WO2018211481A1

WO2018211481A1 - Low profile robotic pallet mover

Info

Publication number: WO2018211481A1
Application number: PCT/IB2018/053543
Authority: WO
Inventors: Gregory NEWELL
Original assignee: Newell Gregory
Priority date: 2017-05-19
Filing date: 2018-05-19
Publication date: 2018-11-22

Abstract

This low-profile robotic mover of pallets, carts or other loads includes multiple, independently operated compact drive units housed into separate but connected structural elements of the device. These connection(s) pivot and telescope and can be locked in a telescoped position. This invention can also uses differential drive units which then provides many features beneficial to robotic load moving devices. This device remains ultra-low profile even when heavy loads need to be lifted and moved as more drive units can be added as needed. The pivoting/telescoping connections between structural elements allows the device to modify its own size or shape to better match the dimensions of the load to be moved. Combining the connecting pivot(s) with the with the drive wheel assembly pivots means all driven wheels maintain traction regardless of wheel orientation or variations in floor height or angles, allowing the device to automatically and predictably navigate uneven floors.

Description

LOW PROFILE ROBOTIC PALLET MOVER SUMMARY OF THE INVENTION

[0001 ] The present invention consists of a material handling device with multiple, compact, drive units housed into it.

[0002] In the preferred embodiment these drive units are of a particular type, referred to as 3DD (Three-Dimensional Differential) drive units as they can drive forwards and backwards (1 ^st dimension), by driving each wheel at a different speed effect "differential" turning or reorientation of a load (2^nd dimension) but then additionally, having the differential drive assembly pivotably mounted into a housing that has threaded (screw) features on its outer surface engaging with a housing around it that has threaded (screw) features on its inner surface, the turning effected by the differential drive also imparts through the rotation of the drive assembly within its own housing, a vertical translation of the housing relative to the drive assembly (3^rd dimension) which therefore lifts or lowers the device in which that housing is mounted.

[0003] It should be noted that this particular version of drive unit (being 3DD) is not a necessary requirement to benefit from features that are the subject of this invention, but as they simplify the overall design of the device and reduce its size and complexity (negating the need for separate lifting and lowering mechanisms) they are the drive unit of the preferred embodiment and therefore included in the drawings and description herewith. Forthwith, 'drive unit' refers to any form of drive wheel(s) while 'differential drive' unit refers to two independently driven wheels that are offset, whether pivoting in a housing or not, and '3DD drive unit' refers to the above version where the drive wheels pivot in the housing while simultaneously imparting a vertical displacement between the driven wheels and the housing mounted into the structure of the device.

[0004] These drive units can work together in a coordinated fashion to navigate on a two-dimensional plane such as a factory or warehouse floor, move under a load such as a loaded pallet or low clearance cart, then lift it to be clear of the ground to then move it in any X-Y direction on that horizontal plane, including to rotate or reorient it. If a compact drive other than a differential drive or the 3DD drive were used, the lifting portion would likely be performed by separate mechanisms while the rest of the functions would remain essentially the same as described.

[0005] In the present invention, the multiple integrated drive units can also operate cooperatively to change the shape or dimensions of the device, most typically its width or length. In the case of a pallet mover, to open/close and/or extend/retract the tines to suit the dimensions of the pallet that is to be moved.

[0006] In the preferred embodiment, a simple locking actuator would extend or retract a pin into a channel into the inner telescoping tube of a telescoping width/angle adjusting mechanism so that once locked, the inner tube can still rotate within the outer tube it is housed inside of but cannot extend or retract within it, thus locking the width of the tines of the pallet mover in whatever is the desired width configuration.

[0007] Further, the combination of the pivoting feature of the 3DD drive assemblies and the pivoting connection(s) in the device itself means that (within a certain range) any combination of variations in ground height or ground angle can be automatically accommodated, even when lifting or lowering. This is very important in a differential drive as if one driven wheel loses traction contact with the ground, it imparts an unintended turning moment which may result in erratic steering or directional change. The transverse pivot mount of the 3DD drive unit overcomes this issue as each drive wheel of a 3DD drive unit will share the load applied to its housing so will automatically pivot so that both wheels maintain contact with the ground.

[0008] Another key benefit that is achieved with this invention is that by utilizing multiple compact drive units that collectively provide sufficient tractive force to move a given load, rather than fewer, typically just one or two, larger drive units that can apply more tractive force, the drive units can be small enough to fit under low carts or inside 100mm standard clearance height EUR pallets. This provides much better drive kinematics including lateral translation of loads, rotation of loads about the center of the load, etc. It also means that were any unintended turning to occur at a drive unit, the other drive units (assuming they do not have the same unintended turn at the same time) reduce or negate that unintended turn so that the movement of the load will be more predictable. Further, more drive units can be added to provide more tractive force or where not required by the application, less used to reduce the manufacture cost of the device.

[0009] This document will focus on one such use of this technology, being where two or more (in this case four) independent drive units used together in a device that can engage with and move a pallet or low clearance cart. The device is referred to as "Low Profile Robotic Pallet Mover" that can enter under low loads, such as empty or loaded pallets, then lift and move them in all directions and return them back onto the ground in a new location and/or orientation. Pallets are envisaged as a common item to move with this device however the same concept of device can be used to move carts, shelves or any other load where the device's forks or platform or other engagement structure or mechanism can insert under some portion of the load to be moved to lift and transport it.

[0010] This equipment is unique due to its compact size, versatility, low manufacture cost, functionality and its predictable behavior even when navigating uneven ground.

[0011 ] These and other features, aspects, and advantages of the present invention will become better understood with regard to the following description and accompanying drawings. LOW PROFILE ROBOTIC PALLET MOVER

BRIEF DESCRIPTION OF THE DRAWINGS

[0012] Preferred embodiments of the invention are described below with the reference to the following accompanying drawings:

[0013] Figure 1 is a front-side perspective view of the device.

[0014] Figure 2 is a bottom-side perspective view of the device showing some of the key components attached to the tines (also referred to as 'forks') that are commonly used to enter the space within a pallet.

[0015] Figure 3 is a front-side perspective exploded view showing most of the major sub-assemblies that comprise the Low Profile Robotic Pallet Mover.

[0016] Figure 4 is a perspective partially sectioned view of a 3DD drive unit showing the Pivoting Drive Wheels Assembly mounted inside the Rotatable Hub Assembly with the outer housing of the 3DD with the Drive Housing Assembly shown mounted into the structure and shown sectioned.

[0017] Figure 5 is the same view as Figure 4 but with the Rotatable Hub Assembly also sectioned to show that the drive assembly has been driven up into the Drive Housing Assembly, therefore bringing the structure that the housing is mounted into (and the Low Profile Robotic Pallet Mover with it) into its lowest position.

[0018] Figure 6 is the same view as in Figure 5 but showing the Low Profile Robotic Pallet Mover now in a raised position, so with the Pivoting Drive Wheels Assembly and Rotatable Hub Assembly screwed down in the Drive Housing Assembly. [0019] Figure 7 is a close-up side section view of the 3D Drive unit moving on an uneven floor.

[0020] Figure 8 is a partially sectioned perspective view of the Width/Angle Adjusting Mechanism with both the inner and outer telescoping tubing portions not sectioned.

[0021 ] Figure 9 is the same partially sectioned perspective view of the Width/Angle Adjusting Mechanism but with the inner telescoping tubing portion not sectioned and the outer tubing section around it sectioned.

[0022] Figure 10 is an almost fully sectioned perspective view of the Width/Angle Adjusting Mechanism with both the inner and outer telescoping tubing portions sectioned but the width locking mechanism not sectioned.

[0023] Figure 1 1 is a bottom-side perspective view of the Low Profile Robotic Pallet Mover with the tines fully opened to be in the widest format and the arrows indicating the direction of travel of the wheels and the Width/Angle Adjusting Mechanism to achieve that.

[0024] Figure 12 is a bottom-side perspective view of the Low Profile Robotic Pallet Mover with the tines fully closed to be in the narrowest format and the arrows indicating the direction of travel of the wheels and the Width/Angle Adjusting Mechanism to achieve that.

[0025] Figure 13 is a bottom-side perspective view of the Low Profile Robotic Pallet Mover showing the driven wheels of each 3DD operating to lift the device, along with any load it is stationed under, up. Rotating in the opposite direction would lower the device.

[0026] Figure 14 shows two bottom-side perspective views of the Low Profile Robotic

Pallet Mover 10 with the 3DD units oriented and driving in a direction to retract the tines (upper image of Figure 14) and when the direction of travel is reversed, to extend the tines (lower image of Figure 14). [0027] Figure 15 shows a bottom-side perspective view of the Low Profile Robotic Pallet Mover 10 with the drive units oriented and driving all in the same direction to move the device laterally.

[0028] Figure 16 is a bottom view of the Low Profile Robotic Pallet Mover with the drive units turned 45 degrees and arrows indicating the wheel travel directions to rotate the device about its own center.

[0029] Figure 17 is a top view of the Low Profile Robotic Pallet Mover showing the sensors and/or cameras to detect objects, obstacles, and to navigate a travel path.

[0030] Figure 18 is a side view of the Low Profile Robotic Pallet Mover showing the tilting of one tine relative to the other tine that occurs as uneven flooring is encountered, being possible due to the rotation in the Width/Angle Adjusting Mechanism.

[0031 ] Figure 19 is a front-end view of the Low Profile Robotic Pallet Mover showing the tilting of one tine relative to the other tine that occurs as uneven flooring is encountered, being possible due to the rotation in the Width/Angle Adjusting Mechanism.

[0032] Figure 20 is a bottom-side perspective view of the Low Profile Robotic Pallet Mover showing each tine tilted at a different angle and each drive unit angled differently according to the angle of the floor below the wheel.

[0033] Figure 21 is a front-end sectioned view of Figure 20, showing the front 3DD drive units.

[0034] Figure 22 is a front-end sectioned view of Figure 21 , showing the rear 3DD drive units.

[0035] Figure 23 is a top-side perspective view of Low Profile Robotic Pallet Movers moving into or out of docking charger stations. [0036] Figure 24 is a top view of the Low Profile Robotic Pallet Movers with the tines semi-transparent to show the batteries enclosed within, charging on docking charger stations.

[0037] Figure 25 is a bottom-side view of the Low Profile Robotic Pallet Mover with the tines locked in a narrow position to engage with a narrow pallet.

[0038] Figure 26 is a bottom-side view of the Low Profile Robotic Pallet Mover with the tines locked in a wide position to engage with a wide pallet.

[0039] Figure 27 is a side-above perspective view of the Low Profile Robotic Pallet

Mover lowered, with the tines in a narrow position and approaching a narrow pallet.

[0040] Figure 28 is a side-above perspective view of the Low Profile Robotic Pallet Mover lowered, with the tines in a wide position and approaching a wide pallet.

[0041 ] Figure 29 is a side view of the Low Profile Robotic Pallet Mover in its lowest configuration and entering into a pallet.

[0042] Figure 30 is a side view of the Low Profile Robotic Pallet Mover from Figure 28, fully entered into the pallet and having lifted the pallet-load.

[0043] Figure 31 is a side view of the Low Profile Robotic Pallet Mover having entered that space below a wheeled cart and having raised it off the ground and ready to move it.

[0044] Figure 32 is a side perspective view of the Low Profile Robotic Pallet Mover in its fully lowered configuration shown tunneling under one shelving unit to access a different shelving unit that is behind it. LOW PROFILE ROBOTIC PALLET MOVER

DETAILED DESCRIPTION OF THE DRAWINGS

[0045] Many of the components utilized in this invention are widely known and used in the field of the invention and their exact nature or type is not necessary for a person of ordinary skill in the art or science to understand the invention; therefore, they will not be discussed in detail.

[0046] The present invention comprises a high load capacity, low cost and versatile pallet mover that can engage with palletized loads and move them in any direction. The unit is robotic in that it does not require the direct intervention of a human to physically steer it, but may be remotely steered - such as by an operator through a wireless remote control, a smart phone running a device control application, using a wireless connected joystick or other control panel, etc.

[0047] Various versions of self-navigation are possible, including but not limited to "line following" robotic operation where sensors, including but not limited to cameras or infra-red sensors, allow the device to detect a line or other marking on the ground (including magnetic line, visual line, QR codes or other possible indicators) to determine location and direction of travel.

[0048] Another example of robotic operation is through laser guided navigation, typically using a sensor device knows as a 'Lidar' where a two-dimensional or three- dimensional laser identifies its environment seeing obstacles, features, pathways etc. to localize itself and accordingly navigate its travel. However, there are many forms of robotic travel and the purpose of this description is not to detail such existing art but to note that many such forms exist that can be incorporated into this device. [0049] This Low Profile Robotic Pallet Mover is able to move laterally across a surface as well as to rotate (about the center vertical axis of the drive unit) causing the housing to move vertically up or down relative to the drive wheels assembly. The change of heights raises and lowers the loads and provides traction to the drive wheels.

[0050] Referring to Figure 1 , a Low Profile Robotic Pallet Mover 10 is shown. A Right (Male) Chassis Assembly 30 and Left (Female) Chassis Assembly 40 are connected and guided by a Width/Angle Adjusting Mechanism 44, covered by a Top Center Cover 50 which contains a visual display and possibly Touch Screen 60 for communication and notification.

[0051 ] Figure 2 shows the 3DD Units 20 that can drive wheels in all directions both laterally and vertically. In this view, all the 3D Drive Units 20 are mounted into the Right (Male) Chassis Assembly 30 and Left (Female) Chassis Assembly 40 and are oriented in the same direction, so that they combine their motive power to move a heavy load forwards or backwards (as shown by the arrows on the drive wheels).

[0052] Figure 3 shows an exploded view of the general construction and components that comprise the Low Profile Robotic Pallet Mover 10. Internally threaded Drive Housing assemblies 21 are mounted near the front and rear of each upper tine assembly 31 and 41 using standard fasteners. The Drive Wheel Assemblies 23 are pivotally mounted into an externally threaded Rotatable Hub Assembly 22 that engages with the internally threaded Housing Assembly 21 .

[0053] Battery Cell Packs with their Battery Management Systems (BMS) 100 supply power for the electrically powered devices on the Low Profile Robotic Pallet Mover 10, including the Motor Drivers 105, the Computer / PC Board 110, being the brain of the overall device and directly or indirectly for the 3D Drive Units 20 and related sensors and electronics. Such sensors include, but are not limited to, Cameras, Sonars, IR sensors, Lidar Laser Range Finders, etc. 80. In addition, there may be one or more Safety Rated Lidar units 70 installed to allow safety rated navigation in environments where people may be present. [0054] The Upper Male Tine Cover 31 and Upper Female Tine Cover 41 are respectively mounted to the Bottom Male Tine Cover 32 and Bottom Female Tine Cover 42 to create strong and rigid box-like tine assemblies, Male Tine Assembly 30 and Female Tine Assembly 40. Mounted into the end of these tine assemblies where they connect to each other through the Center Width and Angle Connecting Assembly 50 are the Guide Housings of the Width/Angle Adjusting Mechanism .

[0055] The Outer (female) Guide Housing 44 is mounted into the Female Tine Assembly 40 and the Inner (male) Guide Housing 34 is mounted into the Male Tine Assembly 30 and when assembled into the Low Profile Robotic Pallet Mover 10, the Inner Guide Tubing of Width/Angle Adjusting Mechanism 34 inserts into the Outer Guide Housing of Width/Angle Adjusting Mechanism 44, constraining the two tines together while still allowing rotation of one tine relative to the other and lateral adjustment (by telescoping of the guide housings one inside the other) between the two tines.

[0056] The Center Width and Angle Adjusting Connecting Assembly 50 comprises a

Bottom Center Cover 51 and Top Center Cover 54 to fully house the assembly. Mounted into the Top Center Cover 54 is an Emergency Stop Button 90 which provides a person in the device's vicinity the means to stop the device immediately and also mounted is a Touch Screen 60 that provides a means to input information to the device and also display information to an operator or other interested party.

[0057] The Center Width and Angle Adjusting Connecting Assembly 50 also contains the components that lock the Inner (Male) Guide 34 into the Outer (Female) Guide 44, being the Locking Actuator 52 and Locking Arm 53. The design of this mechanism allows locking of the telescoping (width adjusting) motion of the Connecting Assembly 50 but does not interfere with the pivoting feature inherent to the tubular telescoping design.

[0058] Figure 4 shows a 3D Drive Unit 20 with the Pivoting Drive Wheels Assembly 23 in its most recessed position and therefore the pallet tines, which the 3D Drive Unit 20 is mounted in, being in its lowest position - such as when it might be entering the space inside a pallet. The Pivoting Drive Wheels Assembly 23 and Rotatable Hub Assembly 22 are shown unsectioned within Drive Housing Assembly 21 that supports it shown sectioned.

[0059] Figure 5 shows a 3D Drive Unit 20 with the Pivoting Drive Wheels Assembly 23 unsectioned but both the Rotatable Hub Assembly 22 and Drive Housing Assembly 21 that support it shown sectioned. As was the case in Figure 4, the Pivoting Drive Wheels Assembly 23 is shown in its most recessed position, being when the pallet tines are in their lowest position. The arrows on the driven wheels indicate how driving each wheel in opposite directions at the same approx. speed creates a rotative effect on the Rotatable Hub Assembly 22 within the Drive Housing Assembly 21 that supports it, which therefore rotates the Pivoting Drive Wheels Assembly 23 that is mounted in that Rotatable Hub Assembly 22.

[0060] The screw features convert the rotation of the Rotatable Hub Assembly 22 within the Drive Housing Assembly 21 into a vertical translation, lifting or lowering the pallet tines.

[0061 ] This sectioning makes visible the transverse center pivots that support each end of the Drive Housing Assembly 21 in the Rotatable Hub Assembly 22. This allows each drive wheel to pivot up or down according to the distance to the ground below that wheel so that both driving wheels remain in contact with the floor, avoiding any unintended turning moment at the Pivoting Drive Wheels Assembly 23.

[0062] Figure 6 is identical to Figure 5 but now showing the Pivoting Drive Wheels Assembly 23 in the Rotatable Hub Assembly 22 at its most extended (being lowest) position, which corresponds to pushing the tines up to their highest position.

[0063] Figure 7 illustrates in a front partially sectioned view the effect of the transverse center pivots that support each end of the Pivoting Drive Wheels Assembly 23. This simple mounting method allows the drive wheels to follow the floor up and down according to any height or angle variations in the flooring to maintain traction to both driving wheels and therefore achieve better control of the device's travel on all flooring. Note that the center of that transverse pivot is below the center axle of the driven wheel(s) themselves ... an important point to ensure automatic and equalized balancing of the applied load to each driven wheel.

[0064] Figure 8 shows a mostly sectioned view of the Center Width and Angle Adjusting Connecting Assembly 50 with the unsectioned Inner (Male) Guide 34 fully inserted into the unsectioned Outer (Female) Guide 44, illustrating the narrowest width setting between the two tines. The Locking Actuator 52 is shown retracted, which in this mechanism layout means the Locking Arm 53 is inserted into the Locking Channel 55 in the Inner (Male) Guide 34. Although not shown, it is likely that a spring would be included in this locking mechanism to keep the Locking Arm 53 inserted and that spring is overcome by the Locking Actuator 52 when the tines are being moved laterally in or out, always relocking at the end of the move.

[0065] Figure 9 is almost identical to Figure 8, this time showing the Outer (Female)

Guide 44 also sectioned so that the Locking Channels 55 that circumscribe the Inner (Male) Guide 34 and provide the interference locking feature for the Locking Arm 53 are visible.

[0066] Figure 10 is again almost identical to Figure 8, this time showing the Inner (Male) Guide 34 also sectioned. With this view, the interference locking mechanism of the Locking Arm 53 in the Locking Channel 55 of the Inner (Male) Guide 34 is more clearly visible.

[0067] Figure 1 1 shows in perspective view from below the process to adjust the distance between the tines to connect with a wider pallet. First, the Locking Actuator 52 would be extended which would pull the Locking Arm 53 out of engagement with the Locking Channel 55 in the Inner (Male) Guide 34. Then, with all the drive wheels of the Pivoting Drive Wheels Assembly 23 oriented as shown, the wheels would be driven according to the direction of the arrows shown in Figure 1 1 which would move the Male (Right-Side) Tine Assembly laterally away from the Female (Left-Side) Tine Assembly, widening the device in the process.

[0068] Once the tines are wider than the next narrowest position but have not yet reached the desired width position, the Locking Actuator 52 would be retracted and the spring force on the Locking Arm 53 would be pushed against the Inner (Male) Guide 34 until the next (desired) Locking Channel 55 is reached and would automatically drop into that Locking Channel 55, locking the device at that width.

[0069] Note that width adjustment would only be done with an empty, unloaded pallet jack, so once the Locking Arm 53 enters the required Locking Channel 55, the lack of overall device weight would mean the traction wheels would just spin on the concrete.

[0070] It is likely a sensor would be included with the locking mechanism so that the

Computer / PC Board 120 would be aware that the mechanism is locked.

[0071 ] Figure 12 is identical to Figure 1 1 but with the same process occurring in reverse for the Low Profile Robotic Pallet Mover 10 to be narrowed rather than widened.

[0072] Figure 13 is the same perspective view from below, this time showing how the 3D Drive Units 20 lift the tines to lift the pallet load up off the ground. Each driving wheel on the 3D Drive Unit 20 would move in opposite directions but identical speeds to unscrew the Rotatable Hub Assembly 22 out of the Drive Housing Assembly 21 , thus effecting a vertical movement up of the tines, such as to lift a loaded pallet. Of course, moving all the wheels in the opposite direction will have the opposite effect, lowering the entire Low Profile Robotic Pallet Mover 10 down closer to the ground, such as when dropping a pallet back onto the ground after it has been moved.

[0073] Figure 14 shows another potential axis of motion that can be included with the Low Profile Robotic Pallet Mover 10, being to extend or contract the length of one or both tines, a feature that could be of benefit to allow better matching to longer or shorter pallets. While not detailed in these figures, it is not difficult to see how a sliding assembly for the tines could be built and so by driving the wheels away from each other, as indicated in each image of Figure 14, would extend or contract the tine lengths.

[0074] Figure 15 shows the 3DD Units 20 that can drive wheels in all directions both laterally and vertically. In this view, the 3D Drive Units 20 that are mounted into the Right (Male) Chassis Assembly 30 and Left (Female) Chassis Assembly 40 and are oriented in the same direction, so that they combine their motive power to move a heavy load not just forwards or backwards but also laterally, as shown by the arrows on the drive wheels. This is of particular advantage for a robotically controlled device as it allows much simpler path planning with X-Y (grid) mobility vs. conventional powered pallet moving devices which have tricycle kinematics, so steering is at the end outside the pallet while the wheels at the opposing end of the load are only straight running. This means of travel also considerably reduces the amount of aisle space required for the turning that tricycle kinematics requires vs. X-Y navigation.

[0075] Figure 16 is a bottom view of the complete Low Profile Robotic Pallet Mover 10, this time showing how the 3D Drive Units 20 can be oriented to all be at approx. 45 degrees and therefore aligned to rotate Low Profile Robotic Pallet Mover 10 about its own center. Assuming all wheels are operating at approx. the same RPM, that rotation would occur about the center point of the 3DD drive units. As with the benefit of lateral travel described for Figure 15, this significantly simplifies navigation and also reduces the amount of aisle space required for the turning that tricycle kinematics requires vs. X-Y navigation.

[0076] Figure 17 is a top view of the Low Profile Robotic Pallet Mover 10 showing how the device can use mounted Cameras/Ranging Sensors 80 and also Safety rated Obstacle Detection Lidar(s) 70 to detect obstacles, people, loads, etc., and to help localize the device in the environment in which it is being used and to navigate a travel path. For some of these detectors slots would be included in the chassis structure to allow them to work. With this flexibility, sensors can be mounted in all corners of the device and can read in a mostly horizontal plane through the pallet that it is lifting to allow safe navigation in all directions.

[0077] Figure 18 is a side view of the Low Profile Robotic Pallet Mover 10 showing how the Center Width and Angle Adjusting Connecting Assembly 50 allows tilting of one tine independently of the other tine. This adjustment will occur automatically as uneven flooring is encountered with the load of the pallet being transferred onto the tines and there-through to the 3D Drive Units 20 that support those tines at the ground.

[0078] Figure 19 is a front-end view of the Low Profile Robotic Pallet Mover 10 of Figure 18, showing the same tilting of one tine relative to the other tine that occurs as uneven floors are encountered. In Figures 18 and 19 the orientation of the Pivoting Drive Wheels Assembly 23 is shown as being parallel with the tines, however they could be oriented in any direction as the transverse center pivots that support each end of the Pivoting Drive Wheels Assembly 23 will automatically balance the load between the two driven wheels even over flooring that undulates in multiple directions.

[0079] Figure 20 is a bottom-side perspective view of the Low Profile Robotic Pallet Mover 10 showing the effect of the multiple pivots described above. Included is a section line across the center of the device, as shown, with Figure 21 showing section view B-B, being the front of the device and Figure 22 showing section A-A, being the rear of the device.

[0080] Figure 20 shows each tine tilted at a different angle and additionally each

Pivoting Drive Wheels Assembly 23 of each 3D Drive Unit 20 is angled differently according to the angle of the floor below the wheels. These multiple pivots operate cooperatively and automatically to ensure an evenly balanced transfer of the load being transferred to each driven wheel of the Pivoting Drive Wheels Assembly 23. The main purpose is to avoid any loss of traction at a driven wheel which could result in the wheel that retains traction eliciting a turning effect on that 3D Drive Unit 20 which could cause unintended directional changes for the Low Profile Robotic Pallet Mover 10. [0081 ] Figure 21 is the front-end sectioned view (section view B-B) of Figure 20, showing the front 3DD drive units at the open end of the Low Profile Robotic Pallet Mover 10. This view clearly illustrates how this system accommodates the different floor heights and different floor angles by the respective two described pivot mechanisms built into the Low Profile Robotic Pallet Mover 10.

[0082] Figure 22 is the front-end sectioned view (section view A-A) of Figure 20, showing the rear 3DD Drive Units 20 at the closed end of the Low Profile Robotic Pallet Mover 10. In this case, the hypothetical^ represented floor heights are the same while the floor angles are different but again, this is automatically accommodated by the respective two described pivot mechanisms built into the Low Profile Robotic Pallet Mover 10.

[0083] Figure 23 is a top-side perspective view of Low Profile Robotic Pallet Movers 10 moving into and/or out of Docking Charger Stations 140. In this case, as the Low Profile Robotic Pallet Movers 10 should generally move in the direction of the arrow (closed end first) for safety reasons (due to the location of the Safety-Rated Obstacle Detection Lidar 70 being at the closed end of the device) then ideally the Docking Charger Stations 140 should be open-ended as shown in Figure 23, therefore allowing the Low Profile Robotic Pallet Movers 10 to enter from one end and continue out through the other end. This is consistent with a First-In-First-Out charging procedure which is well suited to charge management of a fleet of robotically controlled devices such as the Low Profile Robotic Pallet Movers 10.

[0084] Figure 23 also shows example representation of feasible locations for the terminals that would make the temporary contact electrical connection between the Tine Charger Connectors 130 of the Low Profile Robotic Pallet Movers 10 and the Battery Charger Connectors 141 of the Docking Charger Stations 140 to allow charging of the Battery Pack with Battery Management System 100.

[0085] Figure 24 is a top view of two Low Profile Robotic Pallet Movers 10 with the tines shown as semi-transparent to show the Battery Pack with Battery Management System 100 enclosed within. These two Low Profile Robotic Pallet Movers 10 are shown located in two bays of Docking Charger Stations 140 which are also shown as semi-transparent to show the Battery Charger Units 142 visible inside, making electrical connection to the Battery Charger Connectors 141.

[0086] Figure 25 is a bottom-side view of the Low Profile Robotic Pallet Mover 10 illustrating the benefit of adjustable width tines. In this view, the tines are locked in a narrow position to engage with a narrow pallet, a EUR-1 (800mm wide) standard EUR pallet as shown. The window showing the close-up view of the Center Width and Angle Adjusting Connecting Assembly 50 shows a sectioned view of the Locking Arm 53 inserted by the Locking Actuator 52 into the appropriate Locking Channel 55 of the Inner (Male) Guide 34, which is mounted within the Outer (Female) Guide 44 that is mounted in the opposing tine.

[0087] Figure 26 is the same bottom-side view of Figure 25 but with the Low Profile

Robotic Pallet Mover 10 having the tines locked in a wide position to engage now with a wide pallet, in this case a EUR-2 (1200mm wide) standard EUR pallet as shown. The window showing the close-up view of the Center Width and Angle Adjusting Connecting Assembly 50 shows a sectioned view of the Locking Arm 53 inserted by the Locking Actuator 52 into the appropriate Locking Channel 55 of the Inner (Male) Guide 34, which is mounted within the Outer (Female) Guide 44 that is mounted in the opposing tine.

[0088] Figure 27 is a side-above perspective view of the Low Profile Robotic Pallet Mover 10 lowered, with the tines locked in a narrow position and approaching a narrow EUR standard pallet into which it will insert itself into / travel under.

[0089] Figure 28 is a side-above perspective view of essentially an equivalent image as in Figure 27 but with a wider EUR standard pallet. In this case, the Low Profile Robotic Pallet Mover 10 is again lowered but this time has the tines locked in a wider position. [0090] Figure 29 is a side view of the Low Profile Robotic Pallet Mover 10 in its lowest configuration and entering into a loaded pallet. In its lowest position it has more than sufficient clearance from the underside of the pallet where it will be lifted.

[0091 ] Figure 30 is a side view of the Low Profile Robotic Pallet Mover 10 from Figure 29, now fully entered into the pallet, having lifted all the 3D Drive Units 20, thus having lifted the tines that the Drive Housing Assemblies 21 are mounted into, therefore lifting the complete Low Profile Robotic Pallet Mover 10. This is achieved by driving the drive wheels in opposite directions at equal speeds which rotates the Pivoting Drive Wheels Assembly 23 and hence the Rotatable Hub Assemblies 22 that they are pivotably mounted in within the Drive Housing Assemblies 21 that they are screwed into.

[0092] Figure 31 is a side view of the Low Profile Robotic Pallet Mover 10 being used to move a cart rather than a pallet load. As is clearly visible from the Figure, the concept is identical and all that is required is that the load-bearing areas on the underside of the cart that the tines will engage with should be at the right height to approximately match a standard pallet (typically around 100mm from the ground) and be strong enough to support its own loaded weight at those points. In this view, a wheeled cart has been raised up off the ground and is ready to be moved.

[0093] Figure 32 is a side perspective view of the Low Profile Robotic Pallet Mover 10 in its fully lowered configuration shown tunneling under one shelving unit to access a different shelving unit that is behind it. This is a unique feature of the Low Profile Robotic Pallet Mover 10 and here shows the benefit of such a low profile design. Again, this feature is applicable for tunneling under carts or under pallets, loaded or unloaded, and it can be seen that with longer tines or extending tines (as described in Figure 14) a Low Profile Robotic Pallet Mover 10 can conceivably move multiple carts or pallets at the same time. GLOSSARY OF ASSEMBLIES AND PARTS:

10 - Low Profile Robotic Pallet Mover

20 - Drive Unit

21 -Drive Housing Assembly

22 - Rotatable Hub Assembly

23 - Pivoting Drive Wheels Assembly

30 - Male (Right-Side) Tine Assembly

31 - Upper Male Tine Assembly

32 - Bottom Male Tine Cover

33 - Bottom Male Frame Cover

34 - Inner (Male) Guide

40 - Female (Left-Side) Tine Assembly

41 - Upper Female Tine Assembly

42 - Bottom Female Tine Cover

43 - Bottom Female Frame Cover

44 - Outer (Female) Guide

50 - Center Width and Angle Adjusting Connecting Assembly

51 - Bottom Center Cover

52 - Locking Actuator

53 - Locking Arm

54 - Top Center Cover

55 - Locking Channel

60 - Touch Screen

70 - Safety-Rated Obstacle Detection Lidar

80 - Camera / Sonar / IR Sensor / Lidar Laser Range Finder, etc.

90 - Emergency Stop Button

100 - Battery Pack with Battery Management System

1 10 - Motor Driver

120 - Computer / PC Board

130 - Tine Charger Connectors

140 - Docking Charger Station

141 - Battery Charger Connectors

142 - Battery Charger Unit

Claims

LOW PROFILE ROBOTIC PALLET MOVER CLAIMS

1. A Low Profile Robotic Pallet Mover (10) capable of entering the cavity of a pallet or cart or other raised load with the ultimate purpose of lifting it from the ground and moving or reorienting it before placing it back onto the ground, comprising:

- At least two drive units (20), potentially with other non-driven wheels, castors, etc. accompanying them and mounted into at least two separate but connected structures (30, 40) to form a single device (10).

- A mechanism (50) joining the structures (30,40) in which there is at least one pivoting, rotating or otherwise adjustable connection between the structures to allow movement of one structure relative to the other.

2. A Low Profile Robotic Pallet Mover (10) comprising at least two drive units (20) mounted into at least two separate but connected structures (30,40) to form a single device (10), where the structures are joined by a mechanism (50) in which there is at least one sliding, telescoping or otherwise adjustable connection between the structures to allow both lateral and angular movement of one structure relative to the other so as to allow the device (10) to be expanded or contracted in size, where:

- The adjustment can be in one direction allowing change of width (W dimension) of the device;

- The adjustment can be in an approximately perpendicular direction allowing change of length (L dimension); or

- The adjustment can be in multiple directions allowing change of both the W and L dimensions (so the size as well as the shape) of the device can be changed, typically to match the dimensions of the load to be transported.

3. A Low Profile Robotic Pallet Mover (10) comprising at least two drive units (20) mounted into at least two separate but connected structures (30,40) to form a single device (10), where the structures are joined by a mechanism (50) in which there is at least one sliding, telescoping or otherwise adjustable connection between the structures to allow both lateral and angular movement of one structure relative to the other so as to allow the device (10) to be expanded or contracted in size, where:

- The movement of the structures relative to each other can be made by the drive units (20) rather than a separate dedicated adjusting drive, by orienting the driven wheels in the intended travel direction of one structure relative to another.

- The mechanism that provides the sliding or telescoping or other such adjustment between the two structures (30, 40) consists of an Inner (Male) Guide (34) that is connected to one structure (30) and a second Outer (Female) Guide (44) that is connected to another structure (40) and where the insertion of one inside the other provides a sliding and rotating connection between the structures (30, 40).

4. The Low Profile Robotic Pallet Mover (10) of Claim 3 where the Inner (Male) Guide (34) that telescopes inside the Outer (Female) Guide (44) has Locking Channels (55) or an equivalent feature such that Locking Actuator (52) can when required extend a Locking Arm (53) into the Locking Channel (55) in the Inner (Male) Guide (34). Such a mechanism will still allow rotation of the Inner (Male) Guide (34) inside the Outer (Female) Guide (44) but will no longer allow it to telescope. This means the Low Profile Robotic Pallet Mover (10) will not change its size or shape for that axis however the automatic angle adjusting mechanism that allows one structure (30) to pivot relative to another (40) will continue to operate.

5. A Low Profile Robotic Pallet Mover (10) where the motive force for the device is provided by multiple compact and independently driven differential drive units (20) that can be operated without the physical presence of an operator, to move a load robotically and with the units' operating collectively to provide functions including; - Moving the load forwards, backwards and turning;

- Moving the load laterally, perpendicular to forwards/backwards travel direction;

- Moving the load diagonally;

- Rotating the load about its own center and essentially on the spot.

6. A Low Profile Robotic Pallet Mover (10) where the motive force for the device is provided by multiple compact and independently driven 3DD (three-dimensional differential) drive units that can effect not only 'X-Y' (planar) displacement on the ground, but also vertical displacement, therefore with the units' operating collectively to provide additional functions to those in Claim 5 including;

- Entering the space below a pallet, cart or other load and then all 3DD drive units rotating in the same direction to lift the load up off the ground;

- Having moved to the desired drop location, all 3DD drive units rotating in the opposite direction to lower the load back down onto the ground.