Automated mobile carrier

Abstract

An automatic mobile carrier includes a frame and a linkage structure. The linkage structure includes a first linkage, a second linkage, and two connecting links. The first linkage is connected to the frame and has two opposite first ends. The second linkage has two opposite second ends. The two connecting links are respectively connected between one of the first ends and a corresponding one of the second ends. The connecting links respectively extend in an extending direction and form an intersection point. The intersection point is not located between the first linkage and the second linkage.

Description

Technical Field

[0001] This invention relates to an automated mobile vehicle. Background Technology

[0002] As people's living standards continue to improve, electronic products are becoming increasingly important in their lives. Faced with the huge demand for electronic products, major manufacturers are also striving to improve their brand's market competitiveness.

[0003] In addition to enhancing the functionality and performance of electronic products, how to effectively improve the movement accuracy of automated mobile vehicles during the production process of electronic products, thereby reducing the production cost of electronic products, is undoubtedly a topic that manufacturers attach great importance to. Summary of the Invention

[0004] One of the objectives of this invention is to provide an automated mobile vehicle that can effectively suppress lateral vibrations during movement, thereby improving the accuracy of movement on the ground.

[0005] According to one embodiment of the present invention, an automated moving vehicle includes a frame and a linkage structure. The linkage structure includes a first link, a second link, and two connecting rods. The first link is connected to the frame and has two opposing first ends. The second link has two opposing second ends. The two connecting rods are respectively connected between one of the first ends and a corresponding one of the second ends, and the connecting rods extend in an extending direction and form an intersection point, which is not located between the first link and the second link.

[0006] In one or more embodiments of the present invention, the length of the first link is greater than the length of the second link.

[0007] In one or more embodiments of the present invention, the lengths of the two connecting rods are substantially equal.

[0008] In one or more embodiments of the present invention, the aforementioned automated mobile vehicle further includes a first drive module and a second drive module. The frame has opposing first and second ends along one direction, and this direction is different from the extension direction of each connecting rod. The first drive module is connected to the first end of the frame, and the second drive module is connected to a second link of the linkage structure and connected to the second end of the frame via the linkage structure.

[0009] In one or more embodiments of the present invention, the first drive module includes two separate first wheel sets, each connected to a first end of the frame. The second drive module includes two separate second wheel sets, and the second wheel sets are connected to a second link of a linkage structure.

[0010] In one or more embodiments of the present invention, at least one of the first wheel set and the second wheel set described above includes one or more motors.

[0011] In one or more embodiments of the present invention, the plane formed by the connection of the first link, the second link and the connecting rod is substantially perpendicular to the extension direction of the vehicle frame.

[0012] The above-described embodiments of the present invention have at least the following advantages:

[0013] (1) Since the intersection of the connecting rods extending in the extension direction is located on the ground, when the wheel rotates around the intersection, the displacement of the wheel relative to the ground in the horizontal direction can be effectively minimized. That is, the occurrence of lateral vibration when the automatic mobile vehicle moves can be effectively suppressed, which can help improve the accuracy of the automatic mobile vehicle moving relative to the ground.

[0014] (2) Since the second drive module of the automatic mobile vehicle is connected to the frame via a linkage structure, and the first link of the linkage structure has two opposite first ends, the second link has two opposite second ends, and the two connecting rods are respectively connected between one of the first ends and the corresponding one of the second ends, the linkage structure has stronger structural strength and can withstand greater load.

[0015] (3) When the automated moving vehicle has not yet touched the ground, that is, when the wheels of the second wheel assembly have not yet been pressed against the ground, the extension direction of the first link is substantially parallel to the extension direction of the second link. For wheels with different diameters, under the condition that the length of the first link is greater than the length of the second link and the lengths of the two connecting rods are substantially equal, by changing the specific position of the first end on the first link, the specific position of the second end on the second link, or the length of the connecting rod, the intersection point formed by the extension of the connecting rods in the extension direction can be easily made to be located on the ground. Attached Figure Description

[0016] Figure 1 This is a perspective view illustrating an automated mobile vehicle according to an embodiment of the present invention.

[0017] Figure 2 For illustration Figure 1 A schematic diagram along arrow A.

[0018] Figure 3 For illustration Figures 1-2 A simplified schematic diagram of the linkage structure.

[0019] Figure 4 For illustration Figure 1 A schematic diagram along arrow A, in which the second drive module is at least partially tilted.

[0020] Figure 5For illustration Figure 4 A simplified schematic diagram of the linkage structure.

[0021] Figure 6 A simplified front view of an existing autonomous mobile vehicle is shown.

[0022] Figures 7-8 A simplified front view of an automated mobile vehicle according to an embodiment of the present invention is shown.

[0023] Figure 9 For illustration Figure 1 A schematic diagram along arrow B.

[0024] In the attached figures, the following labels are used:

[0025] 100: Automated Moving Vehicles

[0026] 110: Chassis

[0027] 111: First end

[0028] 112: Second end

[0029] 120: Linkage structure

[0030] 121: First Link

[0031] 121a: First end

[0032] 122: Second Link

[0033] 122a: Second end

[0034] 123: Connecting rod

[0035] 130: First drive module

[0036] 131: First wheel set

[0037] 132: Wheel

[0038] 133: Motor

[0039] 140: Second drive module

[0040] 141: Second wheel set

[0041] 142: Wheel

[0042] 143: Motor

[0043] 200: Ground

[0044] 500: Existing automated mobile vehicles

[0045] 510: Wheelset

[0046] 511: Wheel

[0047] 520: Linkage

[0048] 530: Chassis

[0049] A, B: Arrows

[0050] C: Shaft

[0051] DF: Direction

[0052] D1, D2, D3: Extension direction

[0053] H1, H2: Distance

[0054] IP: Intersection

[0055] L1, L2, L3: Length

[0056] SF: Plane

[0057] YS: Displacement Detailed Implementation

[0058] The following drawings disclose several embodiments of the present invention. For clarity, many practical details will be described in the following description. However, it should be understood that these practical details are not intended to limit the invention. That is, in some embodiments of the invention, these practical details are not essential. Furthermore, for the sake of simplicity, some conventional structures and elements will be shown in a simple schematic manner in the drawings, and in all drawings, the same reference numerals will be used to denote the same or similar elements. And, where feasible, features of different embodiments can be used interchangeably.

[0059] Unless otherwise defined, all terms used herein (including technical and scientific terms) have their ordinary meanings, meanings that are understandable to those skilled in the art. Furthermore, the definitions of the foregoing terms in commonly used dictionaries should be interpreted in the context of this specification as having the meaning consistent with the relevant field of this invention. Unless specifically defined, these terms will not be construed as having idealized or overly formal meanings.

[0060] Please refer to Figure 1 . Figure 1 This is a perspective view illustrating an automated moving vehicle 100 according to an embodiment of the present invention. In this embodiment, as... Figure 1As shown, an automated moving vehicle 100 includes a frame 110, a linkage structure 120, a first drive module 130, and a second drive module 140. The frame 110 has a first end 111 and a second end 112 opposite to each other along the direction DF. The first drive module 130 is connected to the first end 111 of the frame 110, while the second drive module 140 is connected to the second end 112 of the frame 110 via the linkage structure 120.

[0061] Please refer to Figure 2 . Figure 2 For illustration Figure 1 A schematic diagram along arrow A. In this embodiment, as... Figure 2 As shown, the linkage structure 120 includes a first link 121, a second link 122, and two connecting rods 123. The first link 121 is connected to the second end 112 of the frame 110 and has two opposing first ends 121a. The second link 122 has two opposing second ends 122a, and the second drive module 140 is connected to the second link 122. The two connecting rods 123 are respectively connected between one of the first ends 121a and the corresponding one of the second ends 122a.

[0062] Furthermore, such as Figure 2 As shown, the second drive module 140 includes two separate second wheel sets 141, and the second wheel sets 141 are connected to the second link 122 of the linkage structure 120. Specifically, each of the second wheel sets 141 has a wheel 142, and the wheel 142 is configured to rotate on the ground 200. In practical applications, the wheel 142 may be a Mecanum wheel, but the invention is not limited thereto. In other embodiments, the wheel 142 may be other suitable wheels depending on the actual situation.

[0063] Please refer to Figure 3 . Figure 3 For illustration Figures 1-2 A simplified schematic diagram of the linkage structure 120. For ease of explanation, in... Figure 3 In this embodiment, the linkage structure 120 is represented only by lines. Figure 3 As shown, connecting rods 123 extend in the extension direction D3 and form an intersection point IP. The intersection point IP is located on the side of the second connecting rod 122 away from the first connecting rod 121, that is, the intersection point IP is not located between the first connecting rod 121 and the second connecting rod 122. Preferably, the intersection point IP is located at ground level 200. It is worth noting that the direction DF is different from the extension direction D3 of the connecting rod 123.

[0064] Furthermore, such as Figure 3As shown, the length L1 of the first link 121 is greater than the length L2 of the second link 122, while the lengths L3 of the two connecting rods 123 are substantially equal. Furthermore, when the automated moving vehicle 100 has not yet contacted the ground 200, that is, when the wheels 142 of the second wheel assembly 141 have not yet been pressed against the ground 200, the extension direction D1 of the first link 121 and the extension direction D2 of the second link 122 are substantially parallel. In other words, the plane SF formed by the first link 121, the second link 122, and the connecting rods 123 of the linkage structure 120 is a symmetrical inverted trapezoid, and the plane SF is substantially perpendicular to the direction DF extending from the first end 111 and the second end 112 of the frame 110.

[0065] In practical applications, for wheels 142 with different diameters, while maintaining the length L1 of the first link 121 being greater than the length L2 of the second link 122 and the lengths L3 of the two connecting rods 123 being substantially equal, the intersection point IP formed by the connecting rods 123 extending in the extension direction D3 can be easily kept at ground level 200 by changing the specific position of the first end 121a on the first link 121, the specific position of the second end 122a on the second link 122, or the length L3 of the connecting rods 123. In other words, for wheels 142 with different diameters, while maintaining the link structure 120 as a symmetrical inverted trapezoid, changing the position of the first end 121a, the position of the second end 122a, or the length L3 of the connecting rods 123 can adjust the position of the intersection point IP to keep it at ground level 200, and the process is simple and easy.

[0066] Please refer to Figure 4 . Figure 4 For illustration Figure 1 A schematic diagram along arrow A, in which the second drive module 140 is at least partially tilted. (See diagram below.) Figure 4 As shown, when the wheel 142 rotates on the ground 200 to drive the automated moving vehicle 100, the second drive module 140 may tilt relative to the frame 110 due to unevenness of the ground 200 or the shape of the Mecanum wheel itself. In this case, the connecting rod 123 rotates relative to the first connecting rod 121, causing the second connecting rod 122 to tilt relative to the frame 110 accordingly.

[0067] Please refer to Figure 5 . Figure 5 For illustration Figure 4 A simplified schematic diagram of the linkage structure 120. For ease of explanation, in... Figure 5 In this embodiment, the linkage structure 120 is represented only by lines. Figure 5 As shown, when the second link 122 of the linkage structure 120 is relative to the frame 110 (see frame 110) Figure 4When tilted, the second wheel assembly 141 of the second drive module 140 essentially rotates around the intersection point IP. Since the intersection point IP is located on the ground 200, the displacement of the wheel 142 relative to the ground 200 in the horizontal direction can be effectively minimized when the wheel 142 rotates around the intersection point IP. In other words, the structural change of the linkage structure 120 can effectively suppress the occurrence of lateral vibration when the automated mobile vehicle 100 moves, thus helping to improve the accuracy of the automated mobile vehicle 100 when moving relative to the ground 200.

[0068] Please refer to Figure 6 . Figure 6 A simplified front view of an existing automated mobile vehicle 500 is shown here. For ease of explanation, [the following is a simplified front view]. Figure 6 In the text, the existing 500 automated mobile vehicles are represented only by lines. For example... Figure 6 As shown, the wheel assembly 510 of the existing automated mobile vehicle 500 is connected to the frame 530 only through a single link 520 around the pivot C. Therefore, the wheels 511 of the wheel assembly 510 can only rotate around the pivot C relative to the frame 530. When there is a height difference between the left and right wheels 511, the wheels 511 will have a considerable displacement YS relative to the ground 200 in the horizontal direction, which reduces the accuracy of the existing automated mobile vehicle 500 when moving on the ground 200.

[0069] Furthermore, compared to the existing automated mobile vehicle 500 which is connected to the frame 530 by a single link 520 around the pivot C, the second drive module 140 of the automated mobile vehicle 100 is connected to the frame 110 via a link structure 120. The first link 121 of the link structure 120 has two opposing first ends 121a, and the second link 122 has two opposing second ends 122a. The two connecting rods 123 are respectively connected between one of the first ends 121a and the corresponding one of the second ends 122a. Therefore, the link structure 120 has stronger structural strength and can withstand greater loads than the link 520 of the existing automated mobile vehicle 500.

[0070] Please refer to Figure 7 . Figure 7 A simplified front view of an automated mobile vehicle 100 according to an embodiment of the present invention is shown. For ease of explanation, [the following is a simplified front view]. Figure 7 In the diagram, linkage structure 120 is represented only by lines. Depending on the actual situation, such as... Figure 7 As shown, the intersection point IP formed by the connecting rods 123 of the linkage structure 120 extending in the extension direction D3 is located above the ground 200 and is separated from the ground 200 by a distance H1.

[0071] Please refer to Figure 8 . Figure 8 A simplified front view of an automated mobile vehicle 100 according to another embodiment of the present invention is shown. For ease of explanation, [the following is a simplified front view]. Figure 8 In the diagram, linkage structure 120 is represented only by lines. Depending on the actual situation, such as... Figure 8 As shown, the intersection point IP formed by the connecting rods 123 of the linkage structure 120 extending in the extension direction D3 is located below the ground 200 and is separated from the ground 200 by a distance H2.

[0072] Please refer to Figure 9 . Figure 9 For illustration Figure 1 A schematic diagram along arrow B. In this embodiment, as... Figure 9 As shown, the first drive module 130 includes two separate first wheel sets 131, each connected to a first end 111 of the frame 110. Similarly, each of the first wheel sets 131 has a wheel 132 configured to rotate on the ground 200. In practical applications, the wheel 132 may be a Mecanum wheel, but the invention is not limited thereto. In other embodiments, the wheel 132 may be other suitable wheels depending on the actual situation.

[0073] In practical applications, at least one of the first wheel set 131 and the second wheel set 141 includes one or more motors. That is, the automated moving vehicle 100 includes at least one motor to provide driving force. For example, such as... Figure 9 As shown, the first wheel assembly 131 includes a motor 133, and as... Figure 2 , 4 As shown, the second wheel set 141 also includes a motor 143. In this way, the wheels 132 of the first wheel set 131 and the wheels 142 of the second wheel set 141 can be controlled independently.

[0074] In summary, the technical solutions disclosed in the above embodiments of the present invention have at least the following advantages:

[0075] (1) Since the intersection of the connecting rods extending in the extension direction is located on the ground, when the wheel rotates around the intersection, the displacement of the wheel relative to the ground in the horizontal direction can be effectively minimized. That is, the occurrence of lateral vibration when the automatic mobile vehicle moves can be effectively suppressed, which can help improve the accuracy of the automatic mobile vehicle moving relative to the ground.

[0076] (2) Since the second drive module of the automatic mobile vehicle is connected to the frame via a linkage structure, and the first link of the linkage structure has two opposite first ends, the second link has two opposite second ends, and the two connecting rods are respectively connected between one of the first ends and the corresponding one of the second ends, the linkage structure has stronger structural strength and can withstand greater load.

[0077] (3) When the automated moving vehicle has not yet touched the ground, that is, when the wheels of the second wheel assembly have not yet been pressed against the ground, the extension direction of the first link is substantially parallel to the extension direction of the second link. For wheels with different diameters, under the condition that the length of the first link is greater than the length of the second link and the lengths of the two connecting rods are substantially equal, by changing the specific position of the first end on the first link, the specific position of the second end on the second link, or the length of the connecting rod, the intersection point formed by the extension of the connecting rods in the extension direction can be easily made to be located on the ground.

[0078] Although the present invention has been disclosed above by way of embodiments, it is not intended to limit the present invention. Any person skilled in the art can make various modifications and refinements without departing from the spirit and scope of the present invention. Therefore, the scope of protection of the present invention shall be determined by the appended claims.

Claims

1. An automated mobile vehicle, characterized in that, Include: A frame; and A linkage structure, comprising: A first link, connecting the frame, the first link having two opposing first ends; A second link having two opposing second ends; and Two connecting rods are respectively connected between one of the first ends and the corresponding one of the second ends. The connecting rods extend in an extension direction and form an intersection point, and the intersection point is not located between the first connecting rod and the second connecting rod. For wheels of different diameters, the position of the first end, the position of the second end, or the length of the connecting rod can be adjusted to keep the intersection point on the ground while maintaining the symmetrical inverted trapezoidal structure of the linkage.

2. The automated mobile vehicle as described in claim 1, characterized in that, The length of the first link is greater than the length of the second link.

3. The automated mobile vehicle as described in claim 1, characterized in that, The two connecting rods are actually of equal length.

4. The automated mobile vehicle as described in claim 1, characterized in that, It further includes a first drive module and a second drive module, wherein the frame has a first end and a second end opposite to each other in a direction, and the direction is different from the extension direction of each connecting rod, wherein the first drive module is connected to the first end of the frame, and the second drive module is connected to the second link of the linkage structure and connected to the second end of the frame via the linkage structure.

5. The automated mobile vehicle as described in claim 4, characterized in that, in, The first drive module includes two separate first wheel sets, which are respectively connected to the first end of the frame. The second drive module includes two separate second wheel sets, which are connected to the second link of the linkage structure.

6. The automated mobile vehicle as described in claim 5, characterized in that, At least one of the first wheel set and the second wheel set includes one or more motors.

7. The automated mobile vehicle as claimed in claim 1, characterized in that, The plane formed by the connection of the first link, the second link, and the connecting rod is substantially perpendicular to the extension direction of the vehicle frame.

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