Article processing device

Abstract

A mobile article handling device (10) comprising: - a chassis (20), - a robotic arm (50) mounted on the chassis (20) and equipped at its end with a gripping member (51), the robotic arm (50) being configured to grasp and / or deposit an article in an internal volume of at least one container (110) located near said chassis (20), - a support structure (30) mounted on the chassis (20), - at least one camera (40) fixed to the support structure (30), characterized in that the support structure (30) is mobile between a deployed configuration (DC) in which the camera (40) is capable of acquiring an image of the internal volume of the container (110) and a retracted configuration (RC) in which the article handling device (10) has a smaller volume compared to the deployed configuration (DC). Abstract figure: Figure 1

Description

Title of the invention: Apparatus for processing articles technical field

[0001] This description falls within the field of robotics, and in particular robotic arms for industrial use. This description relates to a material handling device comprising a robotic arm. This description also relates to a logistics system comprising such a material handling device and a lifting ramp. Previous technique

[0002] In the field of logistics, it is known that an operator or a robot performs order preparation operations consisting of moving items between a first container and a second container manually or automatically (also called "pick and place"). Typically, the first container contains items in stock and comes from the racking of an automated storage and retrieval system (also called ASRS for "Automatic Storage and Retrieval System"), and the second container is intended to hold the items of an order for delivery to a customer.

[0003] Typically, these "pick and place" operations are carried out at the level of an installation including the gripping robot. The gripping robot generally comprises a chassis permanently anchored to the floor, a robotic arm and a gripping element enabling the grasping and placement of the articles.

[0004] To limit fatigue due to travel, and reduce order preparation time, containers can be transported to this installation and then shipped via a conveyor which is also permanently anchored near the gripping robot.

[0005] In order to identify and locate the items to be picked up, the installation generally includes a camera mounted on a supporting structure fixed to the floor so as to be positioned at a height and oriented towards an area through which the items pass. The installation is also equipped with a computing unit for processing the camera images and controlling the gripping robot.

[0006] Another example of an installation comprising a robotic arm and a gripper is disclosed in US patent 2023 / 0234216. In this installation, the robotic arm is attached to a support structure that is positioned above an infeed conveyor carrying a first container and an outfeed conveyor carrying a second container. The robotic arm is configured to move an item from the first container to the second container.

[0007] It is understood that such installations have the initial disadvantage of being bulky, which makes them difficult to move into a warehouse and requires significant space within the warehouse where they are to be installed. Furthermore, due to their floor anchoring, these installations are not very flexible and do not allow for easy reconfiguration of the warehouse. Finally, the installation of electrical connections between the gripper arm, the camera, and the computing unit makes the implementation of these installations lengthy and costly. Summary

[0008] A mobile article processing device is proposed comprising: - a chassis, - a robotic arm mounted on the chassis and equipped at its end with a gripping device, the robotic arm being configured to grasp and / or place an item in an internal volume of at least one container located near said chassis, - a support structure mounted on the chassis, - at least one camera fixed to the support structure, characterized in that the support structure is mobile between a deployed configuration in which the camera is able to acquire an image of the internal volume of the container and a retracted configuration in which the article processing device has a smaller volume compared to the deployed configuration.

[0009] The support structure can be articulated pivotally relative to the chassis around a first axis.

[0010] The support structure may include at least one support arm which has a first segment and a second segment, the second segment being articulated pivoting relative to the first segment around a second axis.

[0011] The first axis and the second axis may be parallel, the support structure comprising a first support arm and a second support arm parallel to each other and spaced along the direction of the first axis and the second axis.

[0012] The support structure may include at least one cross member extending between the first support arm and the second support arm in the direction of the first axis and the second axis, said at least one camera preferably being attached to said at least one cross member.

[0013] The chassis may have, in a first direction, a front side configured to face said at least one container and a rear side opposite to the front side in the first direction, the robotic arm being mounted on the chassis closer to the front side than to the rear side, the chassis preferably having a center of gravity closer to the rear side than to the front side.

[0014] The article processing device may have a depth along the first direction which is smaller when the support structure is in the retracted configuration than when it is in the deployed configuration.

[0015] The article processing device may have a height in a vertical direction that is smaller when the support structure is in the retracted configuration than when it is in the deployed configuration.

[0016] The article processing device may have a volume when the support structure is in the retracted configuration making it suitable for being introduced into a parallelepiped-shaped container of standard dimensions, in particular 20 feet or 40 feet.

[0017] The gripping member can be a pneumatic vacuum gripper, the article processing device comprising a vacuum source disposed inside the chassis and in fluidic communication with the gripping member.

[0018] The article processing device may include a control unit configured to control the robotic arm and to process a signal received from said at least one camera in order to identify articles in containers and / or to locate the location of articles in containers, the control unit being disposed inside the chassis.

[0019] The chassis may include at least one lower recess and / or a pair of holes, adapted to receive the pins of a lifting fork.

[0020] The article handling device may include a safety sensor system configured to project a light curtain and detect the crossing of the light curtain by an object and / or an operator.

[0021] The intangible barrier may include: - a central beam extending transversely along one rear side of the chassis opposite the front side in the first direction, - a pair of lateral beams each extending along the first direction and arranged transversely to the first direction on each side of the chassis.

[0022] The article processing device may include a protective panel mounted on the chassis at the rear side.

[0023] The article processing apparatus may have a mass less than or equal to 700 kg-

[0024] According to another aspect, a logistics warehouse assembly is proposed comprising an article handling device as described above and a lifting ramp, the lifting ramp being configured to allow the transport of said at least one container near the chassis by a motorized vehicle so that the robotic arm is able to grasp and / or place an article in the internal volume of the container.

[0025] The logistics warehouse assembly may include a container disposed near the chassis of the item handling device, said at least one camera being arranged opposite the bottom of the container when the support structure is in the deployed configuration. Brief description of the drawings

[0026] Other features, details and advantages will become apparent upon reading the detailed description below, and upon analysis of the accompanying drawings, on which:

[0027] [Fig-1] is a schematic side view of an article processing apparatus according the present description, in which a support structure is in a deployed configuration.

[0028] [Fig.2] is a schematic side view of the article processing apparatus of [Fig.1], in which a support structure is in a retracted configuration.

[0029] [Fig.3] is a schematic perspective view of the support structure of the article processing device of Figures 1 and 2, in the deployed configuration.

[0030] [Fig.4] is a partial schematic perspective view of a chassis of the article processing apparatus of Figures 1 and 2.

[0031] [Fig.5] is a schematic perspective view of the article processing apparatus of [Fig.2].

[0032] [Fig.6] is a schematic perspective view of the article processing device of [Fig.1] and of an elevation ramp allowing the transport of containers comprising articles, near the article processing device, in particular by motorized vehicles, preferably autonomous.

[0033] [Fig.7] includes figures 7a and 7b which represent first means of stopping the support structure.

[0034] [Fig.8] includes figures 8a and 8b which represent second means of stopping the support structure.

[0035] [Fig. 9] is a schematic top view of the article processing apparatus of [Fig. 1] in which a protective light curtain is shown. Description of embodiments

[0036] A mobile article processing apparatus 10 is now described with reference to Figures 1 to 5, comprising: - a chassis 20, - a robotic arm 50 mounted on the chassis 20 and equipped at its end with a gripping member 51, the robotic arm 50 being configured to grasp and / or place an article in an internal volume of at least one container 110 located near said chassis 20, - a support structure 30 mounted on the chassis 20, - at least one camera 40 fixed to the support structure 30.

[0037] Remarkably, the support structure 30 is mobile between a deployed configuration CD, in which the camera 40 is able to acquire an image of the internal volume of the container 110, and a retracted configuration CE, in which the item handling device 10 has a smaller volume compared to the deployed configuration CD. The item handling device 10 is thus easier to transport when the support structure 30 is in the retracted configuration CE. The device is also mobile and easily transportable, which facilitates the reconfiguration or reorganization of a warehouse. For example, it is easy to replace an operator at an order picking station with the item handling device 10 of this disclosure, and vice versa.

[0038] The processing of an item may include picking up an item from a first container 110 and placing the picked item into a second container 110, particularly for order picking. In other words, the robotic arm 50 may be configured to pick up an item from the first container 110 via the gripper 51 and place it into the second container 110. Item processing may also include distributing items into several containers 110, or even performing an inventory.

[0039] Each container 110 may include a base and a side wall delimiting the internal volume of the container 110. The internal volume of each container 110 may be accessible through a top opening, preferably delimited by the side wall. Each container 110 may have a parallelepiped shape.

[0040] The chassis 20 has, along a first direction XI, a front side 21 configured to face at least one container 110 and a rear side 22 opposite the front side 21 along the first direction XL. It is further understood that the front side 21 of the chassis 20 is configured to face one or more containers 110. The chassis 20 may have a first lateral side 23 and a second lateral side 24 opposite each other along a second direction X2 which is preferably perpendicular to the first direction XL.

[0041] The frame 20 can be adapted to be placed on the ground, in particular without being permanently anchored to the ground. The frame 20 may have a substantially parallelepiped shape. The frame 20 may include one or more feet 25 for resting on the ground, preferably of adjustable height H.

[0042] The chassis 20 can integrate all the elements necessary for the operation of the article processing apparatus 10, such as a vacuum pump, a control unit, and / or electrical wiring. Such operating elements are described in more detail below. The chassis 20 can include an internal housing 20a adapted to receive the operating elements of the apparatus. In other words, the chassis 20 may be hollow, making it suitable for housing the device's operating components. The chassis 20 may include an opening allowing access to the internal compartment. The chassis 20 may include a door 20f for closing the opening.

[0043] More specifically, the chassis 20 may include a lower base 20b, a plurality of vertical supports 20c, and panels extending between and supported by the vertical supports 20c. The plurality of vertical supports 20c may include a pair of front supports at the front of the chassis 20 and a pair of rear supports at the rear of the chassis 20. The chassis 20 may include an upper platform 20d on which the robotic arm 50 rests, preferably supported by the vertical supports 20c. The upper platform 20d may include a frame 20e attached to the vertical uprights 20c, comprising for example a pair of lateral stringers arranged at each lateral side of the chassis 20 and preferably extending along the first direction XI, and a pair of central stringers arranged at the front and rear of the chassis and preferably extending along the second direction X2.

[0044] The frame 20 may include at least one lower recess 27 and / or a pair of holes 26, adapted to receive the pins of a lifting fork. The lifting fork may, for example, be that of a pallet truck. The frame 20 may include a lower recess 27 and / or a pair of holes 26 on one of the lateral sides of the frame 20 or on each lateral side of the frame 20. Alternatively or additionally, the frame 20 may include a lower recess 27 and / or a pair of holes 26 on the front side 21 and / or the rear side 22. This configuration allows flexibility in picking up and setting down the device in a warehouse and / or in loading and unloading a truck. The lower recess 27 and / or the pair of holes 26 may be arranged on a lower portion of the frame.

[0045] The robotic arm 50 can be a multi-articulated arm, preferably of the industrial type (as distinct from so-called "collaborative" robots), in particular defining at least six axes of rotation and adapted to move and / or orient the gripping member 51 along six degrees of freedom. The robotic arm 50 can be mounted on an upper face of the chassis 20.

[0046] The gripping member 51 may be a pneumatic vacuum gripper, the article handling apparatus 10 comprising a vacuum source disposed inside the frame 20 and in fluidic communication with the gripping member 51. The vacuum source may be a vacuum pump such as a turbine pump or a vane pump, or a Venturi pump. The turbine pump produces a high air flow rate, but a low vacuum level. This type of pump is suitable for gripping porous objects. Conversely, the vane pump produces a low air flow rate, but a high vacuum level. The Venturi pump includes a compressor producing air Compressed. Accelerating compressed air in a pipe creates a vacuum. The air flow rate is low, but the vacuum level is high. Alternatively, the gripping device 51 can be a mechanical gripper with fingers for grasping the item.

[0047] The robotic arm 50 can be mounted on the chassis 20 closer to the front side 21 than to the rear side 22. Mounting the robotic arm 50 at the front allows easier access to the interior volume of the container 110 containing the item to be picked. The heaviest components of the device, such as the compressor, are then positioned at the rear side 22. Furthermore, the chassis 20 can have its center of gravity closer to the rear side 22 than to the front side 21. Positioning the center of gravity towards the rear thus prevents the order picking station from tipping over during movement of the robotic arm 50.

[0048] The support structure 30 can be articulated and pivoted relative to the chassis 20 around a first axis AL. The first axis can extend along the second direction X2. The mobile support structure can be moved between the deployed configuration CD and the retracted configuration CE by pivoting relative to the chassis 20 around the first axis AL. In particular, in a first direction to move from the deployed configuration CD to the retracted configuration CE and in a second direction, opposite to the first direction, to move from the retracted configuration CE to the deployed configuration CD.

[0049] The support structure 30 may include at least one support arm 31; 32.

[0050] Said at least one support arm 31; 32 comprises a first segment 33 and a The second segment 34 is articulated and pivots relative to the first segment 33 around a second axis A2. This further minimizes the volume of the article processing unit when the support structure 30 is in the retracted CE configuration. The second axis A2 can be parallel to the first axis AL. Furthermore, the second axis A2 can extend along the second direction X2.

[0051] The first segment 33 of each support arm 31; 32 can be pivotally articulated relative to the chassis 20 about the first axis AL. More particularly, the first segment 33 of each support arm 31; 32 can be pivotally articulated about the first axis Al about a respective vertical post 20c of the chassis 20, and preferably a rear vertical post 20c of the chassis 20, notably at one of its upper ends. The first segment 33 of each support arm 31; 32 can have a first end and a second end, the first segment 33 being pivotally articulated at the first end to the chassis 20 about the first axis AL. The mobile structure can be moved between the deployed configuration CD and the retracted configuration CE by pivoting the first segment 33. of each arm 31; 32 relative to the frame 20 around the first axis A1 (represented by arrow P1 in [Fig. 1]); in particular, in a first direction to move from the deployed configuration CD to the retracted configuration CE and in a second direction, opposite to the first, to move from the retracted configuration CE to the deployed configuration CD. A locking mechanism may be provided between the first segment 33 and the frame 20, adapted to prevent relative movement between the first segment 33 and the frame 20 in the retracted configuration CE and / or in the deployed configuration CD. The locking mechanism may, for example, include an element (e.g., a plate) fixed, for example, by screwing or bolting, to the frame 20 and the first segment 33.

[0052] The second segment 34 of each support arm 31; 32 may have a first end and a second end, the second segment 34 being pivotally articulated at its first end to the first segment 33 of the respective support arm, at its second end, along the second axis A2. As shown in [Fig. 7], the first segment 33 may include a fork at the second end which has two branches between which extends a first pivot shaft 33a along the second axis A2 on which the first end of the second segment 34 is pivotally mounted. The mobile support structure can be moved between the deployed configuration CD and the retracted configuration CE by pivoting the second segment 34 of each arm 31; 32 relative to the respective first segment 33 around the second axis A2 (represented by arrow P2 in [Fig. 7].l]); in particular, in a first direction for moving from the deployed configuration CD to the retracted configuration CE and in a second direction, opposite to the first, for moving from the retracted configuration CE to the deployed configuration CD. The second segment 34 may include a first stop member 34b adapted to bear against the first segment 33 (for example, at the second end) in the deployed configuration CD to prevent the second segment 34 from pivoting in the second direction about the second axis A2 relative to the first segment 33 in the deployed configuration CD. The first segment 33 may include a first stop shaft 34c extending between the fork arms at the second end.The second segment 34 can bear against the first thrust shaft 34c (for example, by cooperation with a first groove 34d formed in the first end of the second segment 34) in the deployed configuration CD to prevent the second segment 34 from pivoting in the second direction around the second axis A2 relative to the first segment 33 in the deployed configuration CD. According to an alternative embodiment, a locking mechanism can be provided between the first segment 33 and the second segment 34, adapted to block relative displacement between the first. segment 33 and the second segment 34 in the retracted configuration CE and / or in the deployed configuration CD.

[0053] The pivoting of the second segment 34 of each arm 31; 32 may be, in whole or in part, simultaneous or consecutive with the pivoting of the respective first segment 33. In the case where the first axis A1 and the second axis A2 are parallel, the first direction of pivoting of the second segment 34 of each arm 31; 32 may coincide with or be opposite to the direction of pivoting of the respective first segment 33.

[0054] Each support arm 31; 32 may include a third segment 35. The third segment 35 of each support arm 31; 32 may be pivotally articulated relative to the second segment 34 about a third axis A3. The third axis A3 may be parallel to the first axis A1 and / or the second axis A2. Also, the third axis A3 may extend along the second direction X2. The third segment 35 of each support arm 31; 32 may have a first end and a second end, the third segment 35 being pivotally articulated at its first end to the second segment 34 of the respective support arm, at its second end, along the second axis A2. The second end of the third segment 35 of each support arm 31; 32 may be a free end. As shown in [Fig.8], the second segment 34 may include a fork at the second end which has 20f two branches between which extends a second pivot shaft 34a along the third axis A3 on which the first end of the third segment 35 is pivotally mounted.

[0055] The movable support structure can be moved between the deployed configuration CD and the retracted configuration CE by pivoting the third segment 35 of each arm 31, 32 relative to the respective second segment 34 around the third axis A3 (represented by arrow P3 in [Fig. 1]), in particular, in a first direction to move from the deployed configuration CD to the retracted configuration CE and in a second direction, opposite to the first, to move from the retracted configuration CE to the deployed configuration CD. The third segment 35 may include a second stop member 35a adapted to bear against the second segment 34 (for example, at the second end) in the deployed configuration CD to prevent the second segment 34 from pivoting in the second direction around the third axis A3 relative to the second segment 34 in the deployed configuration CD.The second segment 34 may include a second thrust shaft 34e extending between the fork arms at the second end. The third segment 35 may bear against the second thrust shaft 34e (for example, by cooperation with a second groove 35b formed in the first end of the third segment 35) in the deployed configuration CD to prevent the second segment 34 from pivoting in the second direction about the third axis. A3 with respect to the second segment 34 in the deployed configuration CD. According to an alternative embodiment, a locking mechanism may be provided between the second segment 34 and the third segment 35, adapted to block relative movement between the second segment 34 and the third segment 35 in the retracted configuration CE and / or in the deployed configuration CD.

[0056] The pivoting of the third segment 35 of each arm 31; 32 may be, in whole or in part, simultaneous or consecutive with the pivoting of the respective second segment 34 and / or the respective first segment 33. If the first axis A1 and the third axis A3 are parallel, the first direction of pivoting of the third segment 35 of each arm 31; 32 may coincide with or be opposite to the direction of pivoting of the respective first segment 33. If the second axis A2 and the third axis A3 are parallel, the first direction of pivoting of the third segment 35 of each arm 31; 32 may coincide with or be opposite to the direction of pivoting of the respective second segment 34.

[0057] By "segment," we mean a solid section, that is, one without movable joints. A segment may be rectilinear, that is, straight. It is not excluded that a segment may have any other shape, for example, curved or rounded. It is also not excluded that a segment may comprise several parts attached in a fixed manner.

[0058] The support structure 30 may include a first support arm 31 and a second support arm 32 parallel to each other and spaced along the direction of the first axis Al and the second axis A2. The support structure 30 is thus more stable. This configuration is particularly preferred when the first and second axes are parallel to each other. The first support arm 31 and the second support arm 32 may be identical. The support structure 30 may further include at least one cross member 36 extending between the first support arm 31 and the second support arm 32 along the direction of the first axis Al and the second axis A2. Such a cross member 36 makes the support structure more robust.

[0059] The transition from the retracted configuration CE to the deployed configuration CD can be carried out by a single operator.

[0060] As previously stated, in the CD deployed configuration of the support structure 30, said at least one camera 40 is positioned so as to be oriented towards a container 110 near the chassis 20. In other words, in the CD deployed configuration of the support structure 30, said at least one camera 40 is positioned so that it has an optical axis oriented towards a container 110 near the chassis 20. In particular, in the CD deployed configuration of the support structure 30, said at least one camera 40 can be oriented towards the front side 21 of the chassis 20.

[0061] In the CD-deployed configuration of the support structure 30, said at least one camera 40 may be arranged substantially opposite the bottom of a container 110 near the chassis 20. If the bottom of the container 110 is horizontal (i.e., flat), said at least one camera 40 may be arranged substantially vertically above the container 110 in the CD-deployed configuration of the support structure 30. In other words, in the CD-deployed configuration of the support structure 30, an optical axis of said at least one camera 40 may be vertical or close to vertical when the container is arranged on a horizontal plane. More generally, the optical axis of said at least one camera 40 may be perpendicular or substantially perpendicular to the plane formed by the bottom of the container. This improves the acquired image of the internal volume of the container 110.

[0062] Attaching the camera(s) 40 to the support structure 30 facilitates the installation of the item handling device 10 in the warehouse by ensuring that the camera(s) 40 are correctly positioned after the support structure is deployed. This also facilitates the extrinsic calibration of the cameras 40, that is, the relative positioning of the cameras with respect to their environment, and in particular with respect to the robotic arm. At least one camera 40 can be attached to at least one cross member 36.

[0063] The article processing device 10 may include a plurality of cameras 40, each capable of acquiring an image of the internal volume of a respective container 110 disposed near the chassis 20.

[0064] When the support structure 30 is in the deployed configuration CD, a first camera 40 can be oriented towards the front side 21 of the chassis 20 to acquire an image of the internal volume of a first container 110 comprising one or more items to be grasped and a second camera 40 can be oriented towards the front side 21 of the chassis 20 to acquire an image of the internal volume of a second container 110 into which an item is to be deposited.

[0065] Thus, the article processing device may have a depth P along the first direction XI that is smaller when the support structure 30 is in the retracted configuration CE than when it is in the deployed configuration CD. Similarly, the article processing device may have a height H along a vertical direction that is smaller when the support structure 30 is in the retracted configuration CE than when it is in the deployed configuration CD.

[0066] Furthermore, the article handling device may have a volume, when the support structure 30 is in the retracted CE configuration, that makes it suitable for insertion into a standard-sized parallelepiped-shaped container 110, in particular a 20-foot or 40-foot container. This may be a 110-foot cargo container of standardized dimensions according to ISO 668. In particular, a 20-foot (6.1 m) or 40-foot (12.2 m) long 110 container (also called a "dry container") can have a height H of 8.5 feet (2.62 m) or 9.5 feet (2.92 m), and a width of 8 feet (2.44 m), as well as a minimum door opening of 2.28 m wide and 2.26 m high H. The item handling device 10 can then be loaded into a 110 freight container in its retracted position and unloaded into a warehouse in a "ready-to-use" state by moving it from the retracted to the deployed position.

[0067] The article processing device 10 may include a control unit configured to control the robotic arm 50 and to process a signal received from said at least one camera 40 in order to identify articles in the containers 110 and / or to locate the location of articles in the containers 110. The control unit may be disposed inside the chassis 20.

[0068] As shown in [Fig. 9], the article handling device 10 may also include a safety sensor system 60 configured to project a light curtain 64 and detect when an object and / or an operator crosses the light curtain 64. The sensor system may further be configured to generate a command to interrupt the robotic arm 50 and / or a command to trigger a light and / or sound signal if it detects that the light curtain 64 has been crossed. Thus, when an operator or an object crosses or intercepts the light curtain 64, the robotic arm 50 stops and / or a light and / or sound signal may be triggered.

[0069] Such a safety sensor system 60 is advantageously quick to install.

[0070] The light curtain 64 may include a central beam 65 extending transversely at the level of a rear side 22 of the frame 20 opposite the front side 21 in the first direction XI, and a pair of lateral beams each extending in the first direction XI and arranged transversely to the first direction XI on each side of the frame 20. In other words, the pair of lateral beams includes a first lateral beam 66 extending in the first direction XI which is arranged opposite the first lateral side 23 of the frame 20 and a second lateral beam 67 extending in the first direction XI which is arranged opposite the second lateral side 24 of the frame 20.

[0071] The safety sensor system 60 may include one or more lidar (Light Detection and Ranging) sensors, preferably adapted to emit a rotating beam over an angular range of at least 270°, in particular 360°. The safety sensor system 60 may include a central sensor 61 mounted on the chassis 20 at the rear side 22, and a pair of lateral sensors arranged transversely to the first direction XI on each side of the chassis 20. Otherwise That said, the pair of side sensors can comprise a first side sensor 62 arranged opposite the first side 23 of the chassis 20 and a second side sensor 63 arranged opposite the second side 24 of the chassis 20. The side sensors can be connected to the support structure 30, in particular by means of a respective connecting tab. More specifically, the first side sensor 62 can be connected to the first support arm 31 and the second side sensor 63 can be connected to the second support arm 32.

[0072] For further safety purposes, the article handling device 10 may include a protective panel 70 mounted on the frame 20 at the rear side 22. The protective panel 70 enhances system safety by preventing an operator from approaching the working area of ​​the robotic arm 50 too quickly. The panel also secures the sensor dead zone. The protective panel 70 may extend perpendicularly to the first direction XL

[0073] The article 10 processing device as described above may have a mass of 700 kg or less, advantageously 600 kg or less. The article 10 processing device thus has a mass that allows it to be moved by manual pulling, for example using a manual pallet jack, without exceeding the legal load limits, particularly when pulling horizontally.

[0074] Figure 6 comprises a logistics warehouse assembly including an item handling device 10 as described above and a lifting ramp 100. The lifting ramp 100 is configured to allow the transport of at least one container 110 near the chassis 20 by a motorized vehicle (so that the robotic arm 50 is capable of grasping and / or placing an item within the internal volume of the container 110). This avoids the use of heavy and bulky conveyors. The ramp 100 can be adapted to accommodate one or more motorized vehicles. The vehicles can be automated guided vehicles (AGVs). For this purpose, the vehicles can include on-board guidance systems adapted for automatic guidance. The motorized vehicles can be adapted for transporting a container 110.The ramp 100 can face the front side 21 of the chassis 20 of the article processing device 10.

Claims

Demands

1. Mobile article handling device (10) comprising: - a chassis (20), - a robotic arm (50) mounted on the chassis (20) and equipped at its end with a gripping member (51), the robotic arm (50) being configured to grasp and / or place an article in an internal volume of at least one container (110) disposed near said chassis (20), - a support structure (30) mounted on the chassis (20), - at least one camera (40) fixed on the support structure (30), characterized in that the support structure (30) is mobile between a deployed configuration (DC) in which the camera (40) is able to acquire an image of the internal volume of the container (110) and a retracted configuration (RC) in which the article handling device (10) has a smaller volume compared to the deployed configuration (DC).

2. Article processing apparatus (10) according to the preceding claim, wherein the support structure (30) is pivotally articulated relative to the chassis (20) around a first axis (Al).

3. Article processing apparatus (10) according to any one of the preceding claims, wherein the support structure (30) comprises at least one support arm which includes a first segment (33) and a second segment (34), the second segment (34) being articulated pivotally relative to the first segment (33) about a second axis (A2).

4. Article processing apparatus (10) according to claims 2 and 3, wherein the first axis (Al) and the second axis (A2) are parallel, the support structure (30) comprising a first support arm (31) and a second support arm (32) parallel to each other and spaced along the direction of the first axis (Al) and the second axis (A2).

5. Article processing apparatus (10) according to the preceding claim, wherein the support structure (30) comprises at least one cross member (36) extending between the first support arm (31) and the second support arm (32) along the direction of the first axis (A1) and the second axis (A2), said at least one camera (40) being preferably attached to said at least one cross member (36).

6. Article processing apparatus (10) according to any one of the preceding claims, wherein the chassis (20) has, along a first direction (XI), a front side (21) configured to face said at least one container (110) and a rear side (22) opposite the front side (21) along the first direction (XI), the robotic arm (50) being mounted on the chassis (20) closer to the front side (21) than to the rear side (22), the chassis (20) preferably having a center of gravity closer to the rear side (22) than to the front side (21).

7. Article processing apparatus (10) according to the preceding claim, wherein having a depth (P) along the first direction (XI) which is smaller when the support structure (30) is in the retracted configuration (CE) than when it is in the deployed configuration (CD).

8. Article processing apparatus (10) according to any one of the preceding claims, wherein having a height (H) in a vertical direction which is smaller when the support structure (30) is in the retracted configuration (CE) than when it is in the deployed configuration (CD).

9. Device for processing articles (10) according to any one of the preceding claims, which having a volume when the support structure (30) is in the retracted configuration (CE) making it suitable for being introduced into a container (110) of parallelepiped shape of standard dimensions, in particular 20 feet or 40 feet.

10. Article handling apparatus (10) according to any one of the preceding claims, wherein the gripping member (51) is a pneumatic vacuum gripper, the article handling apparatus (10) comprising a vacuum source disposed inside the frame (20) and in fluidic communication with the gripping member (51).

11. Article processing apparatus (10) according to any one of the preceding claims, wherein comprising a control unit configured to control the robotic arm (50) and to process a signal received from said at least one camera (40) in order to identify articles in containers (110) and / or to locate the position of articles in containers (110), the control unit being disposed inside the chassis (20).

12. Article processing apparatus (10) according to any one of the preceding claims, wherein the frame (20) includes at least one lower recess (27) and / or a pair of holes (26), adapted to receive the pins of a lifting fork.

13. Article processing apparatus (10) according to any one of the preceding claims, which includes a safety sensor system (60) configured to project a light curtain (64) and detect the crossing of the light curtain (64) by an object and / or an operator.

14. Article processing apparatus (10) according to the preceding claim, claim 6 applying, wherein the light curtain (64) comprises: - a central beam (65) extending transversely at the level of a rear side (22) of the frame (20) opposite the front side (21) in the first direction (XI), - a pair of lateral beams each extending in the first direction (XI) and arranged transversely to the first direction (XI) on each side of the frame (20).

15. Article processing apparatus (10) according to any one of the preceding claims, claim 6 applying, wherein comprising a protective panel (70) mounted on the chassis (20) at the rear side (22).

16. An article processing apparatus (10) according to any one of the claims, having a mass less than or equal to 700

17. Kg* Assembly for logistics warehouse comprising an article handling device (10) according to any one of the preceding claims and a lifting ramp (100), the lifting ramp (100) being configured to allow the transport of said at least one container (110) in the vicinity of the chassis (20) by a motor vehicle so that the robotic arm (50) is able to grasp and / or place an article in the internal volume of the container (110).

18. Assembly for logistics warehouse according to the preceding claim, wherein comprising a container (110) disposed near the chassis (20) of the item handling device (10), said at least one camera (40) being arranged opposite the bottom of the container (110) when the support structure (30) is in the deployed configuration (CD).

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