the longitudinal arms includes a first longitudinal arm and a second longitudinal arm, wherein the first longitudinal arm is attached to a first side of the chassis, the second longitudinal arm is attached to an opposite side of the chassis, and the transverse arm is attached to an end of the chassis, wherein the end is perpendicular to the side.

15. The automated guided vehicle of claim 14, wherein: The chassis includes a plurality of frame members, at least one frame member defining a first side of the chassis, another frame member defining a second side of the chassis, and additional frame members defining ends of the chassis.

16. The automated guided vehicle of claim 15, wherein: Each arm is independently coupled to one of the frame members and is pivotable relative to the frame member to which the arm is coupled.

17. The automated guided vehicle of claim 14, wherein: The transverse arm comprises two guide wheels.

18. The automated guided vehicle of claim 17, wherein: The guide wheels are spaced apart from one another on the transverse arm, and the drive wheel and guide wheels are spaced apart from one another on each longitudinal arm.

19. The automated guided vehicle of claim 17, wherein: Each guide wheel includes a caster assembly and a wheel assembly such that each guide wheel is rotatable relative to each arm and each guide wheel is independently rotatable.

20. The automated guided vehicle of claim 17, wherein: Each longitudinal arm is independently attached to the chassis by a coupling, wherein each longitudinal arm is pivotable about the coupling, and the transverse arm is attached to the chassis by a coupling, wherein the transverse arm is pivotable about the coupling.

21. The automated guided vehicle of claim 11, wherein: The automated guided vehicle comprises a load-supporting structure carried by the chassis, the suspension system being configured to decouple the load-supporting structure and / or the chassis from the arms so that a position and / or orientation of the load-supporting structure remains substantially unchanged in response to movement of one or more of the arms.

22. The automated guided vehicle of claim 11, wherein: The suspension system is configured to decouple the chassis from the arm so that the center of gravity of the automated guided vehicle remains stable even as the arm pivots when the automated guided vehicle moves over an uneven surface.

23. A suspension system for use with an automated guided vehicle, characterized in that The suspension system comprises: a pair of longitudinal arms, the longitudinal arms being independent of one another and configured to be pivotally attached to a chassis of the automated guided vehicle; a transverse arm configured to be pivotally attached to a chassis of the automated guided vehicle; The longitudinal arms are arranged parallel to each other; The longitudinal arms are independently pivotable about a first pivot axis, and the transverse arms are pivotable about a second pivot axis, the second pivot axis being perpendicular to the first pivot axis; Wherein, each of the longitudinal arms comprises a driving wheel and a guide wheel, and the driving wheel and the guide wheel are attached and arranged at two ends of the corresponding longitudinal arm; and, Wherein, the chassis is also configured to maintain an average pitch angle of each longitudinal arm through independent pivoting action of each longitudinal arm, so as to improve the stability and traction of the automatic guided vehicle by keeping the driving wheels and guide wheels on the ground.

24. The suspension system of claim 23, wherein: The longitudinal arm pivots in a first plane and the transverse arm pivots in a second plane, and wherein the first plane is perpendicular to the second plane.

25. The suspension system of claim 23, wherein: The longitudinal arm and the transverse arm each pivot in a rocking motion.

26. The suspension system of claim 23, wherein: Each guide wheel includes a wheel assembly and a caster assembly such that each guide wheel is independently rotatable.

27. The suspension system of claim 23, wherein: Each arm is configured to independently move or pivot relative to the chassis.

28. The suspension system of claim 23, wherein: The suspension system is configured to decouple the chassis from the arms, with each arm being independently movable or pivotable relative to the chassis such that the center of gravity of the automated guided vehicle is stabilized or remains substantially unchanged.

29. The suspension system of claim 23, wherein: The longitudinal arm is configured to absorb pitching motion of the automated guided vehicle and the transverse arm is configured to absorb rolling motion of the automated guided vehicle.

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