WO2024063703A1 - Drivetrain system for an autonomous delivery robot - Google Patents

Drivetrain system for an autonomous delivery robot Download PDF

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Publication number
WO2024063703A1
WO2024063703A1 PCT/TR2022/050740 TR2022050740W WO2024063703A1 WO 2024063703 A1 WO2024063703 A1 WO 2024063703A1 TR 2022050740 W TR2022050740 W TR 2022050740W WO 2024063703 A1 WO2024063703 A1 WO 2024063703A1
Authority
WO
WIPO (PCT)
Prior art keywords
delivery robot
suspension
drivetrain system
wheels
chassis
Prior art date
Application number
PCT/TR2022/050740
Other languages
French (fr)
Inventor
Arda AGABABAOGLU
Ege SAYGILI
Omer DEMIRCI
Oral YIGITKUS
Ali Kutay YARALI
Original Assignee
Delivers Ai Robotik Otonom Surus Bilgi Teknolojileri A.S.
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Delivers Ai Robotik Otonom Surus Bilgi Teknolojileri A.S. filed Critical Delivers Ai Robotik Otonom Surus Bilgi Teknolojileri A.S.
Priority to PCT/TR2022/050740 priority Critical patent/WO2024063703A1/en
Publication of WO2024063703A1 publication Critical patent/WO2024063703A1/en

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G3/00—Resilient suspensions for a single wheel
    • B60G3/02—Resilient suspensions for a single wheel with a single pivoted arm
    • B60G3/12—Resilient suspensions for a single wheel with a single pivoted arm the arm being essentially parallel to the longitudinal axis of the vehicle
    • B60G3/14—Resilient suspensions for a single wheel with a single pivoted arm the arm being essentially parallel to the longitudinal axis of the vehicle the arm being rigid
    • B60G3/145—Resilient suspensions for a single wheel with a single pivoted arm the arm being essentially parallel to the longitudinal axis of the vehicle the arm being rigid the arm forming the axle housing
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G15/00—Resilient suspensions characterised by arrangement, location or type of combined spring and vibration damper, e.g. telescopic type
    • B60G15/02—Resilient suspensions characterised by arrangement, location or type of combined spring and vibration damper, e.g. telescopic type having mechanical spring
    • B60G15/06—Resilient suspensions characterised by arrangement, location or type of combined spring and vibration damper, e.g. telescopic type having mechanical spring and fluid damper
    • B60G15/067—Resilient suspensions characterised by arrangement, location or type of combined spring and vibration damper, e.g. telescopic type having mechanical spring and fluid damper characterised by the mounting on the vehicle body or chassis of the spring and damper unit
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2200/00—Indexing codes relating to suspension types
    • B60G2200/10—Independent suspensions
    • B60G2200/13—Independent suspensions with longitudinal arms only
    • B60G2200/132—Independent suspensions with longitudinal arms only with a single trailing arm
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2202/00—Indexing codes relating to the type of spring, damper or actuator
    • B60G2202/30—Spring/Damper and/or actuator Units
    • B60G2202/31—Spring/Damper and/or actuator Units with the spring arranged around the damper, e.g. MacPherson strut
    • B60G2202/312—The spring being a wound spring
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2204/00—Indexing codes related to suspensions per se or to auxiliary parts
    • B60G2204/10—Mounting of suspension elements
    • B60G2204/12—Mounting of springs or dampers
    • B60G2204/128—Damper mount on vehicle body or chassis
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2204/00—Indexing codes related to suspensions per se or to auxiliary parts
    • B60G2204/10—Mounting of suspension elements
    • B60G2204/12—Mounting of springs or dampers
    • B60G2204/129—Damper mount on wheel suspension or knuckle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2204/00—Indexing codes related to suspensions per se or to auxiliary parts
    • B60G2204/40—Auxiliary suspension parts; Adjustment of suspensions
    • B60G2204/43—Fittings, brackets or knuckles

Definitions

  • the present invention pertains to a drivetrain system specifically designed for an autonomous delivery robot, incorporating independent suspension mechanisms.
  • US2021309060 discloses an autonomous robot transmission system and method, employing an activated bogie.
  • the invention encompasses a delivery robot equipped with independent actuators and suspensions, each connected to six wheels.
  • independent actuators and suspensions, each linked to six wheels enables the delivery robot to ascend and descend obstacles, maneuver easily under diverse environmental conditions, and exhibit high maneuverability.
  • the objective of the invention is to develop a delivery robot that overcomes obstacles by increasing the ground grip of the wheels with independent suspensions on each of the four wheels, thereby ensuring better mobility in challenging road conditions like snow.
  • the invention describes a drivetrain system for a delivery robot, comprising: a chassis to which a delivery-carrying container is connected; one or more arms connected to the chassis; one or more wheels mounted on the arms and providing movement by rotating rotationally; a suspension containing a shock absorber and a helical spring mounted on the arms corresponding to each wheel and reducing the shocks during the movement of the wheels.
  • each suspension is independently mounted between the upper arm and the lower arm at a predetermined angle close to the vertical axis, and a hub socket at a predetermined height from the ground is provided, where a drive hub that provides the movement of the wheel is mounted.
  • the spring is between a lower plate located at a lower end in the suspension and an upper plate. In this way, the vibration caused by an obstacle is first reduced by the helical spring.
  • the drive hub and the wheels are of predetermined circular diameters. In this way, by ensuring that the drive hub (hub motor)/wheel diameter is larger compared to its counterparts, better curb climbing capability and better mobility in challenging road conditions like snow are provided.
  • a preferred embodiment of the invention includes a first hole and a second hole corresponding to mounting holes located at a lower end and an upper end in the suspension, where the suspension is mounted to the upper arm and the lower arm. In this way, it is ensured that the suspension can be mounted in a position close to the vertical axis.
  • the upper arm is configured to be mounted to the chassis from a rear end. In this way, it is ensured that the drivetrain system developed for the delivery robot is connected to the chassis from the upper arm.
  • the lower arm is configured to be mounted to the chassis from a rear end. In this way, it is ensured that the drivetrain system developed for the delivery robot is connected to the chassis from the lower arm.
  • a preferred embodiment of the invention includes an inner socket located in the drive hub where the wheel is mounted. In this way, it is ensured that it can be mounted to the inner socket with a mechanism provided on the wheel.
  • the second hole is provided on a protrusion located at the front end. In this way, it is ensured that the shock absorber angle is closer to the vertical axis.
  • Figure 1 shows a front perspective view of a delivery robot.
  • Figure 2 shows a side perspective view of a delivery robot.
  • Figure 3 shows the connections related to the drivetrain system for a delivery robot.
  • Figure 1 and Figure 2 show a delivery robot from front and side perspectives respectively.
  • a delivery-carrying container (11 ) and a chassis (12) to which the container (11) is mounted are provided.
  • the autonomously operating delivery robot (10) there is one or more wheels (60) that provide forward and backward movement along the horizontal axis (x).
  • the drivetrain system for the subject matter delivery robot there are four wheels (60).
  • the suspensions (40) are mounted independently of each other.
  • Figure 3 shows the connections related to the drivetrain system for a delivery robot.
  • the delivery robot (10) there are one or more arms (14) (24) connected to the chassis (12).
  • the wheels (60) are mounted on the arms (14) (24).
  • the wheels (60) provide the movement of the delivery robot (10) by rotating rotationally.
  • the suspension (40) is mounted on the arms (14) (24) in a manner corresponding to each wheel (60) connection.
  • the suspension (40) is mounted to the upper arm (14) with a first screw (20) where a first hole (18) provided at a front end (16) of the upper arm corresponds to a hole (52) at an upper end (50) of the suspension (40), and is mounted to the lower arm (24) with a second screw (54) and a nut (56) where a second hole (30) on a protrusion (28) provided at a front end (26) of the lower arm corresponds to a hole (52) at a lower end (58) of the suspension (40).
  • the suspension (40) is mounted in a position close to the vertical axis (y) by providing the first hole (18) linearly and the second hole (30) on the protrusion (28) at an angle close to the vertical axis.
  • each suspension (40) contains a shock absorber (42) and a helical spring (44) that reduce the shocks during the movement of the wheels (60).
  • each suspension (40) is independently mounted between the upper arm (14) and the lower arm (24) at a predetermined angle (43) close to the vertical axis (y).
  • the shock absorber angle (43) for each of the suspensions (40) is, for example, 25° relative to the vertical axis (y). This situation is provided at the same angle on all four wheels (60).
  • a hub socket (32) is provided at a predetermined height (33) from the ground, where a drive hub (34) that provides the movement of each wheel (60) is mounted.
  • the delivery robot (10) gains the ability to climb curbs up to at least 15 cm and travel over rough terrain.
  • the shock absorber angle (43) being 25° relative to the vertical axis (y) for each of the independent suspensions (40) on the four wheels (60)
  • the wheel (60) connection points get closer to the ground and the ground grip of the wheels (60) is increased, thereby enabling the overcoming of obstacles.
  • the spring (44) is connected between a lower plate (46) located at a lower end (58) in the suspension and an upper plate (48).
  • the vibrations that occur are first reduced by the helical spring (44).
  • the drive hub (34) and the wheels (60) are of predetermined circular diameters.
  • the delivery robot (10) is provided with better mobility in challenging road conditions like snow.
  • Each upper arm (14) in the delivery robot (10) is mounted to the chassis (12) from a rear end (22) and each lower arm (24) is mounted to the chassis (12) from a rear end (38).

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Vehicle Body Suspensions (AREA)

Abstract

The invention relates to a drivetrain system for a delivery robot, comprising: a chassis (12) to which a delivery-carrying container (11) is connected; one or more arms (14) (24) connected to the chassis (12); one or more wheels (60) mounted on the arms (14) (24) and rotating rotationally in horizontal axis (x) movement; a suspension (40) containing a shock absorber (42) and a spring (44) mounted on the arms (14) (24) corresponding to each wheel (60) and reducing the shocks during the movement of the wheels (60), where each suspension (40) is independently mounted between the upper arm (14) and the lower arm (24) at a predetermined angle (43) close to the vertical axis (y), and a hub socket (32) at a predetermined height (33) from the ground is provided, where a drive hub (34) that provides the movement of the wheel (60) is mounted.

Description

DRIVETRAIN SYSTEM FOR AN AUTONOMOUS DELIVERY ROBOT
TECHNICAL FIELD
The present invention pertains to a drivetrain system specifically designed for an autonomous delivery robot, incorporating independent suspension mechanisms.
PRIOR ART
In the realm of autonomous delivery robots, particularly those equipped with four or six wheels, the encounter with obstacles during their operational movement is a common challenge. The ability to surmount these obstacles is of paramount importance for the successful execution of the delivery task. The existing body of literature provides a variety of chassis and suspension configurations aimed at enhancing the robot's capability to navigate obstacles with greater ease. Furthermore, it is crucial for the wheels of the delivery robots to maintain effective ground contact, thereby ensuring superior mobility under challenging road conditions, such as snow. The literature reveals a pressing need for innovative solutions that incorporate independent suspensions, aimed at augmenting the ground grip capacity of these robots, thereby enabling them to overcome obstacles more effectively.
US2021309060 discloses an autonomous robot transmission system and method, employing an activated bogie. The invention encompasses a delivery robot equipped with independent actuators and suspensions, each connected to six wheels. The inclusion of independent actuators and suspensions, each linked to six wheels, enables the delivery robot to ascend and descend obstacles, maneuver easily under diverse environmental conditions, and exhibit high maneuverability.
BRIEF DESCRIPTION OF THE INVENTION
The objective of the invention is to develop a delivery robot that overcomes obstacles by increasing the ground grip of the wheels with independent suspensions on each of the four wheels, thereby ensuring better mobility in challenging road conditions like snow. To achieve the aforementioned objectives, the invention describes a drivetrain system for a delivery robot, comprising: a chassis to which a delivery-carrying container is connected; one or more arms connected to the chassis; one or more wheels mounted on the arms and providing movement by rotating rotationally; a suspension containing a shock absorber and a helical spring mounted on the arms corresponding to each wheel and reducing the shocks during the movement of the wheels. In the invention, each suspension is independently mounted between the upper arm and the lower arm at a predetermined angle close to the vertical axis, and a hub socket at a predetermined height from the ground is provided, where a drive hub that provides the movement of the wheel is mounted. In this way, the situation of overcoming obstacles is provided by increasing the ground grip of the wheels by bringing the wheel connection points closer to the ground for each of the independent suspensions on the four wheels, with the shock absorber angle being, for example, 25° relative to the vertical axis.
In a preferred embodiment of the invention, the spring is between a lower plate located at a lower end in the suspension and an upper plate. In this way, the vibration caused by an obstacle is first reduced by the helical spring.
In a preferred embodiment of the invention, the drive hub and the wheels are of predetermined circular diameters. In this way, by ensuring that the drive hub (hub motor)/wheel diameter is larger compared to its counterparts, better curb climbing capability and better mobility in challenging road conditions like snow are provided.
A preferred embodiment of the invention includes a first hole and a second hole corresponding to mounting holes located at a lower end and an upper end in the suspension, where the suspension is mounted to the upper arm and the lower arm. In this way, it is ensured that the suspension can be mounted in a position close to the vertical axis.
In a preferred embodiment of the invention, the upper arm is configured to be mounted to the chassis from a rear end. In this way, it is ensured that the drivetrain system developed for the delivery robot is connected to the chassis from the upper arm.
In a preferred embodiment of the invention, the lower arm is configured to be mounted to the chassis from a rear end. In this way, it is ensured that the drivetrain system developed for the delivery robot is connected to the chassis from the lower arm.
A preferred embodiment of the invention includes an inner socket located in the drive hub where the wheel is mounted. In this way, it is ensured that it can be mounted to the inner socket with a mechanism provided on the wheel. In a preferred embodiment of the invention, the second hole is provided on a protrusion located at the front end. In this way, it is ensured that the shock absorber angle is closer to the vertical axis.
BRIEF DESCRIPTION OF THE FIGURES
Figure 1 shows a front perspective view of a delivery robot.
Figure 2 shows a side perspective view of a delivery robot.
Figure 3 shows the connections related to the drivetrain system for a delivery robot.
DETAILED DESCRIPTION OF THE INVENTION
This detailed description explains the subject matter of the invention with references to examples, without any limitation, solely for better understanding.
Figure 1 and Figure 2 show a delivery robot from front and side perspectives respectively. In Figure 1 and Figure 2, a delivery-carrying container (11 ) and a chassis (12) to which the container (11) is mounted are provided. In the autonomously operating delivery robot (10), there is one or more wheels (60) that provide forward and backward movement along the horizontal axis (x). In the drivetrain system for the subject matter delivery robot, there are four wheels (60). During the delivery process of the delivery robot (10), there is one suspension (40) corresponding to each wheel (60) that reduces vibration against obstacles such as bumps, curbs, and ensures ground grip by overcoming obstacles. Here, the suspensions (40) are mounted independently of each other.
Figure 3 shows the connections related to the drivetrain system for a delivery robot. In the delivery robot (10), there are one or more arms (14) (24) connected to the chassis (12). Here, there is an upper arm (14) and a lower arm (24) corresponding to each wheel (60) connection. The wheels (60) are mounted on the arms (14) (24). The wheels (60) provide the movement of the delivery robot (10) by rotating rotationally. Also, the suspension (40) is mounted on the arms (14) (24) in a manner corresponding to each wheel (60) connection. Here, the suspension (40) is mounted to the upper arm (14) with a first screw (20) where a first hole (18) provided at a front end (16) of the upper arm corresponds to a hole (52) at an upper end (50) of the suspension (40), and is mounted to the lower arm (24) with a second screw (54) and a nut (56) where a second hole (30) on a protrusion (28) provided at a front end (26) of the lower arm corresponds to a hole (52) at a lower end (58) of the suspension (40). The suspension (40) is mounted in a position close to the vertical axis (y) by providing the first hole (18) linearly and the second hole (30) on the protrusion (28) at an angle close to the vertical axis. Also, each suspension (40) contains a shock absorber (42) and a helical spring (44) that reduce the shocks during the movement of the wheels (60). In the drivetrain system for the subject matter delivery robot, each suspension (40) is independently mounted between the upper arm (14) and the lower arm (24) at a predetermined angle (43) close to the vertical axis (y). In one embodiment of the invention, the shock absorber angle (43) for each of the suspensions (40) is, for example, 25° relative to the vertical axis (y). This situation is provided at the same angle on all four wheels (60). Also, in the drivetrain system for the subject matter delivery robot, a hub socket (32) is provided at a predetermined height (33) from the ground, where a drive hub (34) that provides the movement of each wheel (60) is mounted. Thus, the delivery robot (10) gains the ability to climb curbs up to at least 15 cm and travel over rough terrain. Also, thanks to the shock absorber angle (43) being 25° relative to the vertical axis (y) for each of the independent suspensions (40) on the four wheels (60), the wheel (60) connection points get closer to the ground and the ground grip of the wheels (60) is increased, thereby enabling the overcoming of obstacles. In one embodiment of the invention, the spring (44) is connected between a lower plate (46) located at a lower end (58) in the suspension and an upper plate (48). Thus, the vibrations that occur are first reduced by the helical spring (44). In one embodiment of the invention, the drive hub (34) and the wheels (60) are of predetermined circular diameters. Thus, by ensuring that the diameter of the drive hub (hub motor) (34) or the wheels (60) is larger compared to its counterparts, the delivery robot (10) is provided with better mobility in challenging road conditions like snow. Each upper arm (14) in the delivery robot (10) is mounted to the chassis (12) from a rear end (22) and each lower arm (24) is mounted to the chassis (12) from a rear end (38). Also, there is an inner socket (36) provided on the drive hub (34) where each wheel (60) is mounted. Thus, it can be mounted to the inner socket (36) with a mechanism provided on the wheel, which is not shown in the figures.
REFERANS NUMARALARI
10 Delivery robot 38 Rear end
11 Container 40 Suspension
12 Chassis 42 Shock absorber
14 Upper arm 43 Shock absorber angle
16 Front end 44 Spring
18 First hole 46 Lower plate First screw 48 Upper plate
Rear end 50 Upper end
Lower arm 52 Hole
Front end 54 Second screw
Protrusion 56 Nut
Second hole 58 Lower end
Hub socket 60 Wheel
Height x Horizontal axis
Drive hub y Vertical axis
Inner socket

Claims

1- A drivetrain system for a delivery robot, comprising a chassis (12) to which a deliverycarrying container (10) is connected; one or more arms (14) (24) connected to the chassis (12); one or more wheels (60) mounted on the arms (14) (24) and providing movement by rotating rotationally; a suspension (40) containing a shock absorber (42) and a helical spring (44) mounted on the arms (14) (24) corresponding to each wheel (60) and reducing the shocks during the movement of the wheels (60), characterized in that each suspension (40) is independently mounted between the upper arm (14) and the lower arm (24) at a predetermined angle (43) close to the vertical axis (y), and a hub socket (32) at a predetermined height (33) from the ground is provided, where a drive hub (34) that provides the movement of the wheel (60) is mounted.
2- A drivetrain system for a delivery robot according to claim 1 , wherein the spring (44) is configured to be between a lower plate (46) located at a lower end (58) in the suspension and an upper plate (48).
3- A drivetrain system for a delivery robot according to any preceding claim, wherein the drive hub (34) and the wheels (60) are configured to be of predetermined circular diameters.
4- A drivetrain system for a delivery robot according to any preceding claim, wherein a first hole and a second hole (18) (30) corresponding to mounting holes (52) are located at a lower end and an upper end (50) (58) in the suspension, where the suspension (40) is mounted to the upper arm and the lower arm (14) (24).
5- A drivetrain system for a delivery robot according to any preceding claim, wherein the chassis (12) is configured to be mounted to from a rear end (22) of the upper arm (14).
6- A drivetrain system for a delivery robot according to any preceding claim, wherein the chassis (12) is configured to be mounted to from a rear end (38) of the lower arm (24).
7- A drivetrain system for a delivery robot according to any preceding claim, wherein an inner socket (36) is disposed in the drive hub (34) where the wheel (60) is mounted.
8- A drivetrain system for a delivery robot according to any preceding claim, wherein the second hole (30) is configured to be provided on a protrusion (28) located at the front end (26).
PCT/TR2022/050740 2022-07-11 2022-07-11 Drivetrain system for an autonomous delivery robot WO2024063703A1 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
PCT/TR2022/050740 WO2024063703A1 (en) 2022-07-11 2022-07-11 Drivetrain system for an autonomous delivery robot

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/TR2022/050740 WO2024063703A1 (en) 2022-07-11 2022-07-11 Drivetrain system for an autonomous delivery robot

Publications (1)

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WO2024063703A1 true WO2024063703A1 (en) 2024-03-28

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PCT/TR2022/050740 WO2024063703A1 (en) 2022-07-11 2022-07-11 Drivetrain system for an autonomous delivery robot

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Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102390462A (en) * 2011-09-17 2012-03-28 广州大学 Robot traveling device with liftable frame
CN109515087A (en) * 2018-11-02 2019-03-26 吉林大学 A kind of all-terrain moving robot with active independent suspension system
US20200276877A1 (en) * 2017-05-04 2020-09-03 Dalu Robotech, Technology (Beijing) Co., Ltd. Chassis
WO2021176253A1 (en) * 2020-03-05 2021-09-10 Plantium S.A. Modular and reconfigurable electric robot for agriculture
US20210309060A1 (en) * 2020-04-01 2021-10-07 Cartken, Inc. System and method for an autonomous robot drivetrain with an actuated bogie

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102390462A (en) * 2011-09-17 2012-03-28 广州大学 Robot traveling device with liftable frame
US20200276877A1 (en) * 2017-05-04 2020-09-03 Dalu Robotech, Technology (Beijing) Co., Ltd. Chassis
CN109515087A (en) * 2018-11-02 2019-03-26 吉林大学 A kind of all-terrain moving robot with active independent suspension system
WO2021176253A1 (en) * 2020-03-05 2021-09-10 Plantium S.A. Modular and reconfigurable electric robot for agriculture
US20210309060A1 (en) * 2020-04-01 2021-10-07 Cartken, Inc. System and method for an autonomous robot drivetrain with an actuated bogie

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