| CPC B60K 7/0007 (2013.01) [B60G 11/14 (2013.01); B60K 17/043 (2013.01); B25J 5/007 (2013.01); G05D 1/0088 (2013.01)] | 15 Claims |
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1. An autonomous mobile robot (AMR), comprising:
a base frame configured based on one or more parameters, wherein
the one or more parameters corresponds to one or more dimensions associated with the AMR,
the base frame includes a top plate, a bottom plate, one or more side plates, a rear plate, one or more corner plates, and a front plate,
the one or more side plates includes a top portion,
the top portion includes a plurality of standoffs and a structural tubing, and
the top plate is connected to the base frame with the plurality of standoffs,
the rear plate comprises an ON/OFF switch and a switch protecting cover,
the ON/OFF switch is enclosed within the switch protecting cover;
a sensor on the top plate of the base frame;
a battery holding plate configured to provide a platform for mounting one or more electrical and electronic components, wherein the battery holding plate is configured to divide an interior of the AMR into two compartments;
a drive wheel assembly that includes a first drive wheel assembly and a second drive wheel assembly, wherein
the second drive wheel assembly is opposite to the first drive wheel assembly, and
the second drive wheel assembly is identical to the first drive wheel assembly;
a first flange on the front plate and a second flange on the rear plate, wherein
the first flange has a first width and the second flange has a second width,
the first width of the first flange is smaller than the second width of the second flange;
a plurality of drive motors;
a plurality of gearboxes that includes a plurality of gearbox plates, wherein
a plurality of suspension units are adapted to the one or more side plates of the base frame and the plurality of gearboxes,
the plurality of gearboxes are is configured to obtain varying drive power for the first drive wheel assembly and the second drive wheel assembly, wherein the varying drive power is based on a ratio of a wheel shaft gear and a motor gear shaft;
the plurality of suspension units comprises:
two sets of linear bearings with two sets of coil springs,
two sets of spring housings, and
at least one suspension stroke restrictor,
wherein the two sets of linear bearings with the two sets of coil springs, the two sets of spring housings, and the at least one suspension stroke restrictor forms an independent twin linear suspension system,
wherein an outer diameter of at least one linear bearing among the two sets of linear bearings and an inner diameter of at least one spring housing among the two sets of spring housings form a cylindrical sliding bearing contact component,
wherein the twin linear suspension system facilitates a connection between a drive motor of the plurality of drive motors and the one or more side plates, wherein the twin linear suspension system is mounted in between a gearbox of the plurality of gearboxes and the one or more side plates thereby separating the drive motor from the one or more side plates, and wherein each drive wheel of a plurality of drive wheels associated with the drive wheel assembly is driven by a respective individual drive motor of the plurality of drive motors,
wherein the plurality of suspension units are configured to independently enables up and down movement of the AMR to accommodate variability of a ground surface;
a bearing unit that includes two ball bearings, an oil seal, a spacer, a shaft spacer, and a bearing cover, wherein and
relative axial movement of the two ball bearings with respect to the motor gear shaft is constrained using the oil seal, the spacer, the shaft spacer, and the bearing cover; and
an encoder and an encoder shaft coupled to one another by a flexible coupling, wherein the encoder is configured to monitors and provides feedback to control motion parameters of the AMR including one or more of speed, acceleration, direction, distance, or position.
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