FI13587Y1 - An actuator placed in connection with an unmanned transport device and a transport arrangement - Google Patents

Abstract

Actuator (1) placed in connection with an unmanned transportation device, comprising a frame structure (3), a fastening mechanism (17) for attaching the actuator (1) to the transportation device, and operating means for placing a load on the actuator (1) and removing it from the operating device (1), characterized in that the operating means for the load for taking and removing comprise a conveyor (4) in the same actuator (1) and a lifting device (5) arranged to move the load vertically with respect to the surface level of the conveyor (4).

Description

A TOI PLACED IN CONNECTION WITH AN UNMANNED TRANSPORTATION DEVICE

SHIPPING AND TRANSPORT ARRANGEMENT

The subject of the invention is the actuator defined in the preamble of claim 1 and the transport arrangement defined in the preamble of claim 6 placed in connection with an unmanned transport device.

The actuator according to the invention is suitable for placement in connection with unmanned transport devices of several different manufacturers. Such transport devices include, for example, various mobile robots and AGV devices. A mobile robot is also called an AMR device, which comes from the English words "autonomous mobile robot". Similarly, the name of AGV devices comes from the English words "automated guided vehicle". In Finland, AGV devices are also called "wedding carriage".

Although below in the context of this application, for the sake of simplicity, only a mobile robot is treated as an unmanned transport device in several points, in this application the term can also mean both an AGV device and some other unmanned vehicle developed or to be developed for the purpose, preferably equipped with wheels.

S 25 jet device. & © Mobile robots are independently moving, automated

N and guided vehicles programmed to operate in both 2 indoor and outdoor logistics environments such as industrial

S 30 in environments, production lines, warehouses, distribution centers and large department stores. Using mobile robots

In material transport and logistics, for transporting various objects, goods and packages, for example, on top of an actuator connected to a mobile robot that functions as a transport device. Mobile robots can be used to automate heavy or repetitive tasks, which improves efficiency and safety.

The basic structures, operating principles, control, control and usage methods of the above-mentioned AMR and AGV devices, as well as other transport devices suitable for the purpose, are generally known technology, so they will not be explained in more detail in this context.

One solution according to known technology of an actuator connected to a mobile robot is presented in international patent application No. WO2023057447A1. In this solution, the actuator is intended to move a cart equipped with wheels and loaded with a load essentially horizontally. The actuator has vertically moving pins, which are raised to the corresponding members in the trolley, when the actuator has been moved to the right place under the trolley with the help of a mobile robot. The actuator only raises and lowers the pins mentioned. The actuator does not have an actual lifter nor a conveyor. For this reason, the actuator can only be used for one purpose, i.e. only for the horizontal movement of a wheeled shelf trolley with certain dimensions.

S 25 toon. & © We also know others that can be placed on top of mobile robots

N actuators with, for example, lifting equipment for lifting and lowering loads and especially pallets. This

With S 30, for example, a pallet can be lifted from a special rack 3 by driving the mobile robot to the center of the rack, after which

The N pallet is lifted off the rack using the two-part lifting device on top of the robot, in essentially the same way as with a forklift, and moved with the mobile robot to the designated place, where the pallet is placed on the rack again. The actuator intended for handling such pallets has a special lifting device for this purpose, which is intended only for this purpose. It is difficult to lift goods other than pallets with the device.

In addition, actuators that can be placed on top of mobile robots are also known, with a short Conveyor system for the horizontal transfer of individual packages and/or loads on top of pallets. In this case, the package or pallet can be taken from a fixed conveyor, for example, by driving the mobile robot to the end of the fixed conveyor and transferring the load on the fixed conveyor to the actuator's conveyor using both conveyors. One such solution is presented in US patent publication US11137772

B2. Since known conveyor-equipped mobile robot actuators do not have a lifting device, they can only be used in conjunction with conveyors.

In connection with the logistics of mobile robots, loads, i.e. pallets, packages and other similar loads, are handled almost exclusively in three different ways of use, which are: 1) Load

Moving N 25 with conveyors, 2) Moving the load with lifts 5 between load racks and 3) Moving the load on a shelf: or in a trolley. = > As a problem in all prior art, mobile

S 30 with the actuator placed in connection with the robot or other unmanned transportation device 3 is that each actuator

N is intended for only one of the above-mentioned three ways of use. An actuator equipped with a conveyor cannot move a load between load racks or move goods on a shelf or trolley. An actuator equipped with a lifting device cannot take a load from the conveyor or unload its load onto the conveyor. Similarly, an actuator that moves shelves and trolleys cannot transfer its load to the conveyor or the pallet rack, nor can it take a load from them.

With solutions according to known technology, where the actuator connected to the mobile robot can implement only one of the above-mentioned three modes of use, the designers of production and internal logistics automation have to choose the option that best suits each situation.

The functions of the actuator and the functions of the mobile robot must be coordinated with each other. Therefore, only a mobile robot configured in a certain way is suitable for each actuator, and vice versa. This means that, for example, an actuator equipped with a conveyor cannot necessarily be successfully connected to a mobile robot configured for a pallet lift, etc. For this reason, as many mobile robots are often needed as there are actuators suitable for different purposes. Mobile robots are expensive, so a solution according to known technology is a very expensive solution and easily leads to suboptimal utilization.

S 25 + If mobile robots configured for the aforementioned different modes of use are purchased from different manufacturers, it can be

In some cases, it reduces the number of mobile robots, & but the problem is that in this case a robot is needed

S 30 also several different types of chargers, spare parts, etc. 3 This solution is considerably expensive and logistically

N's mouth is ineffective.

The use of many different types of mobile robots, i.e. configured for different uses, also has the problem that, for example, the failure of one type of robot can make another type of robot "unemployed". An example is 5 a situation where there are two lifting robots, two conveyor robots and two If, for example, one lifting robot breaks down, the capacity of the entire robot fleet is reduced by half. - according to van, only 16.7%.

The purpose of this invention is to eliminate the above-mentioned disadvantages and to provide an inexpensive, reliable and easy-to-use actuator placed in connection with a mobile robot, which enables the use of the same mobile robot for several different purposes. In addition, the purpose is to create a low-cost and logistically efficient transport arrangement, one part of which is an unmanned transport device, such as a mobile robot.

The actuator according to the invention is characterized by

N 25 what is presented in the distinguishing mark part of claim 1, and 5 for the transport arrangement according to the invention is characteristic = what is presented in the distinguishing mark part of claim 6.

N Other application forms of the invention are characterized by what 2 is presented in the other protection claims. 3 30 3 In order to fulfill its purpose, the solution according to the invention

N comprises an actuator placed in connection with an unmanned transport device, which comprises a frame structure,

for attaching the actuator of the actuation mechanism to the transport device and means for taking the load onto the actuator and removing it from the actuator. Advantageously, the operating means for picking up and removing the load comprise a conveyor and a lifting device in the same actuator, which is arranged to move the load vertically in relation to the surface level of the conveyor.

The subject of the invention is also a transport arrangement, which comprises a mobile robot, on top of which an actuator is fitted, which is arranged to handle different loads. Advantageously, in order to handle the load, the actuator has both a conveyor and a lifting device, which is arranged to move the load vertically in relation to the surface level of the conveyor.

One of the great advantages of the solution according to the invention is that the solution according to the invention can implement an intelligently functioning and flow-efficient logistics and production environment, where the work between robots and people is smooth and safe. Another advantage is that the failure of a mobile robot in the logistics chain does not reduce the capacity of the entire logistics chain as much as in solutions according to known technology.

N 25 Another advantage is that the side edges of the actuator are 5 below the transport level of the conveyor. In this case, the actuator = can be driven into a standard-sized pallet rack

N for placing the pallet on top of the actuator and the pallet

To lower E onto the pallet rack. The father of this

The load on top of the S 30 can be wider than the actuator, because the distance between the side edges of the actuator is not

N divides the width of the load.

Another advantage is that the solution according to the invention can be used to calculate the total costs of a mobile robot system that requires several functions, i.e. ways of use, significantly.

The invention is explained in more detail in the following with the help of application examples by referring to the attached simplified and diagrammatic drawings, in which Figure 1 shows a diagonal top view of one actuator according to the invention placed in connection with a mobile robot or an unmanned transport device suitable for the same purpose, Figure 2 shows the actuator according to Figure 1 when viewed from above , Fig. 3 shows a side view, simplified and partially cut away, of one lifting device used in the actuator according to the invention, Fig. 4 shows the lifting device according to Fig. 3 as a front view and the lifting platforms raised to their upper position. Figure 5 shows a side view and partially cut away of one of the conveyors used in the actuator according to the invention, Figure 6 shows a front view and partially cut away

N 25 one actuator according to the invention with the lifting levels 5 raised to their upper position, and = Figure 7 shows one edge of the actuator according to Figure 6

N enlarged and simplified and with the end wall of the carriage 2 part removed. 3 30 3 As an application example, for the sake of simplicity, mo-

N mobile robot application, but instead of a mobile robot, an AGV device can also be used as a transport device or a purpose-

and other suitable unmanned transport equipment. The term "load" below generally refers to all kinds of loads transported on pallets, loads packed in boxes or other packaging, and goods, objects and products that can be lifted and transported by roller conveyor.

Figure 1 shows, viewed obliquely from above, one inventive actuator 1, which is placed via its frame structure 3 in connection with a mobile robot 2 moved by its drive wheel 2a or a similar unmanned transport device suitable for the purpose. Accordingly, figure 2 shows the actuator 1 according to figure 1, viewed directly from above.

Actuator 1 comprises a conveyor 4, preferably a roller conveyor equipped with rollers 4a, and a lifting device 5 equipped with two lifting platforms 5b, which is specially configured to be suitable for lifting pallets. The flat upper surface of the 5 lifting platforms bb of the lifting device is also suitable for lifting other than lifting pallets. In Figure 1, the lifting platforms 5b have been raised to their upper position.

The frame structures of the roller conveyor 4 and the lifting device 5 together

N 25 form the frame structure 3 of the actuator 1, which can be connected to the mobile robot 2, on the top surface of the mobile robot 2. The lifting device 5 comprises two elongated,

N parallel and horizontally spaced apart 2 conveyor 4 housing structures 5a in the transport direction, which

S 30 is placed immediately on the rollers 4a of the conveyor 3 without touching the rollers 4a.

O

5

The width and distance of the housing structures 5a from each other is

made to correspond to the space of pallets in general use, which, for example, the lifting forks of forklifts are suitable for. In this case, the mobile robot 2 can drive under the pallet on the pallet rack so that the housing structures 5a go inside the height space of the pallet.

The housing structure 5a is at its widest in the middle of its length and narrows towards the ends. In addition, the housing structure 5a comprises a brick part bc at each end, which, when viewed from above, narrows symmetrically towards the end of the housing structure 5a. Viewed from the side, the upper surface of the end part bc is tilted forward, i.e. lowers towards the end of the housing structure 5a. The shape of the housing structure ba facilitates driving the actuator 1 under the pallet.

Inside the housing structure 5a, there is a vertically moving lifting platform 5b of the lifting device 5. Preferably, the lifting platform 5b is rectangular when viewed from above and fitted into the rectangular opening on the upper surface of the housing structure ba. Lifting platform 5b and its operation are explained in more detail below.

Advantageously, in connection with the lifting platforms 5b, there are means 10, which can be used in connection with moving storage shelves and shelf trolleys from one place to another to ensure that the objects to be moved remain on top of the actuator 1. The simplest

The means of S 25 are a set of openings 10 on the upper surface of the lifting platforms 5b, to which the openings 10 in the storage shelves and shelf trolleys and the openings 10 corresponding to the

N dätpins can be placed when lifting platforms 5b are lifted with 2 lifting device 5 on storage shelves and shelf trolleys

S 30 to counter surfaces.

N The roller conveyor 4 has a flat surface 6 between the rollers 4a, which prevents objects smaller than the gap between the rollers 4a from falling into the actuator 1. The flat surface 6 can be substantially uniform or it can consist of a number of short flat plates that are not under the housing structures 5a of the lifting members 5n.

Correspondingly, the surface plane of the roller conveyor 4 is the plane formed by the upper surface of the rollers 4a, which is essentially a horizontal plane when the mobile robot 2 is on a flat and horizontal platform.

The load moving on the roller 4a travels in the surface plane of the rollers 4a of the roller conveyor 4.

The long sides of the roller conveyor 4 are housing structures 4b, the outer walls 40 of which form the side walls of the actuator 1.

The end walls 4e of the roller conveyor 4 form the end walls of the actuator 1, respectively. On top of the housing structures 4b on the sides of the roller conveyor 4 are the essentially narrow, flat and low side edges 7 of the actuator 1.

Figures 3 and 4 show the construction of the lifting device 5 in more detail, but simplified and partially cut away. Figure 3 shows the structure of the lifting device 5 as viewed from the side and Figure 4 as viewed from the front. In Figure 3, the lifting platform 5b is shown in the lower position, whereby the upper surface of the lifting platform 5b is preferably in the same plane as the upper surface 5u of the housing structure 5a.

N 25 & + The lifting device 5 comprises two parallel, horizontal distance = away from each other elongated lifting member 5n, which

N is connected to each other by the cross-pieces located at the lower ends of the lifting members 2, located below the rollers 4a of the conveyor.

S 30 with 14 and possibly other support beams. Lifting members 3 5n, cross beams and support beams form the lifting device 5

N frame structure. The lifting device 5 is preferably in the middle of the actuator 1 in the widthwise direction of the actuator 1.

The housing structures 5a of the lifting members 5n of the lifting device 5 and the lifting surfaces 5b inside them are parallel to the transport direction of the conveyor 4, i.e. perpendicular to the rotation axes of the rollers 4a. This enables e.g. handling pallets with the same actuator conveyor 4 and lifting device 5.

The housing structures 5a and at the same time the lifting platforms 5b are also essentially parallel to the main movement direction of the mobile robot 2, i.e. to the longitudinal direction of the mobile robot 2. The housing structures 5a and the lifting surfaces 5b are similar to each other and extend in their longitudinal direction perpendicularly over more than one roller 4a, preferably over all the rollers 4a of the roller conveyor 4.

The lifting members bn are partially placed inside the roller conveyor 4 both in the width direction and in the height direction of the actuator 1. Each lifter 5n is preferably a case-like structure assembled from metal sheets, with two essentially vertical side walls 16 at a horizontal distance from each other, and the previously mentioned case structure 5a, which connects the upper edges of the side walls 16 and is open downwards, resembling the shape of a square U-profile in cross-section. Co-

N 25 frame structure ba is attached from its lower edges to the upper edges of the side walls 5 with fastening elements 15, such as screws and nuts. = > Because the housing structure 5a and the side walls 16 below it

The assembled frame structure S 30 is viewed from above and tapers towards the ends 3, has a housing structure 5a and side walls 16 of the lifting member 5n

N preferably assembled from shorter parts. In this case, the housing structure ba can be longitudinally assembled from three consecutive parts, for example, such that the first end of the housing structure 5a has the two side walls 16 of the first part and the part of the housing structure 5a connecting them, the middle part of the housing structure has the two side walls 16 of the second part and the part of the housing structure 5a connecting them and at the other end of the housing structure 5a are the two side walls of the third part and the connecting part of the housing structure 5a. The lengths of the parts can be different. In addition, each end of the housing structure 5a has the aforementioned end part bc.

The lifting platform 5b is placed in the opening Su on the upper surface of the housing structure ba to move vertically back and forth, moved by its lifting mechanism 13. Preferably, there is one lifting mechanism 13 at each end of the lifting platform bb. All four lifting mechanisms 13 of the lifting device 5 are synchronized with each other and arranged to raise the lifting platforms 5b upwards from their basic position to such an extent that, for example, the pallet on the lifting platforms 5b rises from its base by a few centimeters. The lifting and lowering movements are advantageously, for example, with a distance of 1-10 cm.

At each end of the lifting platform 5b, the lifting mechanism 13 is placed between two consecutive rollers 4a of the conveyor 4, so that the lower end of the lifting mechanism 13 is below the rollers 4a

N 25 and the upper end is above the rollers 4a. The lifting mechanism 13 of the lifting device 5 can comprise a spindle motor, a hydraulic cylinder, = a compressed air cylinder, or something else suitable for the purpose

N power organ. [an a

S 30 At the lower edge of the vertical side walls 5s of the casing structure 5a, there are downwards sections of the rollers 4a of the conveyor 4

N opening and upwardly extending, preferably circular arc-shaped recesses 11 as many as there are rollers 4a.

Correspondingly, the side walls 16 of the lifting members bn have, at the recesses 11 and at the same time, upwardly open curved bottom openings 12. Preferably there are two fewer openings 12 than recesses 11. The shape and size of the recesses 11 and the openings 12 are such that the conveyor rollers 4a placed through them can rotate freely around its own central axis.

The lower edges of the side walls bs of the housing structure ba can be closed or almost closed on the plane surface 6 between the rollers 4a or they can also be below the plane surface 6, in which case the plane surface 6 is made of small plane plates, as explained above. In all structural solutions, there is a small clearance between the recesses 11 and the rollers 4a, but at least large enough that the rollers 4a can rotate without touching the surface of the recesses 11.

The rollers 4a of the conveyor 4 are either threaded through the openings 12 in the side walls 16 during the installation phase of the actuator 1, or are placed in place through the open upper end of the openings 12 before attaching the housing structure ba to the side wall 16 of the lifting member bn.

From the above, it can be stated that the presented application modi-

In the solution according to N 25, the rollers 4a of the conveyor 4 are fitted through the frame structure of the lifting device 5 at the openings 12 in the side walls 16 of the frame structure. > Ba of the 5 casing structures of the lifting bodies opposite each other

The side surfaces 5s on S 30 have a number of sensors 8, which are 3 arranged to identify the pallet or other actuators.

The position of the load to be taken on N tee 1 on actuator 1.

Identification can work, for example, with the help of a light beam 9. When the position is correct, the movement of the mobile robot 2 and/or the rollers 4a of the roller conveyor is stopped.

Figures 5-7 show one conveyor structure according to the invention in more detail. Figure 5 shows the conveyor viewed from the side, figure 6 shows one actuator 1 according to the invention seen from the front and partially cut, and figure 7 shows one edge of the actuator according to figure 6 enlarged and simplified and with the end wall 4e of the conveyor part removed.

The frame structure of the conveyor 4 comprises a housing structure 4b on each side of the conveyor and an end wall 4a at each end of the conveyor. The housing structures 4b on the sides are connected to each other by transverse support beams 17 on the lower surface of the frame structure, which can also be used to attach the actuator to the mobile robot 2. In Figure 5, the outer wall 40 of the housing structure 4b has been removed to illustrate the structure of the conveyor.

Typically, the conveyor 4 in the actuator 1 is a roller conveyor with a set of rollers 4a rotated by the drive mechanism 18 with the help of chains 19. Preferably, the rotation movement of the rollers 4a is led from the axis of the drive mechanism 18 to the rollers 4a

N 25 always by means of the chain 19 connecting only two rollers 4a. 5 In this case, two parallel sprockets 20 are used on each axis of the roller 4a, excluding the end rollers,

N, the first of which has a chain from the previous roller that rotates roller 2, and the second sprocket has one for the next one

S 30 chain that starts on the roller and turns the next roller. This is a 3 power transmission solution known in itself. 18 as operating machinery

N can be, for example, an electric motor and gearbox or a gearless electric motor solution.

Figure 6 shows one actuating device 1 according to the invention viewed from the front and the end wall 4e of the frame structure of the conveyor 4 partially cut, and the lifting platforms 5b of the lifting device 5 raised to their upper position. Figures 6 and 7 clearly show how the roller 4a of the conveyor 4 is placed through the side walls 16 of the lifting members bn of the lifting device from the housing structure 4b of the first side of the conveyor to the housing structure 4b of the second side.

Figure 7 shows one edge of the actuator 1 according to Figure 6 enlarged and simplified, and the end wall 4e of the conveyor part removed. The rollers 4a of the conveyor 4 can be mounted either on the inner wall 4s of the housing structure 4b or on the outer wall 40. Figure 7 also clearly shows how the upper surface of the roller 4a is higher by a distance D than the housing structure 4b and at the same time the upper surface of the side edge 7 of the actuator 1. Preferably, the distance D is, for example, between 1 and 30 mm.

This structural solution enables, among other things, driving a mobile robot 2 equipped with an actuator 1 according to the invention to a pallet rack in order to take the pallet from the rack and place it on the rack. In several well-known tech-

Actuators 5 according to N 25, equipped with a conveyor, have high side edges, which, due to their height, prevent the actuator from driving onto a standard pallet rack. > In this case, higher and also wider special

pallet racks made of S 30, because the higher side edges 3 require more space in the vertical direction and the higher sides

The width of the N ridge edges also widens the useful width of the entire actuator by their combined width. In this case, for example, higher

la in actuators according to known technology equipped with side edges, the width of the load to be moved by the conveyor must be smaller than the horizontal distance between the edges, at least up to the height of the upper surfaces of the edges. Correspondingly, in the solution according to the invention, the load to be moved by the conveyor can be wider in its entire height than the actuator.

However, a wider actuator according to known technology does not necessarily fit inside a pallet rack with a standard width due to its width.

Conveyor 4 and lifting device 5 are tools for taking a load, for example a pallet with loads, onto the actuator 1 and removing it from the actuator 1. In the solution according to the invention, these tools are in the same actuator 1 and with their help the load can be taken to the actuator 1 and with the conveyor, i.e. by moving the load horizontally, or by lifting, i.e. moving the load vertically.

It is clear to a person skilled in the field that the various application forms of the invention are not limited to the examples presented above, but may vary within the framework of the protection requirements presented below. So, for example, conveyor

N 25 can be something other than a roller conveyor, for example 5 a belt or chain conveyor. Similarly, instead of the conveyor's wide = double-length rollers, the roller conveyor can have three

N or more parallel roller tracks with short rollers 2 between the lifting members of the lifting device and their outside

S 30 lella. In this case, for example, only one or two roller tracks 3 can be equipped with the roller rotation mechanism and the rest

On roller coasters, the rollers can rotate freely.

It is also clear to a professional in the field that instead of a chain drive, the conveyor could also have been equipped with other drive methods. In this case, for example, one or more toothed belts with pulleys, or one or more V-belts with pulleys, can be the mediator of the rotational movement. Likewise, instead of a chain or belt that transmits rotational motion from one roller to another, the solution can have only one or two chains or belts that transmit rotational motion to all rollers at the same time.

It is also clear to a person skilled in the field that the structure of the lifting device can be different from the one presented above.

The lifting device can have, for example, only one lifting mechanism, which is arranged to raise one or two lifting platforms, or two lifting mechanisms, each of which is arranged to raise its own lifting platform.

It is also clear to a professional in the field that the lifting machines can be completely separate, but preferably synchronized with each other. In this case, the lifting device can have, for example, four separate lifting mechanisms in two rows with each other, each of which can still have its own lifting level.

The distance between the rows can be the same as the distance between the housing structures of the lifting bodies mentioned above, in which case pallets can be handled with this type of machinery structure as well.

S 25 + It is also clear to a professional in the field that the lifting devices = can, with their machinery, be for example completely a conveyor

N on top. In this case, a withdrawal may have been carried out, for example

E scissor-type or other low-structure lifting mecha-

With the help of S 30 nism.

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S

N It is also clear to a professional in the field that the equipment connected to lifting platforms for moving storage shelves and shelf trolleys from one place to another can include other solutions than just openings in exactly the right places. In this case, instead of openings, there can be retaining pins rising from the upper surface of the lifting platforms at their points, whose lifting mechanisms can be on the underside of the conveyor rollers and between them in the same way as the lifting mechanisms of the lifting platforms, or inside the casing structures of the lifting bodies above the conveyor rollers. <t

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Claims (9)

PROTECTION REQUIREMENTS 1. An actuator (1) placed in connection with an unmanned transport device, which actuator comprises a frame construction (3), a fastening mechanism (17) for fixing the actuator (1) in connection with the transport device, and means for picking up a load on top of the actuator (1) and to remove it from the actuator (1), characterized in that the means for picking up and removing the load include a conveyor (4) in the same actuator (1) and a lifting device (5), which is arranged to move the load vertically with respect to the surface plane of the conveyor (4). 2. Actuator (1) according to protection claim 1, characterized in that the conveyor (4) is a roller conveyor equipped with rollers (4a), and that the lifting device (5) is equipped with two lifting members (5n), both of which comprise a casing structure ( 5a) and a lifting plane (5b) inside it, which lifting plane is above the rollers (4a) of the conveyor (4) and perpendicular to the axis of rotation of the rollers (4a), and which casing structures (5a) and lifting planes (5b) extend in their longitudinal direction perpendicularly over more than one roller (4a), advantageously over all the rollers (4a) of the conveyor (4). No. 25 3. Actuator (1) according to claim 1 or 2, characterized in that the lifting mechanism (13) of the lifting device (5) is placed between = two rollers (4a) of the conveyor (4) so that at least an N part of the lifting mechanism is under the rollers ( 4a) and part of the & lifting mechanism is above the rollers (4a), and that the rollers S 30 (4a) of the conveyor (4) are fitted through the lifting device's (5) frame structure at the openings (12) in the side walls of the frame structure (16). 4. Actuator (1) according to any of the preceding protection requirements, characterized in that the upper surface of the rollers (4a) of the conveyor (4) is higher by a distance (D) than the upper surface of the side edge (7) of the actuator (1). 5. Actuator (1) according to any of the preceding protection requirements, characterized in that the side surfaces of the casing structures (5a) of the lifting means (5n) facing each other have a number of sensors (8) which are arranged to identify the position of the load applied to the actuator ( 1) on top of the actuator (1). 6. A transport arrangement comprising a mobile robot (2) on which an actuator (1) is mounted, which actuator is arranged to handle different loads, characterized in that the actuator (1) has both a conveyor (4) and a lifting device ( 5) for handling the load, which lifting device is arranged to move the load vertically with respect to the surface plane of the conveyor (4). 7. Transport arrangement according to claim 6, characterized in that the conveyor (4) is a roller conveyor equipped with rollers (4a), and that the lifting device (5) is equipped with two lifting members (5n), both of which include a lifting plane (5b) inside a casing structure (5a), which lifting plane is above the rollers N 25 (4a) of the conveyor (4) and perpendicular to the axis of rotation of the rollers (4a), and which casing structures (5a) and lifting planes (bb) extend in its longitudinal direction perpendicularly over N more than one roller (4a), advantageously over all the rollers (4a) 2 of the conveyor (4). S 30 o 3 8. Transport arrangement according to claim 6 or 7, characterized by N that the upper surface of the rollers (4a) of the conveyor (4) is higher by a distance (D) than the upper surface of the side edge (7) of the actuator (1). 9. Transport arrangement according to any of the preceding protection requirements 6-8, characterized by the side surfaces of the lifting means (bn) casing structures (5a) which face each other have a number of sensors (8) which are arranged to identify the position of the load which is applied to the actuator (1) on top of the actuator (1). <t N O N < <Q O N I a a O O O + + N O N >