AUTONOMOUS INDOOR ROBOT EQUIPPED WITH A WHEEL PRESSURE BALANCING DEVICE

Abstract

The invention relates to a suspension balancing system that allows for the equalization of forces between the ground and the drive wheels. This ensures identical behavior of the drive wheels and therefore a more stable AIV (Automatic Vehicle) system.

Description

Title of the invention: AUTONOMOUS INDOOR ROBOT EQUIPPED WITH A WHEEL PRESSURE BALANCING DEVICE Technical field of the invention

[0001] The technical field of the invention is that of indoor autonomous mobile vehicles, in particular vehicles which can be deployed within infrastructures such as factories, logistics centers, hospitals or public places without requiring substantial modifications to these infrastructures. Technological background

[0002] Autonomous mobile vehicles, better known by the English acronym AIV for Autonomous Intelligent Vehicles or AMR for Autonomous Mobile Robot, are robots designed to move around warehouses, production centers, logistics centers, etc., in free navigation, without guidance elements and without piloting. These robots thus make it possible to transport goods from one point to another in the warehouse, without external intervention or supervision.

[0003] All AIVs move thanks to the contact of their drive wheels with the ground. It is the drive of these drive wheels by a motor that allows the vehicle to move forward and turn. It is the contact between the drive wheels and the ground that allows the transfer of energy. If the drive wheels do not touch the ground, the vehicle does not move forward. All AIVs have their traction system mounted on suspension to guarantee contact between the drive wheels and the ground despite possible deformations, inclination and thresholds.

[0004] The standard solution is to install separate suspensions on each wheel, as on a car. However, separate suspensions will generate different pressures on each wheel depending on the deformations, which can lead to different behaviors of each wheel and therefore unexpected behavior of the AIV. Objective of the invention

[0005] The objective of the invention is to overcome the drawbacks of prior solutions. Statement of the invention

[0006] To achieve this, the invention relates to a suspension balance system which makes it possible to balance the forces between the ground and the drive wheels. This guarantees identical behavior of the drive wheels and therefore more stable behavior of the AIV. Unbalanced pressures

[0007] The solution consists of a connecting rod which can pivot on its axis fixed to the chassis on which the suspensions of each engine block are fixed (engine + reducer + bearing + wheel).

[0008] The proposed solution is compact thanks to the horizontal suspensions aligned with the engine blocks.

[0009] The main characteristic of the invention is the interconnection of the suspensions by means of a pivot which allows the balancing of the pressures of the suspensions.

[0010] The almost horizontal positioning of the suspensions allows for compactness which frees up space in the vehicle for other components.

[0011] The shape and length of the connecting rod do not change the concept.

[0012] The set also facilitates adjustments and maintenance of the robots.

Claims

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