Coupling device configured to couple to a mobile truck and robotic drive system for at least one mobile truck comprising such a coupling device

Abstract

The invention relates to a coupling device (11) configured to equip a robotic drive system (10) and to connect to a mobile truck (4) of the type having an articulated drawbar (8), comprising a main structure provided with an actuating arm movable between a first position of the coupling device corresponding to a configuration uncoupled from the mobile truck and a second position of the coupling device corresponding to a configuration coupled to the mobile truck, and a coupling mechanism arranged opposite the actuating arm, the coupling device being configured such that, between its first position and its second position, the actuating arm is configured to cause the drawbar of the mobile truck to move from a default position, in which the drawbar is distant from the coupling mechanism and the mobile truck is free, to a low position in which the drawbar is sandwiched between the actuating arm and the coupling mechanism and the mobile truck is coupled to the coupling device.

Description

[0001] TECHNICAL FIELD OF THE INVENTION

[0002]

[0001] The invention relates to the general field of logistics and in particular to the transport of mobile trolleys.

[0003]

[0002] In particular, the present invention relates to a coupling device configured to attach to such a mobile trolley, and an assembly formed of the trolley and the coupling device.

[0004]

[0003] The invention also relates to a robotic drive system for at least one such mobile trolley, comprising such a coupling device.

[0005]

[0004] The invention also relates to a production site provided with at least a first zone, for example a storage zone, at least a second zone, for example a production zone, located at a distance from the first zone, and a plurality of mobile trolleys, and at least one robotic drive system comprising a coupling device configured to attach to one of the mobile trolleys to move it from the first zone to the second zone and / or vice versa.

[0006]

[0005] The invention further relates to a method for coupling such a robotic drive system with at least one mobile trolley with an articulated drawbar.

[0007] STATE OF THE ART

[0008]

[0006] Production sites are known which are provided with at least one storage area, at least one production area located at a distance from the storage area, and a plurality of mobile trolleys, and at least one robotic drive system comprising a coupling device configured to attach to one of the mobile trolleys to move this trolley from the storage area to the production area and / or vice versa.

[0009]

[0007] Such a coupling device has a metallic and magnetic connection interface while the trolley to which the coupling device is intended to attach has a complementary metallic and magnetic connection interface configured to magnetically couple with the metallic and magnetic connection interface of the coupling device.

[0010]

[0008] The mechanical interconnection of the coupling device with the trolley is therefore done magnetically.

[0011]

[0009] Also known from European patent EP 3 283 308 is an automatic guided vehicle intended to tow a rolling trolley having four wheels and equipped with a chassis, the vehicle comprising drive wheels, a body mounted on the drive wheels, a control system using a navigation system, a trolley attachment mechanism mounted on the body for coupling the trolley to the vehicle, and at least one proximity sensor mounted on the body.

[0012]

[0010] The control system is coupled to the proximity sensor to adjust the position of the vehicle and detect possible obstacles.

[0013]

[0011] The trolley attachment mechanism comprises a towing arm which can freely rotate in a horizontal plane. The arm is mounted to a pivot point of the robotic body at one end and is equipped with a portion at the other end for gripping and retaining the trolley to be towed by its frame.

[0014]

[0012] The portion of the tow arm for gripping the chassis of the trolley comprises a vertical bar attached to the tow arm, a horizontal bar flexibly attached via a first pivot point to the vertical bar, a hook for gripping the chassis and which is flexibly attached via a second pivot point to the horizontal bar, with the hook being movable by actuating means.

[0015]

[0013] The portion of the trailer arm for gripping the trolley frame further comprises support cleats positioned on each side of the hook to generate a clamping force against the trolley frame.

[0016]

[0014] The interconnection of the trailer arm with the trolley chassis is therefore done here directly mechanically by gripping.

[0017] STATEMENT OF THE INVENTION

[0018]

[0015] The present invention aims to provide a coupling device configured to attach to one of the mobile trolleys, of a similar type, and which is particularly simple and convenient both in use and in manufacture.

[0019]

[0016] The invention thus relates, according to a first aspect, to a coupling device configured to equip a robotic drive system and to attach to a mobile trolley of the articulated drawbar type, comprising a main structure provided with an actuating arm movable between a first position of the coupling device corresponding to a configuration uncoupled with the mobile trolley and a second position of the coupling device corresponding to a configuration coupled with the mobile trolley, and a coupling mechanism arranged opposite the actuating arm, the coupling device being configured so that between its first position and its second position,the actuating arm is configured to move the drawbar of the mobile trolley from a default position in which the drawbar is at a distance from the coupling mechanism and the mobile trolley is free to a low position in which the drawbar is sandwiched between the actuating arm and the coupling mechanism and the mobile trolley is coupled to the coupling device.

[0017] The coupling device according to the invention makes it possible to couple and uncouple a mobile trolley, of the standard type with articulated drawbar, or a coupling of such trolleys, by a robotic drive system, in particular of the autonomous type.,

[0020]

[0018] In other words, the coupling device according to the invention makes it possible to equip such a robotic drive system for use, for example, in a production site already equipped with standard type mobile trolleys with articulated drawbars.

[0021]

[0019] Such a coupling device therefore offers the advantage of not having to equip such a production site with new mobile trolleys of a different type, for their drive by a robotic and autonomous drive system.

[0022]

[0020] The invention also relates to an assembly comprising the coupling device and such a mobile trolley.

[0023]

[0021] Preferred, simple, convenient and economical characteristics of the coupling device, and of the assembly, according to the invention are presented below.

[0024]

[0022] The main structure may be formed of two columns and a crosspiece connecting the two columns and mounted movably along the two columns, with the actuating arm being mechanically secured to the crosspiece.

[0025]

[0023] The actuating arm may be formed from a flat plate having a bearing face configured to bear against the drawbar.

[0026]

[0024] The actuating arm may have a stop member arranged under the bearing face and substantially at one end of the flat plate and close to the crosspiece, the stop member being configured to form a stop for movement of the drawbar.

[0027]

[0025] The coupling device may comprise a guide structure formed by two uprights arranged generally vertically and at a distance from each other and defining between them a space for guiding the actuating arm between the first position and the second position of the coupling device.

[0028]

[0026] The uprights may be provided with internal guide edges delimiting the space for sliding of the actuating arm, and the actuating arm may be formed from a flat plate having notches which are each located opposite an internal guide edge.

[0029]

[0027] The inner guide edges of the uprights may be configured such that the gap narrows from a high position of the actuating arm corresponding to the first position of the coupling device, to a low position of the actuating arm corresponding to the second position of the coupling device.

[0030]

[0028] The coupling device may comprise a drive structure configured to slide the actuating arm and comprising a drive motor, a pulley and belt mechanism rotated by the drive motor, and an attachment member mechanically secured on the one hand to the pulley and belt mechanism and on the other, directly or indirectly, to the actuating arm.

[0031]

[0029] The hooking mechanism may be provided with a fixed base and a hooking part mounted to rotate on the fixed base.

[0032]

[0030] The attachment mechanism may be provided with a position return member configured to be secured on the one hand to a structural element of the robotic drive system and on the other hand to the attachment part which is movable in rotation.

[0033]

[0031] The coupling mechanism may be provided with a coupling part having a central pin forming a hook, and the actuating arm may be formed from a flat plate having a bearing face configured to come into abutment against the drawbar and in which a hole is provided configured to receive the central pin in the second position of the coupling device, with the drawbar which is then sandwiched between the coupling part and the bearing face and which is provided with a slot through which the central pin is introduced.

[0034]

[0032] The attachment part may further have a positioning stud formed downstream of the central pin and / or a wall forming a stop arranged upstream of the central pin and opposite the positioning stud, with the positioning stud being configured to be introduced into the slot of the drawbar and / or the drawbar being configured to come into abutment against the wall forming a stop.

[0035]

[0033] The invention also relates, according to a second aspect, to a robotic drive system, in particular an autonomous one, for at least one mobile trolley, comprising a coupling device as described above.

[0036]

[0034] The robotic drive system may comprise a supporting base mounted on additional wheeled mechanisms, system elements which are above the supporting base, which are covered by a hood, and which are formed by at least one of one or more drive motors of the additional wheeled mechanisms for moving the robotic drive system, position and / or detection sensors, one or more control and command units configured to control and command the motor(s), process the information from the sensors, and also control and command the coupling device.

[0037]

[0035] The invention also relates, according to a third aspect, to a production site provided with at least a first zone, for example a storage zone, at least a second zone, for example a production zone, located at a distance from the first zone, and a plurality of mobile trolleys of the articulated drawbar type, and at least one robotic drive system as described above, comprising a coupling device configured to attach to one of the mobile trolleys to move it from the first zone to the second zone and / or vice versa.

[0036] The invention further relates, according to a fourth aspect, to a method for coupling a robotic drive system as described above with at least one mobile trolley with an articulated drawbar, comprising the steps of: actuating the actuating arm of the coupling device of the robotic drive system from a high position to drive the drawbar from a default inclined-raised position to a low position of the actuating arm and the drawbar, low position in which the drawbar is sandwiched between the actuating arm and the coupling mechanism and the mobile trolley is coupled to the robotic drive system; and moving the robotic drive system forward away from the mobile trolley when the actuating arm is in an intermediate position between its high position and its low position.

[0038]

[0037] To implement the coupling method, the robotic drive system may comprise several sensors, including for example a detection sensor arranged on the actuating arm and complementary position sensors arranged at different heights along the travel of the actuating arm, on the rear face of the robotic drive system.

[0039]

[0038] In particular, the detection sensor can be configured to detect the presence of the drawbar when the actuating arm is in the low position and facing the attachment part; while the complementary position sensors can be configured to detect the position of the actuating arm, between the first position of the coupling device and the second position of the coupling device, respectively between the default position of the drawbar and its low position.

[0040]

[0039] The detection sensor and the complementary position sensors can be configured to transmit the information on the presence of the tiller and / or the position of the actuating arm to a control and command unit and thus control and command the robotic drive system.

[0041]

[0040] The coupling of the robotic drive system and the mobile carriage can take place according to the steps below.

[0042]

[0041] The actuating arm is in the high position and the tiller is in the default position. The detection sensor does not detect the presence of the tiller. A first complementary position sensor which is positioned highest detects the high position of the actuating arm.

[0043]

[0042] The actuating arm is moved from its high position to a low position towards the attachment part, thus driving the drawbar, to an intermediate position where the actuating arm is detected by a second complementary position sensor which is positioned lower than the first complementary position sensor.

[0043] The robotic drive system is moved forward and away from the movable carriage, without stopping the movement of the actuating arm towards its low position, until a third complementary position sensor, positioned lower than the second complementary position sensor, detects the actuating arm in the low position.

[0044]

[0044] If the detection sensor detects the presence of the drawbar, also in the low position and sandwiched between the actuating arm and the coupling mechanism, then the robotic drive system confirms that the mobile trolley is coupled.

[0045]

[0045] On the contrary, if the actuating arm is in the low position and the detection sensor does not detect the presence of the drawbar, then the robotic drive system confirms that the mobile trolley is not coupled.

[0046]

[0046] This can occur for example if the robotic drive system is moved too quickly forward relative to the speed of descent of the actuator arm to its lower position.

[0047]

[0047] The movement of the actuating arm can be stopped in an intermediate position. The robotic drive system is then moved forward and away from the moving carriage by a determined distance, for example until the detection sensor detects the presence of the tiller, then the actuating arm is moved to its lower position, with the tiller then also in the lower position, sandwiched between the actuating arm and the hooking mechanism.

[0048]

[0048] The presence of the drawbar detected by the detection sensor and the low position of the actuating arm detected by the third complementary position sensor makes it possible to confirm that the mobile trolley is coupled.

[0049] BRIEF DESCRIPTION OF THE FIGURES

[0050]

[0049] Figure 1 schematically and partially represents, in a top view, a storage area of ​​a production site, provided with a plurality of mobile trolleys arranged in lines one behind the other, and a robotic drive system comprising a coupling device according to the invention, here in a coupled configuration with one of the mobile trolleys.

[0050] Figure 2 schematically and partially represents, in a top view, a production area of ​​the production site, in which the robotic drive system places a mobile trolley that it has retrieved in the storage area.

[0051]

[0051] Figure 3 schematically represents in perspective, the robotic drive system comprising the coupling device, here in uncoupled configuration with a mobile carriage.

[0052]

[0052] Figure 4 is similar to Figure 3, in side view.

[0053]

[0053] Figure 5 is similar to Figures 3 and 4, in front view.

[0054] Figure 6 is a view similar to that of Figure 3, in the coupled configuration.

[0054]

[0055] Figure 7 is similar to Figure 6, in side view.

[0055]

[0056] Figure 8 is similar to Figures 6 and 7, in front view.

[0056]

[0057] Figure 9 is a perspective view of the coupling device taken in isolation, in a first position corresponding to the uncoupled configuration.

[0057]

[0058] Figure 10 is similar to Figure 9, in side view.

[0058]

[0059] Figure 11 is similar to Figures 9 and 10, in front view.

[0059]

[0060] Figure 12 is a perspective view similar to that of Figure 9, with the moving carriage approached the coupling device in its first position corresponding to the uncoupled configuration.

[0060]

[0061] Figure 13 is similar to Figure 12, in side view.

[0061]

[0062] Figure 14 is similar to Figures 12 and 13, in front view.

[0062]

[0063] Figure 15 is a perspective view of the coupling device taken in isolation, in a second position corresponding to the coupled configuration.

[0063]

[0064] Figure 16 is similar to Figure 15, in side view.

[0064]

[0065] Figure 17 is similar to Figures 15 and 16, in front view.

[0065]

[0066] Figure 18 is a perspective view similar to that of Figure 15, with the mobile carriage approached the coupling device in its second position corresponding to the coupled configuration.

[0066]

[0067] Figure 19 is similar to Figure 18, in side view.

[0067]

[0068] Figure 20 is similar to Figures 18 and 19, in front view.

[0068]

[0069] Figures 21 to 23 schematically and partially represent the transition from the uncoupled configuration to the coupled configuration of the coupling device with the mobile trolley.

[0069]

[0070] Figure 24 schematically and partially represents an uncoupled configuration of the coupling device with the mobile trolley.

[0070] DETAILED DESCRIPTION OF THE INVENTION

[0071]

[0071] Figures 1 and 2 schematically and partially illustrate a production site 1, or factory, including in particular a first zone called storage zone 2 and a second zone called production zone 3 located at a distance from storage zone 2.

[0072]

[0072] The storage area 2 is intended to store components which will be used in the production area 3 to manufacture and / or assemble articles.

[0073]

[0073] Thus, such components need to be transported from storage area 2 to production area 3. Such storage area 2 is also called a store, generally located at the entrance to the production flow of factory 1.

[0074] Alternatively, the storage area may also be provided to receive the final items for shipment from factory 1.

[0074]

[0075] The factory 1 comprises a plurality of mobile trolleys 4, on which are arranged, or stacked, containers 5 often called bins, and in which the components are stored.

[0075]

[0076] The storage area 2 comprises a plurality of rows 6 or corridors provided to receive mobile trolleys 4 and separated, at the entrance and / or exit, by spacer and guide plates 7 arranged on the ground.

[0076]

[0077] The mobile trolleys 4 can be coupled, or not, to each other, on the same row 6 by means of a drawbar 8 articulated by a mobile trolley 4 in cooperation with a hook 9 of another mobile trolley 4, immediately adjacent.

[0077]

[0078] Figure 1 thus shows a storage area 2 with three rows 6 in each of which two mobile trolleys 4 are coupled.

[0078]

[0079] The factory 1 further comprises a robotic drive system 10 comprising a coupling device 11 configured to cooperate with a drawbar 8 of a mobile trolley 4.

[0079]

[0080] In Figure 1, the robotic drive system 10 has its coupling device 11 in a configuration coupled to a mobile carriage 4 located here on the middle row 6 and closest to the entry and / or exit on the side of the spacer and guide plates 7.

[0080]

[0081] In this coupled configuration, the robotic drive system 10 is configured to extract the mobile trolleys 4 from their row 6 and thus from the storage area 2 to take them to the production area 3, autonomously.

[0081]

[0082] The production zone 3 here has, for example, two supply rows 12 formed by rolling roller structures 13 configured to slide the containers 5, and a central row 14, located between the two supply rows 12, for the passage of the mobile carriage 4 driven in movement by the robotic drive system 10.

[0082]

[0083] For example, the central row 14 can be used for supplying components whose weight and / or size do not allow the containers to be placed on the rolling roller structures 13.

[0083]

[0084] Like the storage area 2, the production area 3 is provided with spacer and guide plates 7 at the entrance and / or exit of the central row 14 and the supply rows 12.

[0084]

[0085] In the coupled configuration, the robotic drive system 10 is therefore further configured to insert the mobile carriage 4 into the central row 4, autonomously.

[0085]

[0086] In other words, the robotic drive system 10 is configured to drive the mobile carriages 4 both forward and reverse.

[0087] Figures 3 to 8 show in more detail the robotic drive system 10 in an uncoupled configuration with the mobile carriage 4 in close proximity, then in a coupled configuration with this mobile carriage 4.

[0086]

[0088] The mobile trolley 4 is a so-called standard trolley, here presenting standardized dimensions, including a length of approximately 600 mm and a width of approximately 400 mm.

[0087]

[0089] The mobile trolley 4 comprises a chassis 15 generally in the form of a tray having an external contour 16 and made of a lattice of metal rods welded at their intersections, as well as roller mechanisms 17, some being fixed and others pivoting, which carry the chassis 15 and make the trolley 4 mobile.

[0088]

[0090] The drawbar 8 of the mobile trolley 4 is arranged at the front of the mobile trolley 4 and is secured to the chassis 15 by a pivot connection 18.

[0089]

[0091] The drawbar 8 has a lower end 19 which is curved and located under the chassis 15.

[0090]

[0092] The drawbar 8 is articulated to the chassis 15 between a default position (figures 3 to 5), also called raised-inclined, and a low position (figures 6 to 8) in which it can be attached to the coupling device 11 of the robotic drive system 10.

[0091]

[0093] The mobile trolley 4 further comprises, at the rear and opposite the drawbar 8, a hook 20 designed to cooperate with the drawbar 8 of another mobile trolley 4.

[0092]

[0094] The mobile carriage 4 comprises an elastic return element 21, here a spring working in traction, which is attached on the one hand to an anchoring point fixed under the chassis 15 and on the other hand to the curved lower end 19 of the drawbar 8.

[0093]

[0095] The elastic return element 21 makes it possible to bias the drawbar 8 towards the default position.

[0094]

[0096] The drawbar 8 has a longitudinal slot 22 which is configured either to receive the hook 20 of another mobile carriage 4 which is coupled thereto (figure 1), or to cooperate with the coupling device 11 of the robotic drive system 10.

[0095]

[0097] The robotic drive system 10 comprises a supporting base 23 and additional mechanisms with fixed and / or pivoting rollers 24, secured to the supporting base 23.

[0096]

[0098] The robotic drive system 10 comprises system elements (not shown) which are above the supporting base 23 and covered by a cover 25.

[0097]

[0099] These system elements may be formed by one or more drive motors of the additional roller mechanisms 24 for driving the robotic drive system 10 in movement, a plurality of position and / or detection sensors and / or having other functions useful to the robotic drive system 10, one or more control and command units configured to control and command the motor(s), process the information from the sensors, and also control and command the coupling device 11.

[0098]

[0100] These can be sensors incorporating a camera, or infrared elements, or even a code reader.

[0099]

[0101] The control and command unit(s) are also configured to communicate with a remote system, which may be located in Factory 1 or even outside Factory 1, and for example a resource management system, whether it concerns component stocks, production flows etc.

[0100]

[0102] The robotic drive system 10 comprises a first recess 26 formed in the cover 25, on the rear face and in which the coupling device 11 is at least partially housed.

[0101]

[0103] The robotic drive system 10 comprises a second recess 27 formed in the supporting base 23, also on the rear face, and in which the drawbar 8 of the mobile carriage 4 is at least partially housed in the coupled configuration.

[0102]

[0104] As visible in figures 5 and 8, the robotic drive system 10 has a size, in width, equivalent to that of the mobile carriage 4 defined by the external contour 16 of its chassis 15.

[0103]

[0105] Between the uncoupled configuration (figures 3 to 5) and the coupled configuration (figures 6 to 8), the drawbar 8 has moved from its default position to its low position, aided by the coupling device 11 which has moved from a first position corresponding to the uncoupled configuration to a second position corresponding to the coupled configuration.

[0104]

[0106] We will now describe in more detail, with reference to figures 9 to 20, the coupling device 11 in its first position then in its second position, and its cooperation with the mobile carriage 4, in the coupled configuration then in the uncoupled configuration.

[0105]

[0107] In particular, in Figures 9 to 11, the coupling device 11 is shown in isolation in its first position.

[0106]

[0108] The coupling device 11 comprises a main structure 30 in particular for its attachment to the supporting base 23 and / or to a structural element (not shown) covered by the cover 25 of the robotic drive system 10, at the level of the first recess 26.

[0107]

[0109] The main structure 30 is formed here of two columns 31 and a crosspiece 32 connecting the two columns and mounted movably along the two columns 31.

[0108]

[0110] The main structure 30 is provided with an actuating arm 33 formed here for example in a single piece with the crosspiece 32.

[0109]

[0111] The actuating arm 33 here has, for example, a flat plate 34 from which a reinforcing plate 35 projects generally perpendicularly, each of these plates being connected to the crosspiece 32.

[0112] The actuating arm 33 also has a bearing face 37 opposite the reinforcing plate 35.

[0110]

[0113] The actuating arm 33 here also has a stop member 38 arranged under the bearing face 37 and substantially at one end of the flat plate 34 and close to the crosspiece 32.

[0111]

[0114] Notches 36 are provided on opposite sides of the flat plate 34.

[0112]

[0115] A through hole 39 is also provided in the flat plate 34 and in the reinforcing plate 35.

[0113]

[0116] The coupling device 11 further comprises a guide structure 40 here formed by two uprights 41 arranged for example vertically and at a distance from each other.

[0114]

[0117] The uprights 41 are provided with internal guide edges 42 defining a space 43 for the sliding of the actuating arm 33 along the columns 31, with the notches 36 which are provided on the flat plate which are each located opposite a respective internal guide edge 42.

[0115]

[0118] The inner guide edges 42 of the uprights 41 are configured so that the space 43 narrows from a high position of the actuating arm 33 corresponding to the first position of the coupling device 11, to a low position of the actuating arm 33 corresponding to the second position of the coupling device 11.

[0116]

[0119] In other words, the uprights 41 widen from the high position of the actuating arm 33 to its low position.

[0117]

[0120] These uprights 41 can be fixed to the structural element covered by the cover 25 and / or to the supporting base 23 of the robotic drive system 10.

[0118]

[0121] The coupling device 11 further comprises a drive structure 50 provided with a fixing plate 51, for example mechanically secured to the structural element covered by the cover 25.

[0119]

[0122] The drive structure 50 is here also provided with a drive motor 52, for example electric, mechanically secured to the fixing plate 51.

[0120]

[0123] The drive structure 50 is also provided with a pulley mechanism having a high pulley 53 mounted on a rotary shaft of the drive motor 52 through the fixing plate 51, and a low pulley 54 mounted free to rotate, for example, on the structural element covered by the cover 25 and / or on the supporting base 23, at a distance from the high pulley 53.

[0121]

[0124] The drive structure 50 is further provided with a drive member formed here by a belt 55 mounted around the high pulley 53 and the low pulley 54, and an attachment member 56 (figure 10) mechanically secured on the one hand to the belt 55 and on the other hand to the crosspiece 32 of the main structure 30 for the sliding of the latter when the belt 55 is driven by the high pulley 53, itself driven by the drive motor 52.

[0122]

[0125] The coupling device 11 further comprises a coupling mechanism 60 provided with a fixed base 61 and a coupling part 62 mounted to move in rotation, for example by means of bearings (not shown), on the fixed base 61.

[0123]

[0126] The attachment part 62 has a central pin 63 forming a hook, a positioning stud 64 formed downstream of the central pin 63 and a wall forming a stop 65 formed upstream of the central pin 63 and opposite the positioning stud 64.

[0124]

[0127] The hooking mechanism 60 may be provided with a return member in position 66 (figure 10), formed for example by a spring, secured on the one hand to the structural element covered by the cover 25 and / or to the supporting base 23 and on the other hand to the hooking part 62 which is movable in rotation.

[0125]

[0128] In Figures 12 to 14, the coupling device 11 is also shown in its first position, with the mobile trolley 4 in the immediate vicinity, in the uncoupled configuration.

[0126]

[0129] In particular, the drawbar 8 of the mobile carriage 4 is in its default and stable position due to the action of the elastic return element 21.

[0127]

[0130] In this position, the drawbar 8 is generally vertical and inclined, in other words inclined upwards, and is located immediately under the bearing face 37 of the flat plate 34 of the actuating arm 33.

[0128]

[0131] The chassis 15 of the mobile carriage 4 is located at a first distance d1 from the hooking mechanism 60.

[0129]

[0132] It will be noted that in this position, the drawbar 8 is located under the flat plate 34 at a distance from the stop member 38.

[0130]

[0133] In Figures 15 to 17, the coupling device 11 is shown in isolation in its second position.

[0131]

[0134] In other words, the cross member 32 has been moved downwards along the columns 31 of the main structure 30, due to the driving of the high pulley 53 by the drive motor 51 and therefore of the belt 55, and incidentally of the attachment member 56 secured both to the belt 55 and to the cross member 32.

[0132]

[0135] The actuating arm 33 has therefore been moved into the space 43 which narrows and thus finds itself opposite and in the immediate vicinity of the hooking mechanism 60, with the notches 36 formed in the flat plate 34 which receive the internal guide edges 42 of the uprights 41 of the guide structure 40, and the central pin 63 which passes through the hole 39 formed in the flat plate 34 and the reinforcing plate 35.

[0133]

[0136] In Figures 18 to 20, the coupling device 11 is also shown in its second position, with the mobile trolley 4 in the immediate vicinity, in the coupled configuration.

[0137] In particular, the drawbar 8 of the mobile carriage 4 has moved from its default and stable position to its low position due to the action of the actuating arm 33 against the force exerted by the elastic return element 21.

[0134]

[0138] In this position, the drawbar 8 is generally horizontal and is engaged with the coupling mechanism 60 of the coupling device 11.

[0135]

[0139] When the drawbar 8 is pushed downwards by the actuating arm 33, it slides against the bearing face 37 until it comes into contact with the stop member 38.

[0136]

[0140] Thus, by pushing the drawbar 8 downwards, the mobile chassis 4 is pushed away from the coupling device 11 so that once in the low position, the chassis 15 of the mobile trolley 4 is at a second distance d2 from the coupling mechanism 60, greater than the first distance d1.

[0137]

[0141] In the low position of the drawbar 8, the central pin 63 passes through the slot 22 of this drawbar 8 and is introduced into the hole 39 made in the flat plate 34 and in the reinforcement plate 35 of the actuating arm 33.

[0138]

[0142] The positioning pin 64 is also inserted into the slot 22 of the drawbar 8.

[0139]

[0143] The drawbar 8 is then sandwiched between the attachment part 62 and the bearing face 37 of the flat plate 34, with a free end of the drawbar 8 coming against the fog-forming wall 65 of the attachment mechanism 60.

[0140]

[0144] In this coupled configuration, the robotic drive system 10 is thus capable of carrying the mobile carriage 4, as explained above with reference to figures 1 and 2.

[0141]

[0145] The robotic drive system 10 can drive the mobile carriage 4 forward and / or backward, as required.

[0142]

[0146] The rotation of the attachment part 62 helps with turning, both when moving forward and when moving backward, while ensuring, in combination with the return member in position 66, the return of the attachment part 62 to position to facilitate the coupling of the mobile trolley 4, in particular when the latter is located in a row of the storage area or the production area.

[0143]

[0147] The rotation of the attachment part 62, in combination with the attachment at the drawbar 8 of the mobile carriage 4, makes it possible to have an optimal and limited turning radius.

[0144]

[0148] We will describe with reference to figures 21 to 23 the transition from the uncoupled configuration to the coupled configuration of the coupling device 11 with the mobile trolley 4.

[0145]

[0149] The robotic drive system 10 may comprise several sensors, including for example a detection sensor 70 arranged on the actuating arm 33 and complementary position sensors 71, 72, 73 arranged at different heights along the movement path of the actuating arm 33, on the rear face of the robotic drive system 10.

[0150] In particular, the detection sensor 70 can be configured to detect the presence of the drawbar 8 when the actuating arm 33 is in the low position and facing the hooking part 62; while the complementary position sensors 71, 72 and 73 can be configured to detect the position of the actuating arm 33, between the first position of the coupling device 11 and the second position of the coupling device 11, respectively between the default position of the drawbar 8 and its low position.

[0146]

[0151] The detection sensor 70 and the complementary position sensors 71 to 73 can be configured to transmit the information on the presence of the tiller 8 and / or the position of the actuating arm 33 to a control and command unit and thus control and command the robotic drive system 10.

[0147]

[0152] In an exemplary embodiment, the attachment of the robotic drive system 10 and the mobile carriage 4 takes place according to the steps below.

[0148]

[0153] The actuating arm 33 is in the high position and the drawbar 8 in the default position (figure 21). The detection sensor 70 does not detect the presence of the drawbar 8. A first complementary position sensor 71 which is positioned highest detects the high position of the actuating arm 33.

[0149]

[0154] The actuating arm 33 is moved from its high position to a low position towards the hooking part 62, thus driving the drawbar 8, to an intermediate position where the actuating arm 33 is detected by a second complementary position sensor 72 which is positioned lower than the first complementary position sensor 71 (figure 22).

[0150]

[0155] The robotic drive system 10 is moved forward and away from the moving carriage 4, without stopping the movement of the actuating arm 33 towards its low position, until a third complementary position sensor 73, positioned lower than the second complementary position sensor 72, detects the actuating arm 33 in the low position.

[0151]

[0156] If the detection sensor 70 detects the presence of the drawbar 8, also in the low position and sandwiched between the actuating arm 33 and the coupling mechanism 60, then the robotic drive system 10 confirms that the mobile carriage 4 is coupled (figure 23).

[0152]

[0157] On the contrary, if the actuating arm 33 is in the low position and the detection sensor 70 does not detect the presence of the drawbar 8, then the robotic drive system 10 confirms that the mobile carriage 4 is not coupled (figure 24).

[0153]

[0158] This may occur, for example, if the robotic drive system 10 is moved forward too quickly relative to the speed of descent of the actuator arm 33 to its lower position.

[0159] Alternatively, the movement of the actuating arm is stopped in the intermediate position, the robotic drive system is moved forward and away from the moving carriage by a determined distance, for example until the detection sensor detects the presence of the tiller, then the actuating arm is moved to its lower position, with the tiller then also in the lower position, sandwiched between the actuating arm and the hooking mechanism.

[0154]

[0160] The presence of the drawbar detected by the detection sensor and the low position of the actuating arm detected by the third complementary position sensor confirm that the mobile trolley is coupled.

[0155]

[0161] Other variations not shown are described below.

[0156]

[0162] The trolley may have a bottom plate rather than a wire mesh.

[0157]

[0163] The trolley may have a drawbar without a slot.

[0158]

[0164] The trolley may have different dimensions than those mentioned above.

[0159]

[0165] The robotic drive system may have a different length and / or width than the mobile carriage.

[0160]

[0166] The main structure may consist of only one column, or a plate rather than one or more columns.

[0161]

[0167] The actuator arm may have a shape different from that shown in the drawings.

[0162]

[0168] The actuating arm may be without a reinforcement plate and / or a stop member.

[0163]

[0169] The actuating arm may be provided with a gutter-shaped wall or any other suitable shape as a replacement for the flat plate.

[0164]

[0170] The drive structure may comprise a chain rather than a belt, or any other suitable mechanism.

[0165]

[0171] The guide structure may consist of only one upright.

[0166]

[0172] The guide structure upright(s) may have straight edges rather than funnel-shaped edges.

[0167]

[0173] The coupling device may be without a guide structure.

[0168]

[0174] The hooking mechanism may be without a positioning stud and / or a wall forming a stop.

[0169]

[0175] The hooking part of the hooking mechanism may not be rotatable and therefore be fixed with the base.

[0170]

[0176] More generally, the invention is not limited to the examples described and represented.

Claims

Claims 1. Coupling device configured to equip a robotic drive system (10) and to attach to a mobile trolley (4) of the articulated drawbar (8) type, comprising a main structure (30) provided with an actuating arm (33) movable between a first position of the coupling device (11) corresponding to a configuration uncoupled with the mobile trolley and a second position of the coupling device corresponding to a configuration coupled with the mobile trolley, and a coupling mechanism (60) arranged opposite the actuating arm, the coupling device being configured so that between its first position and its second position,the actuating arm is configured to move the drawbar of the mobile trolley from a default position in which the drawbar is remote from the coupling mechanism and the mobile trolley is free to a lower position in which the drawbar is sandwiched between the actuating arm and the coupling mechanism and the mobile trolley is coupled to the coupling device., 2. Coupling device according to claim 1, characterized in that the main structure (30) is formed of two columns (31) and a crosspiece (32) connecting the two columns and mounted movably along the two columns, with the actuating arm (33) which is mechanically secured to the crosspiece.

3. Coupling device according to claim 2, characterized in that the actuating arm (33) is formed from a flat plate (34) having a bearing face (37) configured to come into contact with the drawbar (8).

4. Coupling device according to claim 3, characterized in that the actuating arm (33) has a stop member (38) arranged under the bearing face (37) and substantially at one end of the flat plate (34) and close to the crosspiece (32), the stop member being configured to form a stop for movement of the drawbar (8).

5. Coupling device according to any one of claims 1 to 4, characterized in that it comprises a guide structure (40) formed by two uprights (41) arranged generally vertically and at a distance from each other and defining between them a space (43) for guiding the actuating arm (33) between the first position and the second position of the coupling device (11).

6. Coupling device according to claim 5, characterized in that the uprights (41) are provided with internal guide edges (42) delimiting the space (43) for sliding of the actuating arm (33), and the actuating arm (33) is formed of a flat plate (34) having notches (36) which are each located opposite an internal guide edge.

7. Coupling device according to claim 6, characterized in that the internal guide edges (42) of the uprights (41) are configured so that the space (43) narrows from a high position of the actuating arm (33) corresponding to the first position of the coupling device (11), to a low position of the actuating arm corresponding to the second position of the coupling device.

8. Coupling device according to any one of claims 1 to 7, characterized in that it comprises a drive structure (50) configured to slide the actuating arm (33) and comprising a drive motor (52), a pulley and belt mechanism (53, 54, 55) driven in rotation by the drive motor, and an attachment member (56) mechanically secured on the one hand to the pulley and belt mechanism and on the other, directly or indirectly, to the actuating arm (33).

9. Coupling device according to any one of claims 1 to 8, characterized in that the coupling mechanism (60) is provided with a fixed base (61) and a coupling part (62) mounted to move in rotation on the fixed base (61).

10. Coupling device according to claim 9, characterized in that the coupling mechanism (60) is provided with a position return member (66) configured to be secured on the one hand to a structural element of the robotic drive system (10) and on the other hand to the coupling part (62) which is movable in rotation.

11. Coupling device according to any one of claims 1 to 10, characterized in that the coupling mechanism (60) is provided with a coupling part (62) having a central pin (63) forming a hook, and the actuating arm (33) is formed of a flat plate (34) having a bearing face (37) configured to bear against the drawbar (8) and in which is formed a hole (39) configured to receive the central pin in the second position of the coupling device (11), with the drawbar (8) which is then sandwiched between the coupling part (62) and the bearing face (37) and which is provided with a slot (22) through which the central pin is introduced.

12. Coupling device according to claim 11, characterized in that the attachment part (62) further has a positioning stud (64) formed downstream of the central pin (63) and / or a wall forming a stop (65) formed upstream of the central pin (63) and opposite the positioning stud (64), with the positioning stud being configured to be inserted into the slot (22) of the drawbar (8) and / or the drawbar being configured to abut against the wall forming the abutment.

13. Robotic drive system, in particular autonomous, of at least one mobile trolley, comprising a coupling device according to any one of claims 1 to 12.

14. Robotic drive system according to claim 13, characterized in that it comprises a supporting base (23) mounted on additional roller mechanisms (24), system elements which are above the supporting base (23), which are covered by a cover (25), and which are formed by at least one of one or more drive motors of the additional roller mechanisms for moving the robotic drive system (10), position and / or detection sensors, one or more control and command units configured to control and command the motor(s), process the information from the sensors, and also control and command the coupling device (11).

15. Production site provided with at least a first zone (2), at least a second zone (3) located at a distance from the first zone, and a plurality of mobile trolleys (4) of the articulated drawbar (8) type, and at least one robotic drive system (10) according to any one of claims 11 to 14, comprising a coupling device (11) configured to attach to one of the mobile trolleys to move it from the first zone to the second zone and / or vice versa.

16. Method for coupling a robotic drive system (10) according to one of claims 13 and 14 with at least one mobile carriage (4) with an articulated drawbar (8), comprising the steps of: actuating the actuating arm (33) of the coupling device (11) of the robotic drive system (10) from a high position to drive the drawbar (8) from a default inclined-raised position to a low position of the actuating arm (33) and the drawbar (8), low position in which the drawbar (8) is sandwiched between the actuating arm (33) and the coupling mechanism (60) and the mobile carriage (4) is coupled to the robotic drive system (10); and moving the robotic drive system (10) forward away from the moving carriage (4) when the actuating arm (33) is in an intermediate position between its high position and its low position.

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