Conveying system for an autonomous mobile robot

Abstract

Conveying system for an autonomous mobile robot. One aspect of the invention relates to a conveying system (4) for an autonomous mobile robot (2) equipped with lashing means (21, 22), characterized in that it comprises two pairs of conveying means (40, 41) arranged opposite and at a distance from each other, each pair comprising two parallel conveying means (40, 41) each having a front part and a rear part forming a non-zero angle between them, each conveying means (40, 41) comprising at least one drive means (400, 410), the drive means (400, 410) facing each other in pairs and are configured to cooperate with the lashing means (21, 22) of the autonomous mobile robot (2) when the latter positions itself between the lower parts of the two pairs of conveying means (40, 41). Figure to be published with the abbreviation: Figure 1

Description

Title of the invention: Conveyor system for an autonomous mobile robot TECHNICAL FIELD OF THE INVENTION

[0001] The technical field of the invention is that of intralogistics, in particular automated stocks.

[0002] The present invention relates in particular to a conveying system for an autonomous mobile robot. TECHNOLOGICAL BACKGROUND OF THE INVENTION

[0003] One of the main problems in intralogistics is speed. In order to meet the challenges of automation, performance and profitability, manufacturers must develop ever faster systems.

[0004] In certain cases of application of automated stocks, it is necessary to evolve the vehicles (autonomous mobile robots called AMR) vertically.

[0005] The transition from horizontal (ground) movement of the vehicle to vertical movement usually requires stopping the vehicle to use a means of ascent which allows access to the different floors of said stock.

[0006] The transition from vertical movement in the means of ascent to horizontal movement in the stock floors also requires a stop of the vehicle which allows exit from said means of ascent.

[0007] These repeated stops increase the time required for the robot to move an item to or from stock, which consequently reduces throughput.

[0008] There is therefore a need to have a transition without the vehicle having to stop and this by having a reversible system. Summary of the invention

[0009] The invention offers a solution to the problems mentioned above, by allowing a fluid transition between the horizontal movement of the autonomous robot and its ascent into the shelves and not losing time when the robot enters the ascent means.

[0010] A first object of the invention is a conveying system for an autonomous mobile robot equipped with mooring means, characterized in that it comprises two pairs of conveying means arranged opposite and at a distance from each other, each pair comprising two parallel conveying means each having a front part and a rear part forming an angle other than zero between them, each conveying means comprising at least one drive means, the drive means facing each other two by two and are configured to cooperate with the means of securing the mobile robot when it is positioned between the front parts of the two pairs of conveying means.

[0011] According to embodiments, the rear portion may be substantially vertical.

[0012] Advantageously, the front part can be substantially horizontal. The front part is for example the lower part of the conveying means.

[0013] The conveying means may for example have an L shape.

[0014] The conveying means may for example comprise belts, chains or traction cables.

[0015] Thanks to the horizontal part, the autonomous robot can be supported by the conveyor system when the robot moves.

[0016] The robot can be driven when the speed of the conveying means is slightly higher than the speed of the robot, these will be able to grip the robot to raise it onto the shelf, which makes it possible to further reduce the time required for training.

[0017] Alternatively, the conveying means can be set in motion only when the robot comes into contact with one of the drive means, for example, using a sensor.

[0018] The conveying means can each have the form of an endless loop, which makes it possible to drive several robots successively on the same conveying system.

[0019] It is also possible for the conveying means to be reversible and allow both the ascent and descent of the robots, in which case these drive and / or mooring means can be adapted for both actions.

[0020] Advantageously, the front parts of the two conveying means of a pair have a vertical distance between them substantially equal to a vertical offset of the securing means located on the same side of an autonomous mobile robot. Advantageously, the rear parts of the two conveying means have a horizontal offset between them substantially equal to a horizontal distance separating the securing means located on the same side of an autonomous mobile robot.

[0021] A second aspect of the invention relates to an assembly comprising a conveyor system with one of the preceding characteristics and a shelf having at least one storage level.

[0022] Advantageously, the assembly comprises an extraction means configured to transfer the robot from the conveying means to said storage level and vice versa. The extraction means makes it possible to transfer the robot from the conveying means to the desired storage level while keeping the robot in a horizontal position.

[0023] Advantageously, the extraction means comprises a rotating arm and an extraction support, said extraction means is configured to place the support under the robot. when it is transported by the conveyor system near the storage level and extract it from the drive means, then place it on said storage level. The rotating arm equipped with the extraction support, which may be in the form of a tray, is configured to keep the robot horizontal. The rotating arm may consist of two parallel arms.

[0024] Advantageously, the storage level has two extensions spaced apart from each other by a distance lolo being the width of the autonomous robot, and arranged between the two conveying means of a pair, each connected to the storage level by an external arm bypassing the conveying means, the length of each extension is less than the distance between two lateral wheels of the robot.

[0025] Advantageously, the extensions are located at the same height as the storage level in order to constitute means for guiding the robot wheels. Extensions at other levels are possible to cooperate with guide wheels provided for this purpose.

[0026] A third aspect of the invention relates to an automatically guided robot configured to cooperate with the conveyor system or the assembly with at least one of the preceding characteristics, said robot comprising anchoring means configured to cooperate with the drive means and extraction means for transferring the robot from the conveyor means to said storage level and vice versa. In this way, it is the robot which leaves the conveyor system alone.

[0027] Advantageously, the extraction means comprise the securing means.

[0028] Advantageously, each extraction means comprises two connecting rods actuated by a motor arranged in the robot. These connecting rods are movable in rotation.

[0029] Advantageously, each connecting rod is assisted by a return device, such as for example a spring.

[0030] Advantageously, the connecting rod has a length L greater than the distance between the storage level and the conveyor system.

[0031] A fourth aspect of the invention relates to an automatic storage installation comprising an assembly and a robot with at least one of the preceding characteristics.

[0032] A fifth aspect of the invention relates to a conveying method using an assembly with at least one of the preceding characteristics, and comprising the following steps: • arrival of the autonomous mobile robot between the front parts of the conveyor means, • coupling of the lashing means with the drive means, • driving the robot by the front part of the conveyor means then by the rear part up to a storage level of the shelf, • extraction of the robot from the conveyor means and placement on the storage level.

[0033] The invention and its various applications will be better understood upon reading the following description and examining the accompanying figures. BRIEF DESCRIPTION OF THE FIGURES

[0034] The figures are presented for information purposes only and in no way limit the invention.

[0035] [Fig.l] is a perspective view of an example of an installation according to the invention according to a first embodiment,

[0036] [Fig.2] shows the detail of the support of a robot by the system of [Fig.l],

[0037] [Fig.3] shows the detail of a first example of an extraction means located on a storage level,

[0038] [Fig.4] shows the detail of the extraction means of [Fig.3] seen from below,

[0039] [Fig.5] shows the detail of a second example of an extraction means located on a robot in a first position,

[0040] [Fig.6] shows the detail of the extraction means of [Fig.5] in a second position,

[0041] [Fig.7] illustrates the kinematics of the robot with the second extraction means,

[0042] [Fig.8] illustrates the kinematics of the robot with the first extraction means. DETAILED DESCRIPTION

[0043] Unless otherwise specified, the same element appearing in different figures has a single reference.

[0044] Throughout the description, we will call "top" what is located at the top in figures 1, 3, 5 to 8 and "bottom" what is located at the bottom of these figures, "front" the left part of [Fig.l] and "rear" the right part.

[0045] In the example illustrated, the lower horizontal part corresponds to the front part and the upper vertical part corresponds to the rear part.

[0046] The installation 1 shown in [Fig.l] comprises a robot 2, a shelf 3 and a conveyor system 4.

[0047] The shelf 3 shown partially comprises several horizontal storage levels 30, superimposed and able to be equidistant.

[0048] The conveying system 4 comprises two parallel pairs of conveying means 40 and 41 facing each other two by two. These conveying means 40 and 41 comprise a horizontal lower part and a vertical upper part. Each conveying means 40 and 41 comprises a drive means, respectively an upper means 400 and a lower means 410 (see [Fig. 2]). The drive means 400 and 410 may consist of an insert having a concave part 401 oriented in the direction of movement of the conveying means 40 and 41 and intended to cooperate with the mooring means 21, 22 of the robot 2.

[0049] The robot 2 is equipped with wheels 20 and two pairs of securing means 21 and 22 placed on either side of the robot 2. These pairs of securing means 21 and 22 are offset vertically, an upper 21 and lower 22 pair of securing means each to be hooked respectively to an upper 400 and lower 410 drive means.

[0050] In the example of [Fig. 1], a ramp 5 is placed at the front of the conveying system 4 to guide the robot 2 to the horizontal front part of the conveying means 40 and 41. This ramp 5 is only useful in certain configurations such as that of [Fig. 1] where the conveying means 40 and 41 form a closed loop, the gripping zone of the robot 2 being higher.

[0051] In this [Fig.l], each storage level 30 comprises a first example of extraction means 31. It can be seen in more detail in Figures 4 and 5 that this extraction means 31 is fixed under the storage level 30 and comprises a shaft 310 with an axis of rotation X and at least one arm 311 (here two) terminated by a plate constituting an extraction support 312 rotating around an axis X' parallel to the axis X. The arms 311 are actuated by a motor (not shown). A belt 313 arranged between the axis X' and X allows the horizontal maintenance of the extraction supports 312. The arm 311 has a length equal to the distance between the axis X and the storage level 30.

[0052] In the embodiment of Figures 1 to 4, the robot 2 arrives in front of the ramp 5 and climbs it until it reaches the conveying means 40 and 41 in the horizontal front part and which will take the robot 2 thanks to the coupling of the securing means 21 and 22 to the drive means 400 and 410. This coupling can be done either continuously, with the robot 2 and the conveying means 40 and 41 in motion, the latter having a speed greater than the speed of the robot 2 to "catch" it, or with only the robot 2 in motion, the conveying means 40 and 41 only starting to move when one of the securing means 21 or 22 comes into contact with one of the drive means 400 or 410, thanks to a sensor.

[0053] The conveying means 40 and 41 comprise in this embodiment several drive means 400 and 410 spaced apart by at least a distance equal to the space between two storage levels 30. The spacing between two drive means may be less, in which case the robot will be able to take the first one that presents itself.

[0054] The conveying means 40 and 41 illustrated [Fig.l] are endless loops rotating in one direction only, a second conveying system to allow the robot 2 to descend may be provided. This second conveying system may be identical to the first except that it operates in the opposite direction. It is possible to provide a conveying system operating in both directions, both for the ascent and for the descent. The drive means 400, 410 and / or the mooring means 21, 22 can be adapted for both actions, for example the orientation of said means can be reversed.

[0055] When the robot 2 arrives below the storage level 30, the extraction means 31 of the first example (figures 3 and 4) will come to take it from below, lift it to extract it from the drive means 400 and 410 and place it on the storage level 30. An example of the kinematics of the movement is illustrated in [Fig.8]. The arms 311 of the extraction means 31 will position themselves under the robot 2, then by a continuous rotation, will lift it and move it above the storage level 30 then by continuing its rotation will place it on said storage level 30 to end up waiting in a lower vertical or horizontal position under the storage level 30. The extraction support 312 at the end of the arm 311 always remains parallel to the ground.

[0056] According to other embodiments, the kinematics is not circular. They can include triangular or rectangular movements (the angles would be rounded) to save space.

[0057] In the second example of extraction means, illustrated in Figures 5 and 6, they comprise two pairs of connecting rods 23 and 24 articulated on the robot 2 and driven together in rotation around a respective axis Y and Y' by an internal motor. These connecting rods 23 and 24 are here L-shaped and end with the securing means 21 and 22. They could also be of any shape without departing from the scope of the present invention.

[0058] In a first position, visible [Fig. 5], the pairs of connecting rods 23 and 24 are both in an initial position (rearward) and the securing means 21 and 22 are in a position of gripping by the drive means 400 and 410 which can also be the position of displacement by the conveying means 40 and 4L. In a second position, visible [Fig. 6], the connecting rods 23 and 24 are in a modified position (advanced), the first securing means 21 and the second securing means 22 are here offset longitudinally relative to their first position.

[0059] One way of extracting the robot 2 with the extraction means described above is illustrated [Fig.7]. When the robot 2 reaches the height of the storage level 30, the motor of the robot 2 rotates the connecting rods 23 and 24 from the first position to the second position, which has the effect of moving the robot 2, depositing it on said storage level 30 and unhooking the securing means 21, 22 from the drive means 400, 410.

[0060] As visible [Fig.7], two extensions 300 of the storage level 30 can be provided on either side of the conveying system 4, as a means of guiding the robot 2. These two extensions 300 extend between the two conveying means 40 and 41 to face each other at a distance lo, lo being the width of the robot autonomous 2, and distant from the upper conveying means 40 by a length r greater than or equal to the diameter of the wheels 20 of the robot 2.

[0061] In another embodiment, the wheels 20 are deployable, the robot 2 spreads its wheels 20 when it arrives at the storage level 30. The storage level 30 can extend continuously at least beyond the wheel 20 of the robot 2 furthest from the storage level 30.

[0062] Secondary extensions 301 of the storage level 30 may also be provided to take up secondary wheels 200 placed at the rear of the robot 2 and above the plane of the wheels 20. These secondary extensions 301 are located at a level higher than that of the extensions 300 and are spaced 10 apart.

Claims

Claims

1. Conveying system (4) of an autonomous mobile robot (2) equipped with securing means (21, 22), characterized in that it comprises two pairs of conveying means (40, 41) arranged opposite and at a distance from each other, each pair comprising two parallel conveying means (40, 41) each having a front part and a rear part forming an angle other than zero between them, each conveying means (40, 41) comprising at least one drive means (400, 410), the drive means (400, 410) facing each other two by two and being configured to cooperate with the securing means (21, 22) of the autonomous mobile robot (2) when the latter is positioned between the front parts of the two pairs of conveying means (40, 41).

2. Conveyor system (4) according to claim 1, wherein the front portion is substantially horizontal and / or the rear portion is substantially vertical.

3. Conveyor system (4) according to one of the preceding claims, characterized in that the front parts of the two conveyor means (40, 41) of a pair have a vertical distance (h) between them substantially equal to a vertical offset of the securing means (21, 22) located on the same side of an autonomous mobile robot (2).

4. Conveyor system (4) according to one of the preceding claims, characterized in that the rear parts of the two conveyor means (40, 41) have a horizontal offset (d) between them substantially equal to a horizontal distance separating the securing means (21, 22) located on the same side of an autonomous mobile robot (2).

5. Assembly comprising a conveyor system (4) according to one of claims 1 to 4 and a shelf (3) having at least one storage level (30).

6. Assembly according to the preceding claim, comprising an extraction means (31) configured to transfer the robot (2) from the conveying means (40, 41) to said storage level (30) and vice versa.

7. Assembly according to the preceding claim, in which the extraction means (31) comprises a rotating arm (311) and an extraction support (312), said extraction means (31) is configured to place the support (312) under the robot (2) when the latter is transported by the conveyor system (4) near the storage level (30). and extract it from the drive means (40, 41), then place it on said storage level (30).

8. Robot (2) automatically guided and configured to cooperate with the conveyor system (4) according to one of claims 1 to 4 or the assembly according to claim 5, comprising anchoring means (21, 22) configured to cooperate with the drive means (40, 41) and extraction means for transferring the robot (2) from the conveyor means (40, 41) to said storage level (30) and vice versa.

9. Robot (2) according to the preceding claim, characterized in that the extraction means comprise the securing means (21, 22).

10. Robot (2) according to the preceding claim, in which each extraction means comprises a connecting rod (23, 24) actuable by a motor arranged in the robot (2).

11. Automatic storage installation (1) comprising an assembly according to one of claims 6 or 7, or an assembly according to claim 5 and a robot (2) according to one of claims 8 to 10.

12. Conveying method using an installation (1) according to the preceding claim, characterized in that it comprises the following steps: - arrival of the autonomous mobile robot (2) between the front parts of the conveying means (40, 41), - coupling of the securing means (21, 22) with the drive means (400, 410), - driving of the robot (2) by the front part of the conveying means (40, 41) then by the rear part to a storage level (30) of the shelf (3), - extraction of the robot (2) from the conveying means (40, 41) and depositing on the storage level (30).

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