WO2022200462A1

WO2022200462A1 - A robot for carrying shelves

Info

Publication number: WO2022200462A1
Application number: PCT/EP2022/057685
Authority: WO
Inventors: André Rangel DE SOUSA
Original assignee: Coalescent Mobile Robotics Ivs
Priority date: 2021-03-24
Filing date: 2022-03-23
Publication date: 2022-09-29
Also published as: EP4313723A1

Abstract

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).

Description

A ROBOT FOR CARRYING SHELVES

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.

Background

The use of autonomous mobile robots for carrying shelves has been known for some years, and it has greatly improved modern inventory systems especially regarding speed and efficiency of storing and retrieving inventory items. But even modern inventory systems, such as those in mail-order and e-commerce warehouse, supermarket storage, airport luggage systems, and custom-order manufacturing facilities, face significant challenges in providing a fast enough, and with high accuracy, response to requests for inventory items. The current state of automation often results in rigid and bulky inventory systems that are neither scalable nor easily adaptable to dynamic conditions.

An attempt to increase accuracy and speed is described in US patent No. 7,402,018 B2, in which an inventory system with mobile drive unit and inventory holder is presented. This solution requires a precise positioning between a docking head and an inventory holder, limiting the speed and efficiency of the system. Moreover, the inventory system uses tapped pins that may constitute a danger to personnel around the robot, as they are sharp and positioned perpendicular to the ground plane. Additionally, the items on a shelf are placed by a robot or a human resulting in unpredictable and often unbalanced weight distribution on the shelf.

Thus, there is a need for a safer, simpler, and efficient system that is capable of coupling with a shelf and that can fully enable the speed, reliability, and accuracy of autonomous mobile robots for carrying shelves without requiring a lot of space.

Description In accordance with the present disclosure, a load bearing actuator unit for a vehicle is provided, the actuator unit comprising: a first end comprising a first connector provided to connect the actuator unit with a load, the first connector comprising a first load bearing surface, a second end comprising a second connector configured to connect the actuator unit to a vehicle, a length adjustable actuator being in connection with the first end and the second end, the actuator configured to increase or decrease the distance between the first end and the second end of the actuator unit, a resilient member configured to receive the load, and a coupling member having a second load bearing surface is configured to support the load to provide a coupling between the load and the first connector, where the first load bearing surface and/or the second load bearing surface is/are configured to pivot relative to the second end.

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.

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. During the movement of the load, 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. Thus, the load may tilt, which may cause instability between the load and the vehicle. However, by providing a first load bearing surface and/or a second load bearing surface that can pivot relative to the second end of the load bearing actuator, 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.

A similar situation may occur, where the load may be a shelfing unit on wheels, and 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. This means that 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. Thus, if the shelfing unit is manoeuvred across a threshold or a bump on the driving surface of the vehicle and the shelfing unit, 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. Thus, 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. Thus, 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.

Thus, 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. Thus, it is possible to increase the reliability of the operation of the vehicle, by utilising 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. Such 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. By providing a vehicle having a joint and allowing tilting between the first end and the second end, it is possible to allow existing buildings or warehouses to be utilised for autonomic robots or pre-programmed robots to operate without risking decoupling from the warehouse item.

It should be noted that 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. Within the understanding of the present invention the term "pivot" may mean any movement that may occur between the vehicle and the load. Thus, 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.

Within the understanding of the present invention, the term 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.

In one exemplary embodiment, 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.

In one exemplary embodiment, 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.

In one exemplary embodiment, 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. In one embodiment, the load application surface of the load may be planar, and the load bearing surface of the first end may be planar. Thus, 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. Thus, there may be no mechanical elements that prevent movement of the load bearing surface relative to the load application surface when a movement is instigated by the vehicle.

In one embodiment, 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. This means that 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.

In one exemplary embodiment, 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. Thus, 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.

In one exemplary embodiment, 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. By having a first joint and a second joint, it is possible to maintain the plane of the load bearing surface relative to the vehicle, even though a part of the load bearing actuator unit tilts or pivots relative to the first end and/or the second end. Thus, the angular movement of the load bearing actuator over one joint may be countered by the second joint, thereby allowing the load bearing surface to adjust in position and maintain its angular position relative to the load application surface.

In one exemplary embodiment, 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.

In one exemplary embodiment, 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. This means that in a position where the load bearing actuator unit is ready for receiving a load, the coupling member may be in its first position where the coupling member extends in a direction away from the load bearing surface, and/or the first end of the load bearing actuator. When the load bearing actuator has been positioned correctly to receive a load, the height adjustable actuator may be extended (increased in length) and thereby allowing the load bearing surface to come closer to the load application surface of the load. 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. Thus, 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. Thus, 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.

In one embodiment, the coupling member may be moveable along a longitudinal axis, allowing the coupling member to move relative to the load bearing actuator unit. In one exemplary embodiment, 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. Thus, if a load application surface tilts relative to the first end of the load bearing actuator unit, 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. Thus, it may be possible to maintain the coupling between the coupling member and the load, even though the load is tilted relative to the load bearing actuator unit.

In one exemplary embodiment, where 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. In one embodiment, 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.

In one exemplary embodiment, 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.

In one exemplary embodiment, the first coupling member and the second coupling member, or a plurality of coupling members, 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. Thus, 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. Thus, when the load application surface has tilted, 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.

In one exemplary embodiment, 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. 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. In case the magnet is electromagnetic, 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.

By providing the coupling member with a magnet, 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.

Furthermore, by providing 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. As an example, if 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. Thus, 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. Thus, 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. In one exemplary embodiment, 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. Thus, 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. Thus, when the length adjustable actuator is elongated, 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. This means that when the actuator has enabled the contact between the load bearing surface and the load application surface, the resilient member may be pressed by the actuator, thereby storing some of the load inside the spring. Thus, the resilient member maintains its length prior to contact with the load and may be depressed upon contact with the load.

In one exemplary embodiment, the coupling member, or optionally a plurality of coupling members, 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. Thus, 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.

In one exemplary embodiment of the invention, 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. This means that the vehicle and/or robot may be capable of steering the load in a direction that is set by the vehicle and/or robot.

Within the understanding or the present invention, the term "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. Thus, 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.

According to a first aspect of the invention, 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.

Using 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 removes any dangerous surface used for coupling to a shelving unit, making this unit safer to operate. At least one of the above-mentioned elements, a combination of those or all of them may be combined in the latching mechanism. Additionally, absolute alignment may be difficult and costly to achieve. Therefore, 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.

According to another embodiment, 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.

According to another embodiment, 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. This may allow an easier and faster assembly process, improving reliability and structure strength of the unit. In an alternative embodiment of the invention, 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. Furthermore, the chosen dimensions may comply with standard components for the unit.

According to another embodiment, 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. Furthermore, 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.

According to another embodiment, 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.

According to another embodiment, 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.

According to another embodiment, 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.

According to another embodiment, 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.

According to another embodiment, 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.

According to a second aspect of the invention, a robot unit is provided that 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 latching mechanism unit when moving in a vertical direction; wherein the drive module is operable to move the robot unit and, when the shelving unit is latched to the robot unit, the drive module is configured to transport the shelving unit.

The provision of the robot unit may result in a faster and more efficient operation time, when the robot unit is in use and positioned adjacent to the shelving unit, as it is capable of coupling the latching mechanism unit to the shelving unit without the need of a precise alignment and therefore in an easier and faster way. According to another embodiment, 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.

According to another embodiment, 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.

According to another embodiment, 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.

According to another embodiment, a shelving unit for hosting inventory is provided, the shelving unit 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.

According to another embodiment, 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.

According to a third aspect of the invention, a system for transporting inventory is provided, wherein the system comprises: 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, 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 vertical direction; wherein the drive module is operable to move the robot unit and, when the shelving unit is latched to the robot unit, the drive module is configured to transport the shelving unit; a shelving unit for hosting inventory, the shelving unit 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 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.

It is noted that in this application the definition of adjacent to 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.

Brief description of the drawings

The present invention will now be described in more detail with reference to the appended drawings showing embodiment(s) of the invention. 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, and

Fig. 5 is a cross sectional view of a load bearing actuator unit in accordance with the present disclosure. In the figures, 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.

Detailed description Various exemplary embodiments and details are described hereinafter, with reference to the figures when relevant. It should be noted that the figures may or may not be drawn to scale and that elements of similar structures or functions are represented by like reference numerals throughout the figures. It should also be noted that the figures are only intended to facilitate the description of the embodiments. They are not intended as an exhaustive description of the disclosure or as a limitation on the scope of the disclosure. In addition, an illustrated embodiment needs not have all the aspects or advantages shown. An aspect or an advantage described in conjunction with a particular embodiment is not necessarily limited to that embodiment and can be practiced in any other embodiments even if not so illustrated, or if not so explicitly described.

Referring initially to fig. 1A to fig. 1J, different schematic views of an embodiment of the invention are shown, wherein an actuator unit 1 is connected to a latching mechanism unit (first connector) 2 through a first actuator connector 12.

As shown initially in fig 1A, 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. Thus, 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. Thus, the actuator unit may pivot relative to load, as well as pivot relative to parts of the actuator unit.

As better shown in fig. 1C, 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. In an embodiment of the invention, 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.

In 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. 2A, 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. In this embodiment, 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'. In fig. 2C, 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. In an alternative embodiment represented in fig. 2D, 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. Thus, 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. In an alternative embodiment, at the top of the latching mechanism 2, 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. When the latching mechanism unit 2 is connected with the shelving unit, 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.

The person skilled in the art realises that the present invention by no element is limited to the preferred embodiments described above. On the contrary, many modifications and variations are possible within the scope of the appended claims.

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. 5) which allows the coupling members 112 to be resiliently manoeuvred in a direction parallel to the longitudinal axis A in and out of the actuator housing 102 and the first load bearing surface. 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.

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. Thus, 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. Thus, when the entire first load bearing surface 110 is positioned beneath a load application surface of e.g. a shelfing unit, each of the coupling members 112 is also positioned below the load application surface of the load. 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. Within the understanding of the present disclosure, 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. Thus, 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.

The provision of a plurality of coupling members 112 in the unit 100 as well as separate resilient members 138 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. Thus, if a load which is in contact with the first load bearing surface is tilted in one direction, 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. Thus, 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.

Additionally, variations to the disclosed embodiments can be understood and effected by the skilled person in practicing the claimed invention, from a study of the drawings, the disclosure, and the appended claims. In the claims, the word "comprising" does not exclude other elements or steps, and the indefinite article "a" or "an" does not exclude a plurality. The mere fact that certain measures are recited in mutually different dependent claims does not indicate that a combination of these measured cannot be used to advantage.

The use of the terms "first", "second", "third" and "fourth", "primary", "secondary", "tertiary" etc. does not imply any particular order but are included to identify individual elements. Moreover, the use of the terms "first", "second", "third" and "fourth", "primary", "secondary", "tertiary" etc. does not denote any order or importance, but rather the terms "first", "second", "third" and "fourth", "primary", "secondary", "tertiary" etc. are used to distinguish one element from another. Note that the words "first", "second", "third" and "fourth", "primary", "secondary", "tertiary" etc. are used here and elsewhere for labelling purposes only and are not intended to denote any specific spatial or temporal ordering.

Furthermore, the labelling of a first element does not imply the presence of a second element and vice versa.

It is to be noted that the word "comprising" does not necessarily exclude the presence of other elements or steps than those listed. It is to be noted that the words "a" or "an" preceding an element do not exclude the presence of a plurality of such elements.

It should further be noted that any reference signs do not limit the scope of the claims.

Although features have been shown and described, it will be understood that they are not intended to limit the claimed invention, and it will be made obvious to those skilled in the art that various changes and modifications may be made without departing from the spirit and scope of the claimed invention. The specification and drawings are, accordingly, to be regarded in an illustrative rather than restrictive sense. The claimed invention is intended to cover all alternatives, modifications, and equivalents.

Items 1. 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 attaching to the shelving unit (4); and a first actuator connector (12) connecting the latching mechanism unit (2) to the upper side of an actuator unit (1).

2. A latching mechanism unit (2) according to item 1, wherein the latching mechanism unit (2) further comprises a detaching module (25) configured to apply a detaching force to the shelving unit (4) such that the shelving unit (4) is detached.

3. 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.

4. An actuator unit (1) for coupling and pre-loading inventory transport, 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 (2) when moving in a horizontal direction.

5. 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).

6. An actuator unit (1) for coupling and pre-loading inventory transport according to any of items 4 to 5, wherein the actuator unit (1) is configured to perform at least one of rotary and circular movements. 7. An actuator unit (1) for coupling and pre-loading inventory transport according to any of items 4 to 6, wherein the actuator unit (1) when in use is capable to carry loads up to 300 kg.

8. An actuator unit (1) for coupling and pre-loading inventory transport according to any of items 4 to 7, wherein the actuator unit (1) comprises a pivot joint (16, 17).

9. 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

(1) for coupling and pre-loading inventory transport, 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

(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 module is configured to transport the shelving unit (4).

10. A robot unit (3) for transporting the shelving unit (4) according to item 9, wherein the drive module comprises one or more motorized wheels.

11. 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). 12. A robot unit (3) for transporting the shelving unit (4) according to any of items 9 to 11, wherein the software comprises an artificial intelligence.

13. 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).

14. A shelving unit (4) for hosting inventory according to item 13, wherein the shelving unit (4) is capable of carrying a weight below 300 kg, and preferably below 250 kg.

15. A system (5) for transporting inventory, wherein the system comprises: 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 (1) for coupling and pre- loading inventory transport, 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 (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).

Claims

1. A load bearing actuator unit for a vehicle , the actuator unit comprising:

- a first end comprising a first connector provided to connect the actuator unit (1) with a load, the first connector comprising a first load bearing surface, - a second end comprising a second connector configured to connect the actuator unit (1) to a vehicle,

- a length adjustable actuator being in connection with the first end and the second end, the actuator configured to increase or decrease the distance between the first end and the second end of the actuator unit, - a resilient member configured to receive the load, and

- a coupling member having a second load bearing surface is configured support the load to provide a coupling between the load and the first connector,

- where the first load bearing surface and/or the second load bearing surface is/are configured to pivot relative to the second end.

2. A load bearing actuator unit in accordance with claim 2, wherein a first joint is arranged in a position between the first end and the second end where the first joint is configured to allow the first end to pivot relative to the second end.

3. A load bearing actuator unit in accordance with any of the preceding claims, wherein the coupling member is 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.

4. A load bearing actuator unit in accordance with any of the preceding claims, wherein the load application surface of the load is planar and the load bearing surface of the first end is planar.

5. A load bearing actuator unit in accordance with any of the preceding claims, wherein friction forces between the load and the load bearing actuator unit are increased by providing a surface treatment to the load bearing surface, and/or where the friction is increased by increasing the force that is applied to the load application surface by the load bearing surface

6. A load bearing actuator unit in accordance with any of the preceding claims, wherein where the first coupling member is connected with the first resilient member

7. A load bearing actuator unit in accordance with any of the preceding claims, wherein where the first joint is connected with the second end and is connected with the actuator.

8. A load bearing actuator unit in accordance with any of the preceding claims, wherein the first coupling member is positioned within the peripheral perimeter of the first load bearing surface

9. A load bearing actuator unit in accordance with any of the preceding claims, wherein a second load bearing surface of the coupling member in a first position extends 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 is substantially planar with the first load bearing surface of the first connector.

10. A load bearing actuator unit in accordance with any of the preceding claims, wherein the load bearing actuator comprises a second coupling member and optionally a second resilient member.

11. A load bearing actuator unit in accordance with any of the preceding claims, wherein where the vehicle is an inventory transport robot.

12. A load bearing actuator unit in accordance with any of the preceding claims, wherein the first coupling member and the second coupling member (and or subsequent coupling members) are configured to move independently of each other.

13. A load bearing actuator unit in accordance with any of the preceding claims, wherein the at least first coupling member comprises a magnet.

14. A load bearing actuator unit in accordance with any of the preceding claims, wherein the coupling member comprises a plurality of coupling members and/or a plurality of resilient members.

15. A load bearing actuator unit in accordance with any of the preceding claims, wherein 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.

16. A robot unit for transporting a shelving unit, wherein the robot unit comprises a load bearing actuator unit in accordance with any one of claims 1-15.