EP4313723A1 - Robot pour transporter des étagères - Google Patents

Robot pour transporter des étagères

Info

Publication number
EP4313723A1
EP4313723A1 EP22717788.8A EP22717788A EP4313723A1 EP 4313723 A1 EP4313723 A1 EP 4313723A1 EP 22717788 A EP22717788 A EP 22717788A EP 4313723 A1 EP4313723 A1 EP 4313723A1
Authority
EP
European Patent Office
Prior art keywords
unit
load bearing
actuator
load
actuator unit
Prior art date
Legal status (The legal status 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 status listed.)
Pending
Application number
EP22717788.8A
Other languages
German (de)
English (en)
Inventor
André Rangel DE SOUSA
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Coalescent Mobile Robotics Ivs
Original Assignee
Coalescent Mobile Robotics Ivs
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 Coalescent Mobile Robotics Ivs filed Critical Coalescent Mobile Robotics Ivs
Publication of EP4313723A1 publication Critical patent/EP4313723A1/fr
Pending legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/075—Constructional features or details
    • B66F9/07513—Details concerning the chassis
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/063—Automatically guided

Definitions

  • the present invention relates to a system for transporting inventory comprising an actuator unit for coupling and pre-loading inventory transport, a latching mechanism unit for coupling to a shelving unit, a robot unit for transporting a shelving unit, and a shelving unit for hosting inventory.
  • the actuator unit may be mounted on a vehicle, where the vehicle may be configured to be manoeuvred to and from a load to be transported from one position to a next position, where the vehicle may release the load at its destination and subsequently move towards a second load to transport the second load to its predetermined position.
  • the load bearing actuator device may be positioned beneath a part of the load to be moved, where the length adjustable actuator may be extended so that the first load bearing surface and/or the second load bearing surface come into contact with a surface area of the load. When the first and/or the second load bearing surfaces are in contact with the load, the load may be coupled to the vehicle via the length adjustable actuator.
  • the vehicle When the load has been coupled to the vehicle, the vehicle may be utilised to move the load from its first position to its second position.
  • the load may tilt or change its angle relative to the vehicle and/or the load bearing actuator during movement, which may mean that the position of the load relative to the vehicle may change. This may e.g. occur where the vehicle accelerates, and the acceleration is not translated instantly to the load.
  • the load may tilt, which may cause instability between the load and the vehicle.
  • a part of the load bearing actuator may tilt along with the load, and thereby reduce the risk that the load is disconnected from the load bearing actuator.
  • the load may be a shelfing unit on wheels
  • the vehicle is positioned below the shelfing unit, and where the load bearing actuator unit is utilised to connect the shelfing unit to the vehicle.
  • the vehicle may have its own set of wheels to manoeuvre, while the shelfing unit may have a second set of wheels to manoeuvre, where the wheels of the shelfing unit may be positioned radially to the wheels of the vehicle.
  • the shelfing unit may tilt relative to the vehicle, when the wheel of the shelfing unit interacts with the bump, the shelfing unit may move in an upwards direction, while the vehicle (which has not interacted with the bump) maintains its position.
  • the pivoting motion of the first and/or the second load bearing surface ensures that the tilting of the shelfing unit does not cause the shelfing unit to be uncoupled from the load bearing actuator.
  • the first and/or the second load bearing surface may follow the movement of the shelfing unit, while the remaining parts of the load bearing actuator will follow the movement of the vehicle, and some of the movement of the load may be isolated from the vehicle.
  • the actuator unit may operate as an articulation between the load and the vehicle, and thereby prevent unwanted disconnections between the load and the vehicle.
  • a load bearing actuator unit as disclosed.
  • the present disclosure is advantageous for warehouses that may be adapted for a solution utilising a vehicle and/or a robot having a load bearing actuator unit according to the present disclosure.
  • warehouses may have uneven floors or may have thresholds between separate parts of the warehouse, where traditional vehicles may have a difficult time passing without possibly losing connection between the vehicle and the warehouse unit, when the vehicle or the warehouse unit passes a threshold.
  • Modern warehouses that are built for robotic movement of vehicles are often adapted to the specific purpose, to ensure that the floors are smooth and continuous in order to prevent disconnection of the warehouse unit and the vehicle, and also where the vehicles often travel along predefined passages within the warehouse, where these passages may be adapted for the specific purpose.
  • the term warehouse should be understood in a broad sense, where the warehouse might be in the form of a supermarket, any type of retail space, or any size warehouse.
  • the term should be understood as any place where items may be stacked or stored for further processing at a subsequent time.
  • the term "pivot” may mean any movement that may occur between the vehicle and the load.
  • the term may be understood as meaning articulated, hinged, swivelling, having a fulcrum, or any similar term that means that the first load bearing surface and/or the second load bearing surface can tilt relative to the second end.
  • load bearing surface means a surface area having which may have predefined size.
  • the pivoting movement may affect the entire load bearing surface or may affect parts of the load bearing surface.
  • the load bearing surface may also be a plurality of surfaces that in cooperation operate as a cooperating load bearing surface.
  • a first joint may be arranged in a position between the first end and the second end where the first joint may be configured to allow the first end to pivot relative to the second end.
  • the joint may be utilised to allow the second end of the load bearing actuator unit to move relative to the first end of the load bearing actuator unit, while still retaining a connection between the two ends.
  • the joint may be a ball joint, a pivot joint, a ball and socket joint.
  • the joint may allow a predefined range of movement in all directions, a predefined range of movement in one direction, two directions, etc.
  • the joint may be configured to translate a load applied by the actuator, or a load applied by the load to be moved by the load bearing actuator unit to the second end, and thereby possibly to the vehicle.
  • the first joint may be a two axis ball joint, allowing movement along a first axis and a second axis, where the second axis is perpendicular to the first axis, allowing pivoting of the actuator in two axis.
  • the first joint may be fixed along a third axis, so that the actuator unit cannot rotate relative to the second send, so that a rotation of the second end of the actuator unit will translate to the same rotational movement of the first end.
  • the coupling member may be configured to increase the friction between the first and/or the second load bearing surface and a surface of the load to be applied to the load bearing actuator unit.
  • This may e.g. mean that the load application surface of the load, such as a shelfing unit, may be a planar surface, which comes into contact with the first load bearing surface and/or the second load bearing surface, and where the load and/or the coupling between the load application surface and the load bearing surface operates as a frictional coupling.
  • the load application surface of the load may be planar, and the load bearing surface of the first end may be planar.
  • the coupling may be fully frictional, and friction between the two surfaces ensure that the first load bearing surface does not offset when forces are applied by the vehicle to move the load in a direction that is different from the load application axis of the actuator unit.
  • the friction forces may be increased by providing a surface treatment to the load bearing surface, and/or where the friction may be increased by increasing the force that is applied to the load application surface by the load bearing surface.
  • the friction may e.g. be increased by applying a force to the load application surface by the actuator unit, as the weight of the load will provide a counterforce, and thereby increase the force between the contacting surfaces.
  • the first joint may be connected with the second end and with the actuator.
  • the first joint may be positioned close to the second end of the load bearing actuator unit, so that the joint may at one end be connected to the second end, while the opposing end of the joint may e.g. be connected to the length adjustable actuator.
  • the pivot point of the joint may be positioned closer to the second end than the first end, allowing the first end to be angled relative to the second end.
  • the load bearing actuator unit may comprise a second joint, where the second joint may be configured to allow the load bearing surface to pivot or tilt relative to the length adjustable actuator, and/or the second end of the load bearing actuator.
  • the second joint may be configured to allow the load bearing surface to pivot or tilt relative to the length adjustable actuator, and/or the second end of the load bearing actuator.
  • the coupling member may be positioned within the peripheral perimeter of the load bearing surface. This means that the load bearing surface may have predefined area, where the peripheral perimeter defines the end points of the load bearing surface.
  • the coupling member may be positioned within the perimeter of the peripheral perimeter of the load bearing surface, so that the coupling member does not increase the size of the load bearing surface.
  • the coupling member may be part of the load bearing surface or may be in the form of a separate part having a load bearing surface.
  • a second load bearing surface of the coupling member in a first position may extend in a direction away from the first load bearing surface in a direction away from the actuator and in a second position the second load bearing surface end may be substantially planar with the first load bearing surface of the first connector.
  • the extended coupling member may come into contact with the load application surface prior to the load bearing surface, and when it comes into contact, the forces applied via the length adjustable actuator may push the coupling member towards the first end and/or the second end of the load bearing actuator unit, until a top part of the coupling member is flush with the surface of the load bearing surface.
  • the top part of the coupling member and the load bearing surface may be in the same plane, where the load application surface is in contact with both the load bearing surface and the end part of the coupling member, and the coupling member is in its second position.
  • the resilient member may be adapted to apply a force to the coupling member, so that the coupling member may receive a part of the load from the load application surface.
  • the resilient member may absorb or store some of the load, and provide a counterforce to the coupling member, e.g. to increase the coupling force between the coupling member and the load application surface.
  • the resilient member may also be utilised to force the coupling member away from the load bearing surface, thereby holding the coupling member in its second position when no load is applied to the load bearing actuator unit.
  • the coupling member may be moveable along a longitudinal axis, allowing the coupling member to move relative to the load bearing actuator unit.
  • the load bearing actuator may comprise a second coupling member and optionally a second resilient member (or subsequent coupling members). By having a second coupling member and optionally a second resilient member, it may be possible to provide a further coupling force between the load bearing surface, the coupling member, and the load application surface of the load bearing actuator unit.
  • the provision of more than one coupling member may mean that if the load tilts relative to the load bearing actuator unit, the coupling member may follow the movement of the load, even though the load bearing actuator unit is maintained in its position.
  • the coupling member may be resiliently coupled in a longitudinal direction, so that if the load application surface is lifted away from the load bearing surface, the coupling member will maintain its connection via its second load bearing surface and follow the load application surface in a direction away from eh first load bearing surface.
  • the coupling member may be resiliently coupled in a longitudinal direction, so that if the load application surface is lifted away from the load bearing surface, the coupling member will maintain its connection via its second load bearing surface and follow the load application surface in a direction away from eh first load bearing surface.
  • the vehicle may be an inventory transport robot.
  • the vehicle may be a warehouse robot, where the vehicle may be utilised to move an inventory item from a first position in a warehouse towards a second position where a user or a robot can pick the inventory item from the warehouse unit utilised to store the inventory item.
  • the warehouse unit may be a shelfing unit, where the shelfing unit may be used to store inventory items, and where the vehicle may move the shelfing unit from a position inside the warehouse (or storage) and towards a picking station, where the inventory item may be collected from the shelfing unit.
  • the load bearing actuator unit may comprise a plurality of coupling members, where the number of coupling members may be between two and ten, or between three and nine, or between four and eight, or between five and seven. In one exemplary embodiment, the load bearing actuator unit may comprise six coupling members and one resilient member for each coupling member.
  • the first coupling member and the second coupling member are configured to move independently of each other.
  • the coupling members may move along its longitudinal direction, allowing the coupling members to move from their first position towards their second position and vice versa.
  • the plurality of coupling members may maintain contact with the load application surface even though the load application surface of e.g. a warehouse unit has tilted relative to the load bearing actuator unit.
  • each coupling member may maintain their connection to the load application surface, thereby allowing the tilting movement without losing the coupling between the vehicle and the load.
  • the at least coupling member, or a subsequent coupling member may comprise a magnet.
  • the provision of a magnet on the coupling member may be facilitated by having the load application surface of the load in the form of a ferromagnetic material, where the magnet of the coupling member may attract or be attracted to the ferromagnetic material, thereby increasing the coupling force between the load and the load bearing actuator unit.
  • the magnet may be in the form of a permanent magnet, or an electromagnet.
  • the magnet When the magnet is a permanent magnet, the magnet may be released by reducing the length of the length adjustable actuator, until the force applied by the actuator exceeds the magnetic force between the materials.
  • the electromagnet may be powered while the load bearing actuator unit is coupled to the load, and when the load is released, the current to the electromagnet may be shut off.
  • the magnetic force may be capable of increasing the friction between the load application surface and the coupling member, so that when a force is applied that is in a different direction than the magnetic force, the friction may be sufficient to allow the vehicle to move the load without losing the coupling between the magnet and the ferromagnetic material.
  • the coupling member having a magnet it is possible to attach the coupling member in any position on the load, provided that the load is made of a ferromagnetic material.
  • the load is in the form of a warehouse unit, such as a shelfing unit on wheels
  • the shelfing unit may be constructed out of a ferromagnetic material.
  • the load bearing actuator unit and the vehicle may be positioned at any position under the shelfing unit, allowing the coupling to come into contact with the flat surface of the lowermost shelf (which may be made out of ferromagnetic material.
  • it may be easier for the vehicle to come into contact with the load as there are no male/female couplings to be made in a specified position, as is common in the art.
  • one end of the resilient member is attached to the length adjustable actuator, and a second end is attached to the first load bearing surface and/or the second load bearing surface.
  • one end of the resilient member may be anchored to the length adjustable actuator, or an intermediate part which is connected to the length adjustable actuator.
  • the resilient member will be connected to the part with is closer to the first end, allowing the resilient member to move together with the length adjustable actuator.
  • the resilient member may be pressed by the actuator, thereby storing some of the load inside the spring.
  • the resilient member maintains its length prior to contact with the load and may be depressed upon contact with the load.
  • the coupling member may have a distribution around a longitudinal axis of the actuator unit, so that an outer periphery of the coupling member and/or coupling members is positioned at a predefined radial distance from the longitudinal axis.
  • the coupling member and/or coupling members may provide a rotational torque between the vehicle/load bearing actuator unit, where the rotational axis is at a distance from the coupling member, in order to reduce the rotational force needed to rotate the load using the vehicle and/or actuator unit.
  • the load bearing actuator unit is configured to fix the load relative to the load bearing actuator unit in a rotational direction. This means that when the first and/or second load bearing surfaces are in contact with the load, any rotational movement of the vehicle and/or the load bearing actuator unit may be transferred as rotational force to the load.
  • the first and/or second load bearing surfaces may be coupled to the load, so that the rotational force is less than the frictional force between the first and/or the second load bearing surfaces.
  • the vehicle and/or robot may be capable of steering the load in a direction that is set by the vehicle and/or robot.
  • shelfing unit may mean any kind of load bearing device that may have one or more wheels allowing the load bearing device to be rolled along a floor to carry a load from one position to another position.
  • the shelfing unit may be a trolley, a rolling device, a dumbwaither, wheeled shelfing unit, etc. It is an object of the present invention to overcome the above-mentioned problems by providing a system comprising an autonomous mobile robot unit for carrying shelves and a latching mechanism unit for connecting a shelf and the autonomous mobile robot, which provides a simpler, safer and more efficient solution for increasing speed, reliability, stability and accuracy of autonomous mobile robots for carrying shelves.
  • this object is achieved by a latching mechanism unit for coupling to a shelving unit when a robot unit is positioned adjacent to the shelving unit, comprising: at least one of a magnet and a magnetically attractable object and a vacuum system and a textured surface attaching to the shelving unit; and a first actuator connector connecting the latching mechanism unit to the upper side of an actuator unit.
  • an object of the invention is to provide a simpler, safer and cost-efficient solution for increasing speed, reliability, stability.
  • More than one magnet may be comprised in the latching mechanism unit depending on the size of the latching mechanism and/or the weight that is to be carried.
  • the latching mechanism unit may further comprise a snap-on connection to achieve a tight and secure connection.
  • the latching mechanism unit further comprises a detaching module configured to apply a detaching force to the shelving unit such that the shelving unit is detached. This may allow an easier and faster detaching operation, resulting in a more efficient unit.
  • the latching mechanism unit further comprises a magnet housing, wherein the magnet housing hosts at least one of a magnet and a magnetically attractable object.
  • the magnet housing has a diameter between 10 mm and 500 mm, preferably between 15 mm and 100 mm, and specifically between 20 and 40 mm. This may allow an efficient contact surface between the latching mechanism unit and the shelving unit, guaranteeing a safe and optimal coupling and pre-loading of the inventory transport.
  • the chosen dimensions may comply with standard components for the unit.
  • the actuator unit comprises a first actuator connector connecting the actuator unit in an upper side; a second actuator connector connecting the actuator unit in a bottom side; an actuator spring acting as suspension of a shelving unit; and an actuator joint coupling the latching mechanism unit with the shelving unit, wherein the actuator joint is connected to the first actuator connector and to the second actuator connector, and wherein the actuator unit upper side supports the shelving unit connected through the first actuator connector to a latching mechanism unit when moving in a horizontal direction.
  • This configuration may allow a balanced inventory transport, reducing vibration and oscillation due to irregularities of the floor, acceleration or deceleration, or uneven weight placement on the shelving unit.
  • the actuator joint may ensure a fast coupling between the latching mechanism unit and the shelving unit. This may result in a reduced operation time minimising accidental events.
  • the actuator unit performs longitudinal movements extending in a height direction up and down, said height direction being substantially perpendicular to a horizontal surface, and wherein the first actuator connector is configured to connect a latching mechanism unit with the shelving unit.
  • the floor surface may be substantially horizontal or inclined. This may allow an easy coupling between the latching mechanism unit and the shelving unit, and further may stabilise the transportation of inventory.
  • the actuator unit is configured to perform at least one of rotary and circular movements.
  • the actuator unit may perform circular movements. This aspect may allow for a more flexible and agile transportation of inventory, minimising operation space and time, and accidental events.
  • the actuator unit when in use is capable to carry loads up to 300 kg.
  • the actuator unit may carry 100, 200 or 250 kg.
  • the actuator unit may further be capable of carrying larger loads, such as 400, 500, 600 or 700 kg. This specifically addresses inventory in warehouse and in particular in a supermarket warehouse, where a shelving unit may be loaded up to 300 kg.
  • the actuator unit comprises a pivot joint.
  • the pivot joint may allow pivotal movements. This allows a wider range of movements of the actuator unit resulting in an enhanced weight control and a better weight distribution control, resulting in a more stable and safer operation and consequently an optimised operation time.
  • the actuator unit comprises an electric motor and/or a pneumatic actuator.
  • the electric motor may allow at least one of vertical and rotational movements. This allows a wider range of movements of the actuator unit resulting in an enhanced weight control and a better weight distribution control, resulting in a more stable and safer operation and consequently an optimised operation time.
  • a robot unit comprises a drive module, the drive module when in use adapted to position the robot unit adjacent to the shelving unit; and a latching mechanism unit for coupling to a shelving unit when a robot unit is positioned adjacent to the shelving unit comprising: at least one of a magnet and a magnetically attractable object and a vacuum system and a textured surface for attaching to the shelving unit; and a first actuator connector for connecting the latching mechanism unit to the upper side of an actuator unit; an actuator unit for coupling and pre-loading inventory transport, the actuator unit comprising: a first actuator connector for connecting the actuator unit in an upper side; a second actuator connector for connecting the actuator unit in a bottom side; an actuator spring for acting as suspension of a shelving unit; and an actuator joint for coupling the latching mechanism unit with the shelving unit, wherein the actuator joint is configured to connect to the first actuator connector and to the second actuator connector, and wherein the actuator unit up-per side supports the shelving unit connected through the first actuator connector to a latch
  • the drive module comprises one or more motorised wheels.
  • the robot unit motorised wheel can be a single spherical one or a more classical setup with 2, 3, 4 or more wheels wherein one of or more of the wheels is suitable for moving and turning the robot unit in an agile, fast and efficient way.
  • the robot unit is an autonomous mobile robot unit comprising a computational hardware, a sensing hardware, and a software, said software analysing the data coming from the sensing hardware and guiding the autonomous mobile robot unit to drive and stop on a floor surface, drive and stop under the shelving unit, drive the actuator unit, and drive the latching mechanism unit.
  • the computational hardware is furthermore capable to regulate and calculate the optimal movements and/or pre-loading variables of latching mechanism unit, the actuator unit, the robot unit and therefore also of the shelving unit. This results in an autonomous mobile robot programmed to sense and move in an efficient way when in operation, preventing accidental events and maximising the speed of transporting the shelving unit.
  • the software comprises an artificial intelligence. This may result in an automatic adjustment to new and unexpected conditions that a robot unit may face during operation, including an adaptive optimisation of the execution speed and followed path, guaranteeing an optimal and efficient in operation service. Therefore, the operation of the robot unit is enhanced.
  • a shelving unit for hosting inventory comprising: a bottom surface made of at least one of a magnetically attractable material and a magnet and a surface for a vacuum system and a textured surface, wherein the bottom surface is configured, when in use, to be latched to a latching mechanism unit.
  • the provision of the shelving unit may allow an efficient contact surface between the latching mechanism unit and the shelving unit, guaranteeing an optimal coupling and pre-loading of the inventory transport.
  • the shelving unit is capable of carrying a weight below 300 kg, and preferably below 250 kg. This specifically addresses inventory in warehouse and in particular in a supermarket warehouse, where a shelving unit is loaded up to 300 kg.
  • a system for transporting inventory comprising: a robot unit for transporting a shelving unit, wherein the robot unit comprises: a drive module, the drive module when in use to position the robot unit adjacent to the shelving unit; and a latching mechanism unit for coupling to a shelving unit when a robot unit is positioned adjacent to the shelving unit comprising: at least one of a magnet and a magnetically attractable object and a vacuum system and a textured surface for attaching to the shelving unit; and a first actuator connector for connecting the latching mechanism unit to the upper side of an actuator unit; an actuator unit for coupling and pre-loading inventory transport, the actuator unit comprising: a first actuator connector for connecting the actuator unit in an upper side; a second actuator connector for connecting the actuator unit in a bottom side; an actuator spring for acting as suspension of a shelving unit; and an actuator joint for coupling the latching mechanism unit with the shelving unit, wherein the actuator joint is configured to connect to the first actuator connector and to the second actuator connector
  • the robot unit and the shelving unit may comprise at least one of metal and stainless steel and plastic.
  • the drive module may comprise batteries for powering at least one of an electric motor for propulsion and an electric motor for controlling and stabilising the motion.
  • the batteries may further contribute to moving the robot unit and/or the shelving unit in a safe and efficient way, resulting in a cost-effective system for transporting inventory.
  • adjacent refers also to: next to, on top of, beneath, preferably below, in close proximity with or in contact with; and that the invention relates to all possible combinations of features recited in the claims.
  • FIG. 1A to fig. 1J show schematic views of an embodiment of the invention
  • Fig. 2A to fig. 2D show schematic views of details of different embodiments of the invention.
  • FIG. 3 shows schematic views of an embodiment of the system for transporting inventory according to the invention
  • Fig. 4A shows a perspective view of an embodiment of the load bearing actuator unit
  • Fig. 4B is a top view of the same
  • Fig. 4C is a side view of the same.
  • Fig. 5 is a cross sectional view of a load bearing actuator unit in accordance with the present disclosure.
  • the sizes of layers and regions are exaggerated for illustrative purposes and, thus, are intended to illustrate the general structures of embodiments of the present invention.
  • Like reference numerals refer to like elements throughout, even though they may not be identical.
  • an actuator unit 1 is connected to a latching mechanism unit (first connector) 2 through a first actuator connector 12.
  • the actuator unit might comprise a pivot joint 16,17,18.
  • the actuator unit 1 may comprise one or more pivot joints 16,17,18, where the pivot joint allows the latching mechanism unit or the load bearing surface 2' to pivot relative to the load to be carried by the actuator unit 1.
  • the provision of a plurality of pivot joints 16,17,18 means that separate parts of the actuator unit may pivot relative to each other.
  • the actuator body may pivot relative to the second actuator connector via the pivot joint 18, while the magnet housing 22 may pivot relative to the interconnector 50, while the interconnector may pivot relative to the actuator joint 15.
  • the actuator unit may pivot relative to load, as well as pivot relative to parts of the actuator unit.
  • the actuator unit 1 further comprises an actuator spring 14, an actuator joint 15 and a second actuator connector 13.
  • the actuator spring 14 may support the load bearing surface 2' or the magnet 23, so that the spring 14 may bear a part of the load applied via the load bearing surface 2' or the second load bearing surface 23' of the magnet.
  • the latching mechanism unit further comprises a magnet housing 22, a magnet 23 (fig. ID and fig. IE) and 231 (fig. 1J), and a detaching module 25.
  • Fig. 1J it may be seen how the resilient member 14, is anchored to the actuator housing 51, so that the force applied to the load bearing surface 2' may be at least partly absorbed or stored in the spring 14.
  • Fig. 2A to fig. 2B show a close-up schematic view of a detail of an embodiment of the invention, wherein the actuator unit 1 is connected to the latching mechanism unit 2 through the first actuator connector 12.
  • the actuator unit further comprises the actuator spring 14 that surrounds the top part of the actuator joint 15.
  • the actuator joint 15 is extending in a height direction and connecting to the latching mechanism unit 2 on its upper end with a pivot joint 16 to the second actuator connector 13.
  • the actuator joint 15 comprises a pivot joint 17.
  • the pivot joints 16, 17 are connected through a tie rod 19. As shown in Fig.
  • the latching mechanism unit 2 is positioned above the actuator spring and above the top part of the actuator joint in the height direction.
  • the latching mechanism unit 2 further comprises a magnet housing 22, a magnet 23 and detaching module 25. This allows the load bearing surface 2' to tilt relative to the load, while maintaining a connection to the load (not shown).
  • Fig. 2C to fig. 2D show a close-up schematic view of a detail of different embodiments of the invention.
  • a top view of the latching mechanism (connector) 2 is presented and a top view of the actuator spring 14, while a part of the actuator joint 15 is visible for reference.
  • the latching mechanism 2 and/or the load bearing surface has a circular cross section or shape, forming a circle, where a peripheral edge 52 of the load bearing surface defines the boundaries of the load bearing surface 2'.
  • at the top of the latching mechanism (load bearing surface) 2 is presented or provided with a magnet 23 and a magnet housing 22, or where a magnet may be positioned within the boundary of the load bearing surface 2' in a central position.
  • three magnets 231, 232, 233 are positioned on the magnet housing 22 or the load bearing surface.
  • the magnets may be positioned closer to the centre of the circle of the latching mechanism 2 or towards the periphery of the circle.
  • the magnets 23, 231,232,233 may be seen as a coupling member, where the magnets allow the actuator unit 1 to be coupled to a load.
  • one or more screw holes or installation holes may be comprised to allow for secure connection with attaching elements.
  • Fig. 3 shows a schematic view of an embodiment of the system for transporting inventory according to the invention.
  • the actuator unit 1 is connected on the top to the latching mechanism unit 2.
  • the latching mechanism unit 2 is connected with a bottom surface 41 of a shelving unit 4.
  • the actuator unit 1 is connected on a bottom part to a robot unit 3 (vehicle).
  • the robot unit 3 has a drive module 31 for moving the robot unit 3, the latching mechanism unit 2 and the actuator unit 1 on a floor 100.
  • the drive module 31 moves the system 5 for transporting inventory on the floor 100.
  • the system 5 for transporting inventory comprises the shelving unit 4, the robot unit 3, the latching mechanism unit 2 and the actuator unit 1.
  • the system 5 can therefore move the inventory on a horizontal axis parallel to the floor 100. In case of an inclination of the floor, the system 5 can keep the inventory on a horizontal axis independent of the floor inclination.
  • the drive module 31 comprises batteries for powering an electric motor for propulsion and/or an electric motor for controlling and stabilising the motion.
  • the top part of the robot unit 3, comprising the latching mechanism 2 is not solid and has a stepped configuration on its upper part, preferably comprising a safe material and/or a safe material coating. This way, an operator can safely stand or walk by, and inventory items damages due to the accidental fall are thus mitigated.
  • a safe material may be a polymer, a polymer such as Ethylene-vinyl acetate, a non-Newtonian fluid or a resin.
  • Fig. 4A shows a perspective view of an embodiment of a load bearing actuator 100, where the load bearing actuator 100 comprises an actuator housing 102, a second end 104, where the second end is provided with a connector plate 106 which may be utilised to attach the actuator unit 100 to a vehicle.
  • the actuator unit 100 comprises a first end 108, which is configured to be attached to a load (similar to that shown in Fig. 3), where the first end comprises a first load bearing surface 110, where the first load bearing surface is configured to receive a load and/or a force when the actuator unit is lengthened in the direction of a longitudinal axis A of the actuator unit 1.
  • the first load bearing surface 110 has a peripheral edge 114, that extends in a radial direction (orthogonal from the longitudinal axis) and defines the area of the first load bearing surface 110.
  • the first end 108 further comprises coupling members 112, where the coupling members 112 extend in a direction away from the first load bearing surface 110.
  • the coupling members 112 have a second load bearing surface 116, where the second load bearing surface is configured to come into contact with a load to be handled by the vehicle and/or the load bearing actuator 100.
  • Each of the coupling members 112 may be connected with the load bearing actuator unit via a spring 118 (shown in fig.
  • Each coupling member may be individually maneuverer, allowing each coupling member to adjust to the position of the load to be attached to the actuator unit 100, and can thereby adjust to any tilting motion of the load.
  • the load may e.g. be a shelfing unit as shown in fig. 3, where the shelfing unit has a plane bottom surface which the first and/or second load bearing surfaces can be in contact with.
  • the plane bottom surface may be a load application surface of the load/shelfing unit.
  • One or more of the coupling members 112 may each be provided with a magnet 120 which is positioned closely to the second load bearing surface, where the magnet 120 may be coupled to the load application surface, where the load application surface comprises a ferromagnetic material, allowing the magnet 120 to attract to the load application surface, and provide a magnetic force between the coupling member 112 and the load application surface. This may increase the friction between the load application surface and the coupling member 112.
  • the second load bearing surface 116 By providing the coupling members 112 as extending in a direction from the first load bearing surface 110, the second load bearing surface 116 to come into contact with the load prior to the load being contacted by the first load bearing surface 110.
  • the load bearing actuator unit may comprise a joint 122, which allows the actuator housing 102 and the first end 108 of the actuator unit to be tilted relative to the second end 104 and/or the connector plate.
  • the joint 122 is seen in more detail in fig. 6.
  • the joint allows the first end 108 to tilt or pivot relative to the second end 104, and where the first load bearing surface 110 may follow a tilting movement of a load (seen in fig. 3) that is attached to the first load bearing surface. This reduces the risk that the frictional force between the load application surface of the load and the first load bearing surface is reduced, causing a possible disconnection of the load from the load bearing actuator unit and/or the vehicle.
  • the joint 122 allows the connector plate 106 and/or the second end 102 of the unit 100 to be stationary, while the part of the load bearing actuator unit that is above the joint 122 may pivot in the directions B, where the directions are perpendicular to the longitudinal axis A.
  • the load bearing actuator unit can tilt in any direction along a 2D plane, to follow any movement of the load to be carried by the unit 100.
  • Fig. 4B shows the load bearing actuator unit 100 from the top, where it may be seen that each coupling member 112 is positioned within the peripheral edge 114 of the first load bearing surface 110.
  • Fig. 4C shows a front view of the load bearing actuator unit 100 in accordance with the present disclosure, where the coupling members 112 are shown as extending out of the first load bearing surface 112 of the unit 100.
  • the load bearing actuator unit comprises a joint 122, where the joint may be seen as separating a bottom part 124 of the load bearing actuator unit from an upper part 126 of the load bearing actuator unit 100, allowing the upper part 126 to pivot relative to the bottom part 124, or vice versa.
  • Fig. 5 is a schematic cross-sectional view of a load bearing actuator unit 100 or at least an upper part 126 of a load bearing actuator unit 100.
  • the upper part 126 comprises an actuator 128, where the actuator comprises a stationary part 130 and a dynamic part 132, where the dynamic part 132 is capable of extending in a direction away from the stationary part 130, allowing the actuator 128 can extend or shorten the length of the upper part 126 during use.
  • the stationary part 130 is connected to a joint 126 (as seen in fig. 4A-C) allowing the upper part 126 to tilt at a pivot point 134.
  • the stationary part 130 and the dynamic part 132 may be reversed, so that it may be the dynamic part that is connected to the second end of the unit 100.
  • the upper part may further comprise a base part 134, which may be connected to the dynamic part, where the base part may define the first load bearing surface 116 and may comprise one or more bores 136 which may hold a resilient member 138 and the coupling member 112.
  • the bore 136 may have a first end 140 that may extend through the first load bearing surface 116, and a second end 142 that is opposite to the first end 140.
  • the bore may have a longitudinal axis C that is parallel to the longitudinal axis A of the load bearing actuator unit 100.
  • the resilient member 138 may be positioned inside the bore 136, where a second end 144 of the resilient member 138 may be in contact with the second end 140 of the bore 136 providing a counterforce to the resilient member.
  • the first end 146 of the resilient member may be connected to the coupling member 112, allowing a force that is applied to the coupling member 112 to be absorbed or stored in the resilient member 138.
  • the coupling member 112 may further comprise a stop member 148, where the stop member 148 may have a diameter that is larger than the diameter of the opening 150 of the bore 136, so that the stop member prevents the coupling member 112 from extending beyond the opening 150 in the longitudinal direction.
  • the resilient member may allow the coupling member to be depressed in towards the second end 140 of the bore, so that the second load bearing surface 116 of the coupling member may be flush to the first load bearing surface 110.
  • each coupling member 112 in the unit 100 allows each coupling member to move individually relative to each other, so that one or more coupling members may be depressed into a bore 136 while other coupling members may be fully or more extended than the depressed coupling members 112.
  • one or more coupling members 112 may follow the tilting motion of the load and maintain contact with the load despite some parts of the load may extend in a direction away from the first load bearing surface.
  • the second load bearing surface 116 of the coupling member 112 will maintain contact with the load and maintain the coupling between the load and the load bearing actuator unit 100.
  • Fig. 6A shows a perspective view of a bottom part 124 of the unit 100, where the bottom part may comprise a connector plate 106 and a joint 122, where the joint may be connected with the upper part 126, as seen in figs. 4C and 5.
  • Fig. 6B shows the same, where a part of the plate 106 and the joint have been cut along axis E seen in fig. 6A, showing a cross section of the joint 122 and the connector part 106.
  • the joint 122 may have two pivot axis D1 and D2 where a first pivot part 152 is capable of pivoting along axis Dl, while a second pivot part 154 allows the upper part to pivot along axis D2.
  • This joint 122 allows the upper part 126 to pivot relative to the bottom part 124 in any direction which is perpendicular to the longitudinal axis A.
  • a latching mechanism unit (2) according to any of the previous items, wherein the latching mechanism unit (2) further comprises a magnet housing (22), wherein the magnet housing (22) hosts at least one of a magnet (23, 231, 232, 233) and a magnetically attractable object.
  • An actuator unit (1) for coupling and pre-loading inventory transport comprising: a first actuator connector (12) connecting the actuator unit (1) in an upper side; a second actuator connector (13) connecting the actuator unit (1) in a bottom side; an actuator spring (14) acting as suspension of a shelving unit (4); and an actuator joint (15) coupling the latching mechanism unit (2) with the shelving unit (4), wherein the actuator joint (15) is connected to the first actuator connector (12) and to the second actuator connector (13), and wherein the actuator unit upper side supports the shelving unit (4) connected through the first actuator connector to a latching mechanism unit (2) when moving in a horizontal direction.
  • An actuator unit (1) for coupling and pre-loading inventory transport according to item 4, wherein the actuator unit (1) performs longitudinal movements extending in a height direction up and down, said height direction being substantially perpendicular to a horizontal surface, and wherein the first actuator connector (12) is configured to connect a latching mechanism unit (2) with the shelving unit (4).
  • a robot unit (3) for transporting a shelving unit (4) wherein the robot unit (3) comprises: a drive module (31), the drive module (31) when in use adapted to position the robot unit (3) adjacent to the shelving unit (4); and a latching mechanism unit (2) for coupling to a shelving unit (4) when a robot unit (3) is positioned adjacent to the shelving unit (4) comprising: at least one of a magnet (23, 231, 232, 233) and a magnetically attractable object and a vacuum system and a textured surface for attaching to the shelving unit (4); and a first actuator connector (12) for connecting the latching mechanism unit (2) to the upper side of an actuator unit (1); an actuator unit
  • the actuator unit comprising: a first actuator connector (12) connecting the actuator unit (1) in an upper side; a second actuator connector (13) connecting the actuator unit (1) in a bottom side; an actuator spring (14) acting as suspension of a shelving unit (4); and an actuator joint (15) coupling the latching mechanism unit (2) with the shelving unit (4), wherein the actuator joint (15) is connected to the first actuator connector (12) and to the second actuator connector (13), and wherein the actuator unit upper side supports the shelving unit (4) connected through the first actuator connector to a latching mechanism unit
  • the drive module (31) is operable to move the robot unit (1) and, when the shelving unit (4) is latched to the robot unit (1), the drive module is configured to transport the shelving unit (4).
  • a robot unit for transporting the shelving unit (4) according to any of items 9 to 10 wherein the robot unit (3) is an autonomous mobile robot unit comprising a computational hardware, a sensing hardware, and a software, said software analysing the data coming from the sensing hardware and guiding the autonomous mobile robot unit to drive and stop on a floor surface (100), drive and stop under the shelving unit (4), drive the actuator unit (1), and drive the latching mechanism unit (2).
  • the software comprises an artificial intelligence.
  • a shelving unit (4) for hosting inventory comprising: a bottom surface (41) made of at least one of a magnetically attractable material and a magnet and a surface for a vacuum system and a textured surface, wherein the bottom surface (41) is configured, when in use, to be latched to a latching mechanism unit (2).
  • a system (5) for transporting inventory wherein the system comprises: a robot unit
  • the robot unit (3) for transporting a shelving unit (4)
  • the robot unit (3) comprises: a drive module (31), the drive module (31) when in use adapted to position the robot unit (3) adjacent to the shelving unit (4); and a latching mechanism unit (2) for coupling to a shelving unit (4) when a robot unit (3) is positioned adjacent to the shelving unit (4) comprising: at least one of a magnet (23, 231, 232, 233) and a magnetically attractable object and a vacuum system and a textured surface for attaching to the shelving unit
  • first actuator connector (12) for connecting the latching mechanism unit (2) to the upper side of an actuator unit (1); an actuator unit (1) for coupling and pre- loading inventory transport, the actuator unit comprising: a first actuator connector
  • actuator joint (15) coupling the latching mechanism unit (2) with the shelving unit (4), wherein the actuator joint (15) is connected to the first actuator connector (12) and to the second actuator connector
  • the actuator unit upper side supports the shelving unit (4) connected through the first actuator connector to a latching mechanism unit (2) when moving in a horizontal direction; wherein the drive module (31) is operable to move the robot unit (1) and, when the shelving unit (4) is latched to the robot unit (1), the drive mod-ule is configured to transport the shelving unit (4); a shelving unit (4) for hosting inventory, the shelving unit (4) comprising: a bottom surface (41) made of at least one of a magnetically attractable material and a magnet and a surface for a vacuum system and a textured surface, wherein the bottom surface (41) is configured, when in use, to be latched to a latching mechanism unit (2).

Landscapes

  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Structural Engineering (AREA)
  • Civil Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Geology (AREA)
  • Mechanical Engineering (AREA)
  • Warehouses Or Storage Devices (AREA)

Abstract

Un ensemble mécanisme de verrouillage (2) destiné à être accouplé à un ensemble de rayonnage (4) lorsqu'un ensemble robot (3) est positionné à côté de l'ensemble de rayonnage (4), comprenant : un aimant (23, 231, 232, 233) et/ou un objet pouvant être attiré magnétiquement et/ou un système à vide et/ou une surface texturée destinée à être fixée à l'ensemble de rayonnage (4) ; et un premier raccord d'actionneur (12) pour relier l'ensemble mécanisme de verrouillage (2) au côté supérieur d'un ensemble actionneur (1).
EP22717788.8A 2021-03-24 2022-03-23 Robot pour transporter des étagères Pending EP4313723A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DKPA202170130 2021-03-24
PCT/EP2022/057685 WO2022200462A1 (fr) 2021-03-24 2022-03-23 Robot pour transporter des étagères

Publications (1)

Publication Number Publication Date
EP4313723A1 true EP4313723A1 (fr) 2024-02-07

Family

ID=81346287

Family Applications (1)

Application Number Title Priority Date Filing Date
EP22717788.8A Pending EP4313723A1 (fr) 2021-03-24 2022-03-23 Robot pour transporter des étagères

Country Status (2)

Country Link
EP (1) EP4313723A1 (fr)
WO (1) WO2022200462A1 (fr)

Family Cites Families (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US7402018B2 (en) 2004-10-14 2008-07-22 Kiva Systems, Inc. Inventory system with mobile drive unit and inventory holder
DE102014017532B3 (de) * 2014-11-27 2016-01-21 Kuka Roboter Gmbh Modulares Niederflurtransportsystem
US9890025B2 (en) * 2015-11-24 2018-02-13 Amazon Technologies, Inc. Mechanical tipping assembly for mobile drive unit of inventory system
DE102016006826A1 (de) * 2016-06-03 2017-12-07 Kuka Roboter Gmbh Unterfahrschlepper

Also Published As

Publication number Publication date
WO2022200462A1 (fr) 2022-09-29

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