TWI876591B - Autonomous mobile robot - Google Patents

Abstract

An autonomous mobile robot includes a car frame and a linkage structure. The linkage structure includes a first rod, a second rod and two connecting rods. The first rod is connected with the car frame, and the first rod has two first ends opposite to each other. The second rod has two second ends opposite to each other. The two connecting rods are respectively connected between one of the first ends and a corresponding one of the two ends. The connecting rods respectively extend along an extension direction and form an intersection point. This intersection point is not located between the first rod and the second rod.

Description

Automatic moving vehicle

The present invention relates to an automatic moving vehicle.

As people's living standards continue to improve, electronic products are becoming more and more important in people's lives. Faced with the huge demand for electronic products, major manufacturers are also working hard to improve the market competitiveness of their brands.

In addition to enhancing the functions and performance of electronic products, how to effectively improve the movement accuracy of automatic mobile vehicles during the production process of electronic products, thereby reducing the production costs of electronic products, is undoubtedly a topic that all manufacturers attach great importance to.

One of the purposes of the present invention is to provide an automatic moving vehicle that can effectively suppress the occurrence of lateral vibration during movement, thereby improving the accuracy of movement on the ground.

According to an embodiment of the present invention, an autonomous vehicle includes a frame and a connecting rod structure. The connecting rod structure includes a first connecting rod, a second connecting rod and two connecting rods. The first connecting rod is connected to the frame and has two opposite first ends. The second connecting rod has two opposite second ends. The two connecting rods are respectively connected between one of the first ends and one of the corresponding second ends, and the connecting rods extend in an extension direction and form an intersection, and the intersection is not located between the first connecting rod and the second connecting rod.

In one or more embodiments of the present invention, the length of the first connecting rod is greater than the length of the second connecting rod.

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

In one or more embodiments of the present invention, the above-mentioned self-propelled vehicle further includes a first drive module and a second drive module. The frame has a first end and a second end opposite to each other along a 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 the second connecting rod of the connecting rod structure and connected to the second end of the frame through the connecting rod structure.

In one or more embodiments of the present invention, the first driving module comprises two separate first wheel sets, the first wheel sets are respectively connected to the first end of the frame. The second driving module comprises two separate second wheel sets, and the second wheel sets are connected to the second connecting rod of the connecting rod structure.

In one or more embodiments of the present invention, at least one of the first wheel set and the second wheel set comprises one or more motors.

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

The above-mentioned embodiments of the present invention have at least the following advantages:

(1) Since the intersection formed by the connecting rods extending in the extension directions is located on the ground, when the wheels rotate around the intersection, the displacement of the wheels in the horizontal direction relative to the ground can be effectively minimized, that is, the occurrence of lateral vibration when the autonomous vehicle moves can be effectively suppressed, which is beneficial to improving the accuracy of the autonomous vehicle when moving relative to the ground.

(2) Since the second drive module of the autonomous vehicle is connected to the vehicle frame via a connecting rod structure, and the first connecting rod of the connecting rod structure has two opposite first ends, the second connecting rod has two opposite second ends, and the two connecting rods are respectively connected between one of the first ends and a corresponding one of the second ends, the connecting rod structure has a stronger structural strength and can withstand a larger load.

(3) When the self-propelled vehicle has not yet touched the ground, that is, when the wheels of the second wheel set have not yet been pressed by the ground, the extension direction of the first connecting rod is substantially parallel to the extension direction of the second connecting rod. Corresponding to wheels of different diameters, under the condition that the length of the first connecting rod is greater than the length of the second connecting rod and the lengths of the two connecting rods are substantially equal, by changing the specific position of the first end of the first connecting rod, the specific position of the second end of the second connecting rod, or the length of the connecting rod, the intersection point formed by the connecting rods extending in the extension directions can be easily located on the ground.

The following will disclose multiple embodiments of the present invention with drawings. For the purpose of clarity, many practical details will be described together in the following description. However, it should be understood that these practical details should not be used to limit the present invention. In other words, in some embodiments of the present invention, these practical details are not necessary. In addition, in order to simplify the drawings, some commonly used structures and components will be shown in the drawings in a simple schematic manner, and in all drawings, the same reference numerals will be used to represent the same or similar components. And if it is possible in practice, the features of different embodiments can be applied interchangeably.

Unless otherwise defined, all terms (including technical and scientific terms) used herein have their usual meanings, which are understood by those familiar with this field. Furthermore, the definitions of the above terms in commonly used dictionaries should be interpreted in the content of this specification as meanings consistent with the relevant fields of the present invention. Unless otherwise clearly defined, these terms will not be interpreted as idealized or overly formal meanings.

Please refer to FIG. 1. FIG. 1 is a three-dimensional schematic diagram of an autonomous vehicle 100 according to an embodiment of the present invention. In this embodiment, as shown in FIG. 1, an autonomous vehicle 100 includes a frame 110, a connecting rod 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, and the second drive module 140 is connected to the second end 112 of the frame 110 via the connecting rod structure 120.

Please refer to FIG. 2. FIG. 2 is a schematic diagram showing FIG. 1 along arrow A. In this embodiment, as shown in FIG. 2, the connecting rod structure 120 includes a first connecting rod 121, a second connecting rod 122, and two connecting rods 123. The first connecting rod 121 is connected to the second end 112 of the frame 110, and the first connecting rod 121 has two opposite first ends 121a. The second connecting rod 122 has two opposite second ends 122a, and the second driving module 140 is connected to the second connecting rod 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.

Further, as shown in FIG. 2 , the second driving module 140 includes two separated second wheel sets 141, and the second wheel sets 141 are connected to the second connecting rod 122 of the connecting rod 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 can be a Mecanum wheel, but the present invention is not limited thereto. In other embodiments, the wheel 142 can be other suitable wheels according to actual conditions.

Please refer to FIG. 3. FIG. 3 is a simplified schematic diagram showing the connecting rod structure 120 of FIGS. 1-2. For ease of explanation, in FIG. 3, the connecting rod structure 120 is only represented by a line. In this embodiment, as shown in FIG. 3, the connecting rods 123 extend in the extension direction D3 and form an intersection IP, and the intersection IP is located on one side of the second connecting rod 122 away from the first connecting rod 121, that is, the intersection IP is not located between the first connecting rod 121 and the second connecting rod 122. Preferably, the intersection IP is located at the ground 200. It is worth noting that the direction DF is different from the extension direction D3 of the connecting rod 123.

Further, as shown in FIG. 3 , the length L1 of the first connecting rod 121 is greater than the length L2 of the second connecting rod 122, and the length L3 of the two connecting rods 123 are substantially equal. Furthermore, when the autonomous vehicle 100 has not yet contacted the ground 200, that is, the wheel 142 of the second wheel set 141 has not yet been pressed by the ground 200, the extension direction D1 of the first connecting rod 121 and the extension direction D2 of the second connecting rod 122 are substantially parallel. In other words, the plane SF formed by the first connecting rod 121, the second connecting rod 122 and the connecting rod 123 of the connecting rod structure 120 surrounding and connecting is a symmetrical inverted trapezoid, and the plane SF is substantially perpendicular to the direction DF of the frame 110 extending along the first end 111 and the second end 112.

In practical applications, corresponding to wheels 142 with different diameters, under the condition that the length L1 of the first connecting rod 121 is kept greater than the length L2 of the second connecting rod 122 and the lengths L3 of the two connecting rods 123 are substantially equal, by changing the specific position of the first end 121a on the first connecting rod 121, the specific position of the second end 122a on the second connecting rod 122, or the length L3 of the connecting rod 123, the intersection IP formed by the connecting rods 123 extending in the extension direction D3 can be easily maintained at the ground 200. In other words, corresponding to the wheels 142 with different diameters, by changing the position of the first end 121a, the position of the second end 122a, or the length L3 of the connecting rod 123 under the condition that the connecting rod structure 120 is maintained as a symmetrical inverted trapezoid, the position of the intersection IP can be adjusted to remain on the ground 200, and the process is simple and easy.

Please refer to FIG. 4. FIG. 4 is a schematic diagram along arrow A of FIG. 1, wherein the second drive module 140 is at least partially in a tilted state. As shown in FIG. 4, when the wheel 142 rotates on the ground 200 to drive the self-propelled vehicle 100 to move, due to factors such as the unevenness of the ground 200 or the shape of the Meckenheim wheel itself, the second drive module 140 may be tilted relative to the frame 110. In this case, the connecting rod 123 rotates relative to the first connecting rod 121, so that the second connecting rod 122 is tilted correspondingly relative to the frame 110.

Please refer to FIG. 5. FIG. 5 is a simplified schematic diagram of the connecting rod structure 120 of FIG. 4. For ease of explanation, in FIG. 5, the connecting rod structure 120 is only represented by a line. In this embodiment, as shown in FIG. 5, when the second connecting rod 122 of the connecting rod structure 120 is tilted correspondingly relative to the frame 110 (see FIG. 4 for the frame 110), the second wheel set 141 of the second drive module 140 substantially rotates around the intersection IP. Since the intersection IP is located on the ground 200, when the wheel 142 rotates around the intersection IP, the displacement of the wheel 142 in the horizontal direction relative to the ground 200 can be effectively minimized. In other words, the structural change of the connecting rod structure 120 can effectively suppress the occurrence of lateral vibration when the autonomous vehicle 100 moves, so it can be beneficial to improve the accuracy of the autonomous vehicle 100 when moving relative to the ground 200.

Please refer to FIG. 6. FIG. 6 is a simplified front view of the known self-propelled vehicle 500. For ease of explanation, the known self-propelled vehicle 500 is only represented by lines in FIG. 6. As shown in FIG. 6, the wheel assembly 510 of the known self-propelled vehicle 500 is connected to the frame 530 around the rotation axis C only through a single connecting rod 520. Therefore, the wheel 511 of the wheel assembly 510 can only rotate around the rotation axis C relative to the frame 530, and when there is a height difference between the left and right wheels 511, the wheel 511 generates a considerable displacement YS relative to the ground 200 in the horizontal direction, resulting in a decrease in the accuracy of the known self-propelled vehicle 500 when moving on the ground 200.

Furthermore, compared to the conventional autonomous vehicle 500 which is connected to the frame 530 around the rotation axis C with only a single connecting rod 520, the second driving module 140 of the autonomous vehicle 100 is connected to the frame 110 via a connecting rod structure 120, and the first connecting rod 121 of the connecting rod structure 120 has two opposite first ends 121a, the second connecting rod 122 has two opposite second ends 122a, and the two connecting rods 123 are respectively connected between one of the first ends 121a and the corresponding one of the second ends 122a, so the connecting rod structure 120 has a stronger structural strength and can withstand a larger load than the connecting rod 520 of the conventional autonomous vehicle 500.

Please refer to FIG. 7. FIG. 7 is a simplified front view of an autonomous vehicle 100 according to an embodiment of the present invention. For ease of explanation, in FIG. 7, the connecting rod structure 120 is only represented by lines. According to the actual situation, as shown in FIG. 7, the intersection IP formed by the connecting rods 123 of the connecting rod 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.

Please refer to FIG. 8. FIG. 8 is a simplified front view of an autonomous vehicle 100 according to another embodiment of the present invention. For ease of explanation, in FIG. 8, the connecting rod structure 120 is only represented by a line. According to the actual situation, as shown in FIG. 8, the intersection IP formed by the connecting rods 123 of the connecting rod 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.

Please refer to FIG. 9. FIG. 9 is a schematic diagram showing FIG. 1 along arrow B. In the present embodiment, as shown in FIG. 9, the first driving module 130 includes two separated first wheel sets 131, and the first wheel sets 131 are respectively connected to the first end 111 of the frame 110. Similarly, each of the first wheel sets 131 has a wheel 132, and the wheel 132 is configured to rotate on the ground 200. In practical applications, the wheel 132 can be a Mackenzie wheel, but the present invention is not limited thereto. In other embodiments, the wheel 132 can be other suitable wheels according to actual conditions.

In practical applications, at least one of the first wheel set 131 and the second wheel set 141 includes one or more motors. In other words, the autonomous vehicle 100 includes at least one motor to provide driving force. For example, as shown in FIG. 9 , the first wheel set 131 includes a motor 133, and as shown in FIGS. 2 and 4 , 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 independently controlled.

In summary, the technical solution disclosed in the above embodiments of the present invention has at least the following advantages:

(1) Since the intersection formed by the connecting rods extending in the extension directions is located on the ground, when the wheels rotate around the intersection, the displacement of the wheels in the horizontal direction relative to the ground can be effectively minimized, that is, the occurrence of lateral vibration when the autonomous vehicle moves can be effectively suppressed, which is beneficial to improving the accuracy of the autonomous vehicle when moving relative to the ground.

(2) Since the second drive module of the autonomous vehicle is connected to the vehicle frame via a connecting rod structure, and the first connecting rod of the connecting rod structure has two opposite first ends, the second connecting rod has two opposite second ends, and the two connecting rods are respectively connected between one of the first ends and a corresponding one of the second ends, the connecting rod structure has a stronger structural strength and can withstand a larger load.

(3) When the self-propelled vehicle has not yet touched the ground, that is, when the wheels of the second wheel set have not yet been pressed by the ground, the extension direction of the first connecting rod is substantially parallel to the extension direction of the second connecting rod. Corresponding to wheels of different diameters, under the condition that the length of the first connecting rod is greater than the length of the second connecting rod and the lengths of the two connecting rods are substantially equal, by changing the specific position of the first end of the first connecting rod, the specific position of the second end of the second connecting rod, or the length of the connecting rod, the intersection point formed by the connecting rods extending in the extension directions can be easily located on the ground.

Although the present invention has been disclosed in the above embodiments, it is not intended to limit the present invention. Anyone skilled in the art can make various changes and modifications without departing from the spirit and scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the scope defined in the attached patent application.

100: Autonomous vehicle 110: Frame 111: First end 112: Second end 120: Linkage structure 121: First linkage 121a: First end 122: Second linkage 122a: Second end 123: Connecting rod 130: First drive module 131: First wheel set 132: Wheel 133: Motor 140: Second drive module 141: Second wheel set 142: Wheel 143: Motor 200: Ground 500: Autonomous vehicle 510: Wheel set 511: Wheel 520: Linkage 530: Frame A, B: Arrows C: axis DF: direction D1, D2, D3: extension direction H1, H2: distance IP: intersection point L1, L2, L3: length SF: plane YS: displacement

FIG. 1 is a three-dimensional schematic diagram of an automatic mobile vehicle according to an embodiment of the present invention. FIG. 2 is a schematic diagram of FIG. 1 along arrow A. FIG. 3 is a simplified schematic diagram of the connecting rod structure of FIGS. 1-2. FIG. 4 is a schematic diagram of FIG. 1 along arrow A, wherein the second drive module is at least partially in a tilted state. FIG. 5 is a simplified schematic diagram of the connecting rod structure of FIG. 4. FIG. 6 is a simplified front view of a known automatic mobile vehicle. FIG. 7-8 are simplified front views of an automatic mobile vehicle according to an embodiment of the present invention. FIG. 9 is a schematic diagram of FIG. 1 along arrow B.

Domestic storage information (please note in the order of storage institution, date, and number) None Foreign storage information (please note in the order of storage country, institution, date, and number) None

120: Connecting rod structure

121: First connecting rod

121a: First end

122: Second connecting rod

122a: Second end

123: Connecting rod

140: Second drive module

141: Second wheel set

142:Wheels

200: Ground

DF: Direction

D1, D2, D3: extension direction

IP: intersection

L1, L2, L3: Length

SF: plane

Claims (7)

An autonomous vehicle comprises: a frame; a connecting rod structure, comprising: a first connecting rod connected to the frame, the first connecting rod having two opposite first ends; a second connecting rod having two opposite second ends; and two connecting rods respectively connected between one of the first ends and a corresponding one of the second ends, the connecting rods respectively extending in an extension direction and forming an intersection, and the intersection is not located between the first connecting rod and the second connecting rod; and a second driving module, comprising two separate second wheel sets, the second wheel sets connected to the second connecting rod and respectively having a contact point, the contact points are configured to contact a ground, the intersection is located on the ground and is coplanar with the contact points. An autonomous vehicle as described in claim 1, wherein the length of the first connecting rod is greater than the length of the second connecting rod. An autonomous vehicle as described in claim 1, wherein the lengths of the two connecting rods are substantially equal. The self-propelled vehicle as described in claim 1 further comprises a first drive module, wherein the frame has a first end and a second end opposite to each other along a direction, and the direction is different from the extending directions of each of the connecting rods, wherein the first drive module is connected to the first end of the frame, and the second drive module is connected to the second end of the frame via the connecting rod structure. The self-propelled vehicle as described in claim 4, wherein the first drive module comprises two separate first wheel sets, and the first wheel sets are respectively connected to the first end of the frame. An autonomous vehicle as described in claim 5, wherein at least one of the first wheel sets and the second wheel sets comprises one or more motors. The self-propelled vehicle as described in claim 1, wherein a plane formed by the first connecting rod, the second connecting rod and the connecting rods is substantially perpendicular to the extension direction of the frame.

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