Two wheel automatic guided vehicles used in combination
AssigneeArrival Limited
InventorAlexander Kozlenok
Life of this patent
Estimating the term…
Abstract
An automatic guided vehicles (AGV) can include: motors, wheels, motor controllers, and batteries coupled to an elongated frame. The two wheels can be mounted on opposite sides of the elongated frame. The wheels can be coupled to motors which can be controlled by motor controllers. The motors and motor controllers can be attached to the frame and a connector flange can be mounted on a center portion of the AGV frame. Linkages are used to couple a plurality of AGVs together. In a two AGV embodiment, the AGVs can be mounted to a front portion and a rear portion on a centerline of a platform. In a four AGV embodiment, front width, rear width, left length, and right length linkages can form a parallelogram with AGVs couple to each of the four corners of the parallelogram.
Claims9
A robotic transportation apparatus comprising:
- a plurality of automatic guided vehicles (AGV) wherein each of the AGVs has a left wheel driven by a left motor, a right wheel driven by a right motor, a motor controller configured to control the left motor and the right motor, and a rotational coupling having a vertical rotational axis coupled to a frame;
- and
- a plurality of linkages, each of the plurality of linkages coupling together two of the plurality of AGVs;
- wherein the rotational coupling allows each of the plurality of linkages to rotate relative to the AGVs;
- and
- an AGV controller configured to control the plurality of AGVs so a shape of the plurality of linkages transitions from a rectangular shape to a non-rectangular parallelogram shape or from a non-rectangular parallelogram shape to a rectangular shape while the robotic transportation apparatus is moving.
Dependencies are inferred from the claim text.