HK40029344B - A suspension system for an automated guide vehicle - Google Patents

Description

Suspension system for automatically guided vehicles

Technical Field

This invention relates to a suspension system for automated guided vehicles (AGVs).

Background Technology

Warehousing is becoming increasingly popular, especially with the growing prevalence of online shopping and goods delivery. A warehouse is an example of an indoor environment where automated guided vehicles (AGVs) are commonly used. AGVs are moving robots or moving vehicles used in warehouses for various functions, such as moving shelves, or moving or stacking goods between shelves. AGVs are also used to transport other objects, such as boxes or goods in the environment (e.g., near the warehouse). Multiple AGVs are typically used in indoor environments, such as in a warehouse. Environmental AGVs can be non-uniform and have uneven surfaces, such as uneven floors in a warehouse. AGVs include suspension systems that attempt to adapt to uneven surfaces. Current suspension systems still result in unstable motion in some situations and can cause instability in the AGV during acceleration and deceleration.

Summary of the Invention

One object of the present invention is to provide a suspension system for an automated guided vehicle (AGV) that helps to make the AGV move smoothly or to provide a useful alternative for the public.

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

This disclosure relates to a suspension system for an automated guided vehicle (AGV) that enhances the stability of a load supported by the AGV. The suspension system isolates the wheels or other moving parts of the AGV from the load supported by the AGV, thereby keeping the load substantially level and/or stable.

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

Chassis;

The suspension system includes 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 about the first pivot axis;

The second arm is pivotable relative to the chassis and pivotable about the 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 laterally relative to the first arm, and the first pivot axis and the second pivot axis are laterally related to each other.

In one embodiment, a first pivot axis passes through a first coupling, and a second pivot axis passes through a second coupling.

In one embodiment, the chassis includes a longitudinal axis and a transverse axis, with a first arm arranged parallel to the longitudinal axis and a second arm arranged parallel to the transverse axis.

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 driving force to propel the AGV, and the guide wheel is rotatably attached to the first arm such 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.

In one embodiment, the chassis includes a drive assembly, which includes an actuator coupled to a drive wheel to provide driving force to the drive wheel to propel the AGV.

In one embodiment, the second arm includes one or more guide wheels attached to the second arm.

In one embodiment, the guide wheel attached to the first arm includes a caster.

In one embodiment, one or more guide wheels attached to the second arm include casters.

In one embodiment, the suspension system further includes a pair of first arms and a single second arm, the pair of first arms being spaced apart from each other and connected to the chassis on opposite sides of the chassis, and the second arm being 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 lateral axis.

In one embodiment, the chassis includes a plurality of components attached together to form a skeleton, and the skeleton defines the chassis.

In one embodiment, each first arm and second arm comprises a solid and integral structure.

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

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

Chassis;

A suspension system connected to the chassis, the suspension system comprising:

Longitudinal arm, which is pivotally connected to the chassis;

A lateral arm that pivotally connects to the chassis;

The longitudinal arm is pivotable in a first pivot plane relative to the chassis, and the lateral arm is pivotable in a second pivot plane relative to the chassis; and

The first pivot plane is perpendicular to the second pivot plane.

In one embodiment, the lateral arm is arranged to cross the longitudinal arm on the chassis, and the longitudinal arm is spaced apart from the lateral arm.

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.

In one embodiment, the suspension system includes a pair of longitudinal arms and a single lateral 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 lateral arm being attached to an end of the chassis, wherein the end is perpendicular to the side.

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 an end of the chassis.

In one embodiment, each arm is attached to a frame member and is pivotable relative to the frame member to which the arm is attached.

In one embodiment, each longitudinal arm includes a drive wheel and a guide wheel, and the transverse arm includes two guide wheels.

In one embodiment, the guide wheels are spaced apart from each other on the transverse arm, and the drive wheels and guide wheels are spaced apart from each other on each longitudinal arm.

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 rotatable independently.

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

In one embodiment, the AGV includes a load support structure carried by a chassis, and a suspension system is configured to separate the load support structure and/or chassis from the arms such that the position and/or orientation of the load support structure remains substantially unchanged in response to movement of one or more arms.

In one embodiment, the suspension system is configured to separate the chassis from the arm, thereby stabilizing the AGV's center of gravity and allowing the arm to pivot even when the AGV is moving on an uneven surface.

According to another aspect, the present invention broadly relates to a suspension system for use with an AGV, the suspension system comprising:

A pair of longitudinal arms, which are configured to be pivotally attached to the chassis of the AGV;

A lateral arm, which is configured to be pivotally attached to the chassis of the AGV;

The longitudinal arms are arranged parallel to each other;

The longitudinal arm can pivot about the first pivot axis, and the transverse arm can pivot about the second pivot axis, which is perpendicular to the first pivot axis.

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

In one embodiment, the longitudinal arm and the transverse arm each pivot in a swinging motion.

In one embodiment, each longitudinal arm includes a drive wheel and a guide wheel.

In one embodiment, each guide wheel includes a wheel assembly and a caster assembly, such that each guide wheel can rotate independently.

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

In one embodiment, the suspension system is configured to separate the chassis from the arms, each arm being able to move or pivot independently relative to the chassis, thereby stabilizing or keeping the AGV's center of gravity substantially constant.

In one embodiment, the longitudinal arm is configured to absorb the pitch motion of the AGV, and the transverse arm is configured to absorb the tilt motion of the AGV.

The reference to the series of numbers disclosed herein (e.g., 1 to 10) also includes references 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 specific intentions, and all possible combinations of numerical values between the listed minimum and maximum values should be considered as expressly stated in a similar manner in this application.

The invention can also be broadly defined to include components, elements, and features individually or jointly mentioned or indicated in this application specification, as well as any or all combinations of any two or more said components, elements, or features, and specific integers of known equivalents of the known equivalents of the invention mentioned herein, which are considered to be incorporated herein as if listed separately.

As used herein, the term “and/or” means “and” or “or”, or both as the context allows.

This invention encompasses the foregoing and also contemplates the following structures, of which only embodiments are given below. In the following description, the same numbers denote the same features.

The term AGV used here refers to an automated guided vehicle that can move automatically in its environment.

As used in this article, "s" following a noun refers to the plural and/or singular form of the noun.

In the following description, specific details are set forth to provide a thorough understanding of the embodiments. However, those skilled in the art will understand that these embodiments can be practiced without these specific details. For example, circuits, etc., may be shown as block diagrams to avoid unnecessarily obscuring the embodiments. In other instances, well-known modules, structures, and techniques may not be shown in detail to avoid obscuring the embodiments.

In this specification, the word “comprising” and its variations, such as “including”, have the common meaning according to international patent practice. That is, the word does not exclude additional or unlisted elements, substances, or method steps other than those specifically described. Therefore, the described apparatus, system, substance, or method may have other elements, substances, or steps in various embodiments. The term “comprising” (and its grammatical variations) as used herein is used in an inclusive sense of “having” or “including”, rather than in the sense of “consisting of only”.

Attached Figure Description

No other forms may fall within the scope of this disclosure; preferred embodiments will now be described by way of example only with reference to the accompanying drawings, in which:

Figure 1 shows an isometric view of an exemplary embodiment of an Automated Guided Vehicle (AGV) including a suspension system for stabilizing the AGV.

Figure 2 shows a side view of the AGV in Figure 1.

Figure 3 shows a top view of an AGV, such as the one in Figure 1.

Figure 4 shows the end view (i.e., front view) of the AGV in Figure 1.

Figure 5 shows an example embodiment of a load support structure for AGVs.

Detailed Implementation

Automated Guided Vehicles (AGVs) are becoming increasingly common across multiple industries for a variety of applications. AGVs are typically used for material handling tasks in factories, warehouses, or other environments. Some example uses of AGVs include moving shelves, moving goods, or moving boxes/containers around a warehouse or factory. AGVs typically include lifting devices such as platforms or lifting arms, or forks such as those of a forklift. The load (e.g., boxes, shelves, etc.) is supported by the lifting device.

Multiple AGVs are typically used in indoor environments, such as warehouses. Due to space constraints in indoor environments, there is always a risk of collisions between AGVs and/or between AGVs and other objects within the indoor environment. AGVs can 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 storage map used by the AGV to navigate around the environment (e.g., a warehouse or factory).

Most Automated Guided Vehicles (AGVs) available today are typically equipped with suspension systems to adapt to uneven surfaces as the AGV moves through its environment. A common problem with common suspension systems is the squatting and diving that occur separately during the AGV's acceleration and deceleration. If the AGV is carrying a load, especially a heavy load, the acceleration and deceleration can cause excessive body tilt and/or roll or pitch motion around its axis. This can lead to instability in the AGV and also to instability in the load. Instability can cause the load to fall off the AGV and be damaged, or it can cause the AGV to fall and be damaged.

This disclosure relates to a suspension system for an AGV and the AGV itself, including a suspension system that improves the stability of the AGV. The suspension system is configured to isolate the AGV from its moving parts, such as wheels from the chassis, so that the chassis remains substantially stable when the AGV moves. The suspension system is configured to stabilize the chassis when the AGV moves over uneven surfaces. The suspension system absorbs shocks caused by uneven surfaces or the acceleration/deceleration of the AGV, isolating these shocks from the chassis. Even when the AGV is exposed to shocks, the chassis remains substantially level, i.e., stable. The suspension system helps to keep the load supported by the AGV, such as a 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 substantially flat or planar in response to shocks or forces when the AGV travels over uneven surfaces.

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 lateral 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 lateral arm is pivotable about a second pivot axis perpendicular to the first pivot axis. The longitudinal arms pivot in a first plane, and the lateral arm pivots in a second plane, wherein the first plane is perpendicular to the second plane. The longitudinal arms and the lateral arms each pivot with a rocking motion. The longitudinal arms and the lateral arms are essentially an integral structure, and each comprises a single arm.

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

The longitudinal arms may include at least one drive wheel and at least one guide wheel on each longitudinal arm. In these examples, the guide wheel may be implemented using a caster or any other type of wheel assembly, which preferably supports the load placed on it. Although in the preferred embodiment where the guide wheel is a caster, the guide wheel may or may not be powered, such wheel assembly is not powered but merely supports the load.

A pair of guide wheels are mounted on the cross arm. The drive wheels propel the AGV, while the guide wheels allow the AGV to steer. The guide wheels are rotatable and can rotate 360 degrees.

In another form, this disclosure relates to an Automated Guided Vehicle (AGV) including a suspension system, the AGV comprising: a chassis; a suspension system including a first arm 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 laterally relative to the first arm, the first pivot axis and the second pivot axis being laterally connected to each other.

In this configuration, a first pivot axis passes through a first coupling, and a second pivot axis passes through a second coupling. The chassis includes a longitudinal axis and a transverse axis, with a first arm arranged parallel to the longitudinal axis and a second arm arranged parallel to the transverse axis. The first arm includes a drive wheel and a guide wheel, both attached to the first arm. The drive wheel provides driving force to propel the AGV, and the guide wheel is rotatably attached to the first arm such that it 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, which includes actuators coupled to the drive wheels to provide driving force to propel the AGV. The second arm includes one or more guide wheels attached to it.

Example embodiments will be described with reference to the accompanying drawings. Figures 1 to 4 illustrate example embodiments of an Automated Guided Vehicle (AGV) 100 including a suspension system 110. Figure 1 shows an isometric view of the AGV. Figure 2 shows a side view of the AGV. Figure 3 shows a plan view, i.e., a top view of the AGV, and Figure 4 shows an end view (specifically, a front view) of the AGV.

When the AGV travels on uneven surfaces, the suspension system 110 is adapted to improve the stability of the automated guided vehicle (AGV). The suspension system 110 is also adapted to improve traction. The suspension system 110 is configured to keep the chassis in a stable arrangement such that the load supported by the chassis 102 (i.e., via the AGV) is kept in a stable direction, for example, the load is held in place with minimal movement and the load does not fall off the AGV 100.

As shown in Figure 1, the chassis 102 includes a plurality of components 104. These components are arranged and connected together to form a skeletal frame. The arrangement of the skeletal frame includes gaps or spaces 106 between the various frame components 104 to reduce the overall mass of the chassis while still providing rigidity, robustness, and structure to the chassis 102. The components 104 are substantially rigid to provide the structure of the chassis 102. The components 104 may be formed of rigid materials, such as metals, such as stainless steel or aluminum, or other suitable metals.

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

In the configuration shown in Figure 1, the chassis 102 comprises a rectangular shape. Components 104 are interconnected to form the rectangular shape (i.e., the rectangular outline). The rectangular outline is defined when viewed from above the chassis 102, i.e., when the chassis 102 is viewed in a plan view. Figure 2 shows a plan view (i.e., a top view). Alternatively, the chassis 102 may comprise other shapes, such as polygons, such as squares, trapezoids, parallelograms, or any other predetermined shape.

The AGV 100 includes a drive assembly (not shown) mounted 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 propulsive force generated by the propulsion unit.

AGV 100 includes one or more drive wheels 120 mounted on a chassis 102. The drive wheels are mechanically coupled to a propulsion unit 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, maintain a constant speed, or stop it. AGV 100 also includes one or more steering mechanisms configured to allow the AGV to turn around its surroundings, such as a warehouse. The steering element may be controlled by the controller or may be a passive steering element.

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

The suspension system 110 is configured to decouple the chassis from the arm, allowing the chassis to remain substantially stable in response to any loads or impacts generated by the AGV traveling on uneven surfaces. The suspension system 110 is configured to stabilize the chassis and allow the AGV to move on uneven surfaces while causing minimal disturbance to the chassis. The suspension system 110 is also configured to absorb forces or shocks as the AGV travels around its environment. This is advantageous because any objects supported by the chassis, such as shelves or boxes, are kept stable while the AGV is moving.

Longitudinal arms 112 and 114 and transverse arm 116 are mounted on the chassis. Each of the longitudinal arms 112 and 114 and the transverse arm 116 is connected to the chassis. More specifically, the longitudinal arms 112 and 114 are connected to opposite sides of the chassis 102, and the transverse arm 116 is connected to one end of the chassis 102. The transverse arm 116 is arranged intersecting the longitudinal arms 112 and 114. In Figure 3, the transverse arm 116 is arranged substantially perpendicular to the longitudinal arms 112 and 114. The transverse arm 116 is spaced apart from the longitudinal arms 112 and 114.

As shown in Figures 1 to 4, a first longitudinal arm 112 is attached to a first side of the chassis, a second longitudinal arm 114 is attached to an opposite side of the chassis, and a transverse arm 116 is attached to an end of the chassis. In the illustrated embodiment, the transverse arm 116 is attached to the rear end of the chassis and is positioned at the rear of the AGV 100. The end (i.e., the rear end) is perpendicular to both 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 defining at least a portion of a first side of the chassis. The second longitudinal arm 114 is attached to a second frame member defining at least a portion of a second side of the chassis, and the transverse arm 116 is attached to another frame member (i.e., a rear frame member) defining a portion of the end of the chassis 102.

The chassis 102 is substantially rectangular in shape, as shown in Figure 3. The chassis 102 includes a longitudinal axis 200 and a transverse axis 202, as shown in Figure 3. 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 and 114 (i.e., the first arm) 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.

Each arm 112, 114, 116 of the suspension system 110 is connected to one of the frame members and is pivotable relative to the frame member to which the arm is connected. Each longitudinal arm 112, 114 is pivotally connected to the chassis 102. The lateral arm 116 is pivotable relative to the chassis in a first pivot plane 210, and the lateral 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 lateral plane 212.

Figures 2 and 4 show the first pivot plane and the second pivot plane, respectively. Figure 3 shows the first and second pivot planes as lines when viewed in the front view, and illustrates the perpendicular relationship between the first and second pivot planes. 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 and 114 pivot in a direction perpendicular to the transverse arm 116.

Longitudinal arms 112 and 114 are configured to pivot about a first pivot axis 220, and 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 and 114 is connected to the chassis 102 via a first coupling 130, and the transverse arm 116 is connected to the chassis 102 via a second coupling 132. Each of the arms 112, 114, and 116 pivots about a corresponding first coupling 130. In other words, the longitudinal arms 112 and 114 pivot about the corresponding first coupling 130, and the transverse arm 116 pivots about the second coupling 132.

The longitudinal arms 112, 114 and the transverse arm 116 may be identical in size, material, and mechanical properties. The first and second couplings 130, 132 may be identical in size and construction. 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 to pivot about the coupling. The couplings pass through each arm and connect to the chassis. The arms 112, 114, and 116 pivot with a rocking motion.

A first pivot axis 220 passes through a first coupling 130 and a second pivot axis 222 passes through a second coupling 132. Figure 3 shows the first pivot axis 220 passing through the first coupling 130 and the 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 shows arrow A, which illustrates the pivoting motion of the longitudinal arms 112, 114 relative to the chassis 102. Figure 4 shows arrow B, which illustrates the pivoting motion of the lateral arm 116 relative to the chassis 102.

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. A 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 arm 116. In the embodiments shown in Figures 3 and 4, each longitudinal arm 112, 114 includes a drive wheel disposed on each arm 112, 114. The drive wheels 120 and guide wheels 122 are spaced apart from each other on the longitudinal arm. As shown in Figure 3, each transverse arm 116 includes a pair of guide wheels 122. Each guide wheel is disposed at an opposite end of the transverse arm 116, and the guide wheels 122 are spaced apart from each other.

The guide wheels 122 are independently rotatable, meaning each guide wheel can rotate freely. Each guide wheel 122 includes a caster and a wheel assembly. Casters 124 allow the wheels to rotate freely, i.e., independently. Each arm 112, 114, and 116 includes multiple wheel carriers 126. The guide wheels 122 are mounted on the wheel carriers. The guide wheels 122 are rotatable relative to the wheel carriers. The drive wheels 120 receive actuation force from the propulsion unit and apply driving force to propel the AGV 100.

AGV 100 includes a load support structure 140 carried by a chassis. Figure 5 shows an example of the load support structure 140. The load support structure 140 includes a platform 142 mounted on the chassis. The platform 140 is configured to support loads such as shelves, boxes, or goods. The load support structure 140 is mounted to the chassis 102 via multiple supports. As shown in Figure 5, supports 152, 154, 156, and 158 mount the load support structure 140 to the chassis. The load support structure 140 may include multiple jacks that can raise or lower the platform 142. The jacks can be synchronized to raise or lower the platform. The platform 142 may also be coupled to a rotation mechanism configured to rotate the platform 142.

The suspension system 110 is configured to decouple the load support structure and/or chassis from the wheels via arms 112, 114, and 116. The platform 140 is decoupled from the wheels via the suspension system 110 such that the position and/or orientation of the platform 140 remains substantially unchanged in response to the movement of the AGV and/or the movement of the arms.

The pivoting of the longitudinal arms 112, 114 and the lateral arm 116 absorbs any force or load acting on the wheels due to the pivoting motion. The pivoting of arms 112, 114, 116 separates the load support structure 140 from the wheels. Arms 112, 114, and 116 separate the load support structure 140 (i.e., platform 140) from the wheels. The suspension system 110 is configured to separate the chassis 102 from the arms 112, 114, 116, such that the AGV's center of gravity remains stable even when the arms pivot as the AGV moves across an uneven surface. Movement of the AGV 100 on an uneven surface causes the wheels to experience impacts (i.e., forces). The longitudinal arms 112, 114, and lateral arm 116 pivot independently in response to the impact to absorb it, keeping the platform 140 unaffected. Due to the pivoting action of arms 112, 114, and 116, the impact is not transmitted to the platform 140.

Suspension system 110 is configured to absorb pitch and roll movements that the chassis may expose. When the AGV moves on an uneven surface, chassis 102 may be exposed to pitch and roll movements. Pitch movement is a deflection or movement about the lateral axis of the AGV, and roll movement is a deflection or movement about 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 movement of the AGV, and the lateral arm is configured to absorb the roll movement of the AGV. Pitch and roll movements are absorbed as the arms move in response to forces that cause pitch and/or roll movements. Suspension system 110 is configured to dynamically adjust to absorb forces and/or energy generated by the AGV traveling on uneven surfaces.

Alternative embodiments of the AGV, including alternative embodiments of the suspension system, will now be described. The AGV includes a chassis. The chassis includes a plurality of elongated members that are connected together to define the chassis.

The chassis can be substantially rectangular in shape. Alternatively, the chassis can include any other polygonal shape, such as a parallelogram or a square, or any other shape. The chassis can be made of a rigid material, such as metal or hard plastic.

The AGV also includes a drive assembly mounted 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 propulsive force generated by the propulsion unit to propel the AGV.

The alternative AGV also includes an alternative suspension system. The suspension system is configured to decouple the chassis, isolating the chassis from forces or impacts acting on the AGV when it moves over uneven surfaces. This alternative suspension system can also be configured to dynamically absorb forces and/or energy experienced by the AGV as it travels over uneven surfaces. The alternative suspension system functions similarly to suspension system 110.

In this alternative, the suspension system includes a first arm and a second arm, each arm connecting to the chassis. The first arm is a longitudinal arm, connecting to the chassis and arranged parallel to the longitudinal axis of the chassis. The second arm is a lateral arm, arranged parallel to the lateral axis of the chassis. This alternative suspension system includes a single longitudinal arm and a single lateral arm.

Both the longitudinal and transverse arms are pivotally connected to the chassis via couplings. The couplings can be pins, bolts, or other suitable couplings. Each arm is configured to pivot relative to the chassis and about the coupling. The transverse arm is arranged substantially perpendicular to the longitudinal arm. Each arm can pivot independently, i.e., move independently. As the AGV travels on uneven surfaces, the arms pivot in response to forces acting on the chassis (and the AGV). The pivoting (i.e., movement) of the arms absorbs forces and separates the chassis from the arms, so that the chassis does not move or experience any force.

The longitudinal arm can pivot about a first pivot axis. The transverse arm can pivot about a second pivot axis. The first and second pivot axes are perpendicular to each other. The longitudinal and transverse arms pivot perpendicularly to each other.

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

The suspension system described herein includes an improved rocker arm-bogie arrangement. However, each suspension system uses a single arm with a single pivot instead of multiple pivots. The suspension system requires no springs or counterspindles for each wheel. Using a pivot arm as the suspension system reduces and can eliminate the squatting and diving motions during the acceleration and deceleration of the AGV.

The independent pivoting motion and capability of the boom allow the chassis to maintain at least the average pitch angle of the longitudinal boom while allowing the AGV to traverse obstacles. Independent boom pivoting also allows the AGV to maintain all wheels in contact with the ground while moving on uneven surfaces and climbing obstacles, 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 unaffected by crouching, diving, and lateral movements because the boom's pivoting absorbs these movements. The chassis and load support structure are decoupled from the wheels as the suspension system helps to keep objects or loads in a stable orientation during AGV movement. When the AGV accelerates and decelerates, the suspension system reduces and/or eliminates instability caused by uneven surfaces or by crouching and diving movements.

Some alternative configurations of the AGV assembly are described below. These configurations can be used as a supplement to or alternative to the assembly described above with reference to the accompanying drawings. In another configuration, the chassis may include one or more plates connected together to form a chassis of a predetermined shape, such as a rectangle. In this alternative configuration, the chassis of multiple plates may be connected together. In yet another alternative configuration, the chassis may include a solid block of material, such as metal or polymer material.

In alternative configurations, the AGV may include one or more motion structures other than 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 can be driven independently. For example, to rotate the AGV, one track may move in one direction while another track moves in another direction to make the AGV rotate.

In an alternative configuration, the load support structure 140 may include a lifting arm and a mechanism configured to raise and lower the lifting arm. In another alternative configuration, the load support structure may include a platform or plate disposed on the 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 lifting system or any other suitable system configured to raise and lower the platform.

In some embodiments, the platform may include a lifting mechanism comprising one or more jacks. One or more jacks may be synchronized to raise or lower the platform. Additionally, the platform may include a rotation mechanism configured to rotate the platform. When the AGV is exposed to impacts due to movement on uneven surfaces, the combined rotation of the platform and suspension system, particularly the pivoting of the longitudinal and lateral arms, helps to further stabilize the object. The rotating platform can be rotated to reduce any centripetal forces that the platform may be exposed to.

The description of any of these alternative embodiments is to be considered exemplary. Any alternative embodiments and features in the alternative embodiments may be used in combination with each other or in combination with the embodiments described with reference to the drawings.

The above description only depicts preferred embodiments of the present invention, and it will be apparent to those skilled in the art that modifications can be made beyond the scope of the present invention. While the present invention refers to many preferred embodiments, it may be implemented in many other forms.

Claims (29)

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 connected to the chassis via a first coupling and a second arm connected to the chassis via a second coupling; Each of the first arms is configured to pivot independently relative to the chassis and about a first pivot axis; The second arm is configured to pivot 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 is arranged laterally relative to the first arm, and the first pivot axis and the second pivot axis are laterally related to each other. Each first arm includes a drive wheel and a guide wheel, which are attached to and disposed at opposite ends of the respective first arm. The chassis is defined by a longitudinal axis and a transverse axis, with each of the first arms arranged parallel to the longitudinal axis and the second arms arranged parallel to the transverse axis; and... The chassis is further configured to maintain the average pitch angle of each of the first arms through independent pivoting action, thereby improving the stability and traction of the automated guided vehicle by keeping the drive wheels and guide wheels on the ground. 2. The automated guided vehicle as claimed in 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 of claim 1, wherein the drive wheel on each of the first arms is configured to provide driving force to propel the automated guided vehicle, and the guide wheel is rotatably attached to each of the first arms such that the guide wheel can rotate relative to the respective first arm and/or relative to the chassis to assist the automated 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 include casters. 6. The automated guided vehicle of claim 4, wherein one or more guide wheels attached to the second arm include casters. 7. The automated guided vehicle of claim 1, wherein the first arms are spaced apart from each other and connected to the chassis on opposite sides of the chassis, and the second arms are connected to an end of the chassis. 8. The automated guided vehicle of claim 1, wherein the chassis includes a plurality of components attached together to form a frame, and the frame defines the chassis. 9. The automated guided vehicle as claimed in claim 1, wherein each first arm and second arm comprises a solid and integral 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 on an uneven surface to maintain the platform substantially stable and/or planar orientation. 11. An automated guided vehicle, characterized in that the automated guided vehicle comprises: Chassis; A suspension system connected to the chassis, the suspension system comprising: A pair of longitudinal arms, each of which is pivotally connected to the chassis; A lateral arm, which is pivotally connected to the chassis; Each of the longitudinal arms is independently pivotable in a first pivot plane relative to the chassis, and the lateral 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; Each of the longitudinal arms includes a drive wheel and a guide wheel, which are attached to and disposed at opposite ends of the respective longitudinal arm; The chassis is defined by a longitudinal axis and a transverse axis, with each of the longitudinal arms arranged parallel to the longitudinal axis and the transverse arms arranged parallel to the transverse axis; and... The chassis is further configured to maintain the average pitch angle of each of the longitudinal arms through the independent pivoting action of each of the longitudinal arms, thereby improving the stability and traction of the automated guided vehicle by keeping the drive wheels and guide wheels on the ground. 12. The automated guided vehicle of claim 11, wherein the lateral arms are arranged intersecting with the respective longitudinal arms on the chassis, and the longitudinal arms are spaced apart from the lateral 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, the first pivot axis being perpendicular to the second pivot axis. 14. The automated guided vehicle of claim 11, wherein the pair of longitudinal arms includes a first longitudinal arm and a second longitudinal 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. 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 an end 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 lateral arm comprises two guide wheels. 18. The automated guided vehicle of claim 17, wherein the guide wheels are spaced apart from each other on the transverse arm, and the drive wheels and guide wheels are spaced apart from each other 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 rotatable independently. 20. The automated guided vehicle of claim 17, wherein each longitudinal arm is independently attached to the chassis via a coupling, wherein each longitudinal arm is pivotable about the coupling, and the lateral arm is attached to the chassis via a coupling, wherein the lateral arm is pivotable about the coupling. 21. The automated guided vehicle of claim 11, wherein the automated guided vehicle includes a load support structure carried by the chassis, and the suspension system is configured to decouple the load support structure and/or the chassis from the arms such that the position and/or orientation of the load support 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 when the automated guided vehicle is moving on an uneven surface, the arm will pivot. 23. A suspension system for use with an automated guided vehicle, characterized in that the suspension system comprises: A pair of longitudinal arms, which are independent of each other and configured to be pivotally attached to the chassis of the automated guided vehicle; A lateral arm, configured to be pivotally attached to the chassis of the automated guided vehicle; The longitudinal arms are arranged parallel to each other; The longitudinal arm can pivot independently about a first pivot axis, and the transverse arm can pivot about a second pivot axis, which is perpendicular to the first pivot axis. Each of the longitudinal arms includes a drive wheel and a guide wheel, which are attached to and disposed at both ends of the corresponding longitudinal arm; and, The chassis is further configured to maintain the average pitch angle of each of the longitudinal arms through the independent pivoting action of each of the longitudinal arms, thereby improving the stability and traction of the automated guided vehicle by keeping the drive wheels and guide wheels on the ground. 24. The suspension system of claim 23, wherein the longitudinal arm pivots in a first plane, the lateral 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 lateral arm each pivot in a rocking motion. 26. The suspension system of claim 23, wherein each idler wheel includes a wheel assembly and a caster assembly, such that each idler wheel can rotate independently. 27. The suspension system of claim 23, wherein each arm is configured to move or pivot independently relative to the chassis. 28. The suspension system of claim 23, wherein the suspension system is configured to decouple the chassis from the arms, 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 pitch motion of the automated guided vehicle, and the lateral arm is configured to absorb roll motion of the automated guided vehicle.