Classifications

• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B60—VEHICLES IN GENERAL
  • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
  • B60K17/00—Arrangement or mounting of transmissions in vehicles
  • B60K17/30—Arrangement or mounting of transmissions in vehicles the ultimate propulsive elements, e.g. ground wheels, being steerable
• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B60—VEHICLES IN GENERAL
  • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
  • B60K17/00—Arrangement or mounting of transmissions in vehicles
  • B60K17/30—Arrangement or mounting of transmissions in vehicles the ultimate propulsive elements, e.g. ground wheels, being steerable
  • B60K17/303—Arrangement or mounting of transmissions in vehicles the ultimate propulsive elements, e.g. ground wheels, being steerable with a gearwheel on the steering knuckle or kingpin axis
• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B60—VEHICLES IN GENERAL
  • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
  • B60K7/00—Disposition of motor in, or adjacent to, traction wheel
  • B60K7/0007—Disposition of motor in, or adjacent to, traction wheel the motor being electric
• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
  • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
  • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
  • B65G1/02—Storage devices
  • B65G1/04—Storage devices mechanical
  • B65G1/0471—Storage devices mechanical with access from beneath
• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
  • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
  • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
  • B65G1/02—Storage devices
  • B65G1/04—Storage devices mechanical
  • B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
  • B65G1/1373—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed for fulfilling orders in warehouses
  • B65G1/1378—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed for fulfilling orders in warehouses the orders being assembled on fixed commissioning areas remote from the storage areas
• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B60—VEHICLES IN GENERAL
  • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
  • B60K7/00—Disposition of motor in, or adjacent to, traction wheel
  • B60K2007/0046—Disposition of motor in, or adjacent to, traction wheel the motor moving together with the vehicle body, i.e. moving independently from the wheel axle
• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B60—VEHICLES IN GENERAL
  • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
  • B60K7/00—Disposition of motor in, or adjacent to, traction wheel
  • B60K2007/0069—Disposition of motor in, or adjacent to, traction wheel the motor axle being perpendicular to the wheel axle
  • B60K2007/0076—Disposition of motor in, or adjacent to, traction wheel the motor axle being perpendicular to the wheel axle the motor axle being horizontal
• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B60—VEHICLES IN GENERAL
  • B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
  • B60Y2200/00—Type of vehicle
  • B60Y2200/60—Industrial applications, e.g. pipe inspection vehicles
  • B60Y2200/62—Conveyors, floor conveyors

Definitions

• the field of the invention is that of warehouse logistics and in particular the transport of parts or products.
• the invention relates to a motorized trolley intended to transport a load.
• the invention finds particular application in the automation of the flow of goods from a storage warehouse, for example in an order preparation warehouse of a supply chain, or in the automation of an order delivery service. in point-withdrawal, commonly called "drive”.
• an order picker walks around the warehouse to pick up each product for an order from its location on a rack shelf.
• Another disadvantage is that the picker must know the layout of the warehouse perfectly so as not to waste time.
• a drawback of these known techniques is that they are complex and expensive to implement, in particular because two motors are required per turret.
• the object of the invention is therefore in particular to overcome the disadvantages of the prior art mentioned above.
• the object of the invention is to provide a motorized carriage technique which is simple to implement.
• Another object of the invention is to provide a motorized trolley technique which is inexpensive.
• An object of the invention is also to provide a motorized trolley technique which is reliable.
• a motorized trolley intended to transport a load comprising at least 3 drive wheels intended to roll on the ground, able to pivot by at least 90 °, said drive wheels being mounted on pivoting and drive devices fixed to the frame of said carriage, each of said pivoting and drive devices comprising a motor for actuating means for pivoting a drive wheel around a vertical axis, intended to allow a drive wheel to pivot around itself.
• such a carriage comprises a single motor for driving said driving wheels in rotation intended to actuate means for driving said driving wheels in rotation housed in said pivoting and driving devices.
• the invention proposes to implement a trolley equipped with a single motor for driving all of the driving wheels of the trolley, which makes it possible to simplify the implementation of the trolley and to lighten it.
• This cleverly allows the carriage to change direction and set off again at a right angle and thus to travel on an ordered route following the plan of a grid.
• the inventors have in fact found that when the carriage is designed to move only in perpendicular directions, the use of a single drive motor, which drives the wheels at substantially the same speed, is sufficient to correct small deviations angular positions of the wheels with respect to these directions of movement. There is thus no drift of the carriage.
• said carriage is an automatically guided carriage.
• said means for pivoting a driving wheel comprise a first toothed wheel driven in rotation by one of said motors for actuating the pivoting means meshed with a second toothed wheel with a vertical axis, said second toothed wheel being fixed to a fork overlapping said driving wheel, the axle of said driving wheel being pivotally mounted with respect to the sheaths of said fork extending on either side of said driving wheel.
• said drive means comprise a first pinion and a second bevel pinion arranged relative to each other so as to form a bevel gear, the axis of said first pinion being coaxial with that of said second toothed wheel and the axis of the second pinion being coaxial with the axis of one of said drive wheels.
• said drive motor actuates said drive means in rotation of said drive wheels of each of said pivoting and drive devices via a belt.
• said pivoting and drive devices are substantially identical.
• a motorized carriage as described above has four motor drives mounted on pivoting and drive devices fixed substantially to the four corners of said frame.
• at least one of said pivoting and drive devices is configured so that the axis of the second pinion of this device passes through the center of the drive wheel mounted on this device.
• the drive wheel then does not rotate during its pivoting around a vertical axis.
• FIG. 1 is a schematic view, in perspective, of an order picking warehouse equipped with an exemplary embodiment of automatically guided trolleys according to the invention
• Figure 2 is a detailed representation of one of the carriages shown with reference to Figure 1
• FIG. 3 is a detail view, from above, of the system for driving the drive wheels of the truck shown with reference to FIG. 2.
• FIG. 1 Detailed Description of the Invention Illustrated in Figure 1 is a warehouse 10 for storing products for shipment. This warehouse is divided between a storage area 11 and an order picking area in which are arranged order picking stations 12 at which operators 13 prepare packages with the products of an order.
• the storage area 11 is organized in shelving 14 comprising shelves on several levels supported by uprights 15, on which are stored bins 16 which contain the stored products or articles.
• a fleet of automatically guided trucks 17 ("Automatic Guided Vehicle” in English) transports the bins 16 between the storage area 11 and the order picking stations 12.
• a robot 17 When a robot 17 receives location information from a bin 16 containing one or more items to be picked up to complete an order processed by an operator 13, the robot 17 rolls on the ground to the foot of the shelving 14 where tray 16 and is positioned in the aisle 18 between this shelving 14 and the shelving facing it.
• the robot 17 follows the direction of strips drawn on the ground organized according to the diagram of a grid 19. As can be seen in Figure 1, a robot 17 can thus move in the direction of the longitudinal strips 19i or side bands 19 2 perpendicular to the bands 19i and can circulate under the shelves 14.
• This robot 17 then climbs, in the manner of the robot 17i represented in FIG. 1, by resting on two shelves up to the level of the shelf where the tray 16 and the extract from the shelf are stored. He then descends between the two shelves, and once on the ground, transports the tray 16 to the order picking station 12 by walking on the grid 19.
• the operator 13 only has to take the quantity of items ordered and packaged.
• the width of the chassis 23 of the robot and that of the tray 16 are advantageously less than the spacing between two adjacent uprights 15 of the shelving 21 or of the shelving 22 in order to allow the robot to pass between these uprights.
• the robot 17 is equipped at the four corners of its frame 23 with motorized retractable toothed wheels 25 which can be retracted inside the frame 23 or deployed outside the frame 23.
• the robot 17 deploys the motorized arms 26 carrying the toothed wheels 25 out of the frame 23 in the extension of the diagonals of the frame until the toothed wheels reach racks 27 fixed on the uprights 15, as can be seen in Figure 2, and can mesh with them.
• the robot 17 also has four drive wheels 29 mounted on turrets at the four corners of the frame 23 and driven by a single motor 210.
• motor 210 drives a toothed belt 31, via a roller 32 coupled to the motor shaft. This belt 31 is kept taut using three tension rollers 34.
• the movement of the belt 31 rotates the pulleys 33 connected to the drive wheels 29 via two sprockets forming a bevel gear.
• the rotation of a pulley 33 turns a first pinion fixed and coaxial with this pulley, which meshes with a second pinion oriented perpendicularly, fixed to one end of the axle of the wheel, which drives the drive wheel 29 in rotation with a rotational speed proportional to the reduction ratio of the gear formed by the two pinions.
• the four turrets are identical and the motor 210 drives the four drive wheels 29 in rotation at the same speed. It should be noted that this unique motor allows the trolley to turn on itself and thus orient the carriage perpendicular to its previous direction to allow it to make a right angle.
• each of the turrets has a system for pivoting the fork on which is mounted a driving wheel making it possible to orient the driving wheels in different directions, independently.
• This pivoting system comprises a stepper motor 35 and a toothed wheel 36 with an axis coaxial with that of the pulley 33, actuated by the motor 35 via an intermediate pinion mounted on the shaft of the motor 35.

Landscapes

• Engineering & Computer Science (AREA)
• Mechanical Engineering (AREA)
• Chemical & Material Sciences (AREA)
• Combustion & Propulsion (AREA)
• Transportation (AREA)
• Warehouses Or Storage Devices (AREA)
• Handcart (AREA)

Priority Applications (6)

Applications Claiming Priority (2)

Publications (1)

Family

ID=78212199

Family Applications (1)

Country Status (8)

Cited By (5)

Families Citing this family (4)

Citations (4)

Family Cites Families (5)

• 2021
  • 2021-07-21 FR FR2107848A patent/FR3125515B1/fr active Active
• 2022
  • 2022-06-09 CN CN202280055102.6A patent/CN117916113A/zh active Pending
  • 2022-06-09 EP EP22732217.9A patent/EP4373690B1/fr active Active
  • 2022-06-09 JP JP2024503755A patent/JP2024525925A/ja active Pending
  • 2022-06-09 CA CA3225333A patent/CA3225333A1/fr active Pending
  • 2022-06-09 US US18/580,839 patent/US20240336438A1/en active Pending
  • 2022-06-09 WO PCT/EP2022/065686 patent/WO2023001449A1/fr not_active Ceased
  • 2022-06-09 KR KR1020247005574A patent/KR20240051130A/ko active Pending

Patent Citations (4)

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