Versatile articulated robot for operation on slopes and inclines

Abstract

Robot comprising at least one tool (1, 1'), a body (2), a pair of arms (13, 14), a drive unit (3), a battery, radio control means and a control unit (6), a first joint (5, 5') arranged between said tool (1, 1') and said pair of arms (13, 14), a second joint (12) arranged between said pair of arms (13, 14) and said body (2), a third joint (4) arranged between said body (2) and said drive unit (3), at least one control means (7), said at least one control means (7) being arranged to vary an angle between said body (2) and said drive unit (3), said drive unit (3) comprising two movement means (31, 32), in which said body (2), the arms of said pair of arms (13, 14) and said at least one tool (1, 1') are arranged in a space between the said two means of transport (31,32) and said control unit (6) is configured to generate pilot commands to maintain said at least one tool (1, 1') at a predetermined angle relative to the horizontal plane, independently of the inclination of said drive part (3), by piloting said at least one servo means (7), said first joint (5, 5') and said second joint (12). Figure for publication: Fig. 1,

Description

Title of the invention: Multipurpose Articulated Robot for Movement on Slopes and Sides technical field

[0001] The present invention lies in the design of a new type of robot with three joints, specifically designed in particular to carry out missions and move in environments characterized by superimposed floors with unit weight restrictions, access slopes and spaces with low ceilings.

[0002] The present invention fills an important gap in the market by offering an efficient and secure solution for managing missions in buildings, particularly those with multiple floors, with the potential for a significant impact on operational efficiency and the security of storage spaces.

[0003] The robot of the invention represents a major advance, offering a range of diverse functionalities to meet complex needs. It is capable of performing a multitude of transport tasks, facilitating the safe loading and unloading of various loads such as waste, rolls, or any other type of merchandise, and carrying out tasks such as cleaning. By automating the safe unloading of truck trailers and the transport of loads to storage areas, the robot ensures efficient load transport management, thus reducing the risk of accidents.

[0004] Furthermore, its ability to navigate sloping paths and service multiple floors significantly improves storage efficiency by making optimal use of vertical space. By dynamically adapting its path, the robot optimizes available space and ensures quick and efficient access to loads, thus contributing to increased productivity and safety in the workplace. Prior art

[0005] In the prior art, useful devices for improving the management of loads and waste are known as follows:

[0006] US patent 9789603B2 discloses a remotely operated robotic system comprising master control arms, slave arms, and a mobile platform. During operation, a user manipulates the master control arms to control the movement of the slave arms. The remotely operated robotic system may include two master control arms and two slave arms. The master control arms and the slave arms may be mounted on the platform. The platform may provide support for the master control arms and for a remote operator, or user, of the robotic system. Thus, a mobile platform may allow Moving the robotic system from one location to another to position the slave arms for use (see summary). Additionally, the rotary actuator can make slight adjustments to the forklift's angle when the platform is on uneven, sloping, or downward terrain. However, US9789603B2 describes a complex and cumbersome design, and it is silent on the issue of transporting loads to a storage area along inclined paths with limited ceiling height, offering no solution for such circumstances.

[0007] Document WO2009104209Al reveals a self-propelled vehicle in which, During the lifting, transport, and lowering phases of a load, the perpendicular projection of the load's center of gravity onto a vehicle / ground contact plane lies within a zone defined laterally, aft, and in front by tracks. These tracks are chosen to reduce the specific pressure at the vehicle / ground interface and to keep the underside of the chassis structure and / or the lifting assembly as far from the ground as possible, enabling the vehicle to travel off-road on uneven, uncompacted, unpaved, uncemented, or unasphalted surfaces (see summary). Furthermore, the lifting assembly of the pair of forks may be equipped with a gyroscopic system (not shown) whereby, even if only one side trolley is raised, the pallet and its load are not tilted but are supported by the forks in a virtually horizontal position.However, document US9789603B2 is complex in design, cumbersome, and silent on the transport of loads to a storage space via inclined paths with limited ceiling height, and does not provide any solution in these circumstances.

[0008] One object of the invention is to remedy all or part of the aforementioned drawbacks. In order to address the problems mentioned above, the object of the present invention is to provide a robot capable of operating safely, robustly, and economically on the surface and underwater. Description of the invention

[0009] The invention relates to a robot-type vehicle comprising interchangeable tooling for carrying a load and including a body, a pair of arms, a drive unit, and a control unit. This invention aims to offer high operational flexibility for various tasks by combining innovative technical features to optimize performance and efficiency.

[0010] The vehicle robot of the invention can, for example, carry a brush, a nozzle for ejecting a pressurized fluid, a vacuum cleaner head, or a pallet with a payload to a height sufficient for loading and unloading a truck, while also being able to transport the payload in a tunnel-like space with a ceiling The vehicle of the invention is relatively low. It can also perform these loading, unloading, and transport tasks on steep slopes while balancing the ground load to accommodate constraints such as reduced ground load capacity per unit area, and offering a short wheelbase to allow two vehicles to be positioned side-by-side in confined spaces. The vehicle of the invention can also perform cleaning or clearing tasks.

[0011] With the increasing use of parking lots and urban buildings as storage spaces, new challenges are emerging, including access ramps of up to 30% or more and floor load restrictions of between 250 and 400 kg per square meter. Currently, there are no robots or autonomous guided vehicles (AGVs) capable of moving loads as heavy as a 400 kg pallet of goods, descending slopes of up to 10% to 40%, maintaining the load or tool at a predetermined angle to the horizontal, and complying with the permissible load constraints imposed by parking lots.

[0012] The robot's body can be structured ergonomically and modularly, allowing the addition and reconfiguration of components depending on the mission for which it is used. It is made from lightweight but durable materials, ensuring easy mobility and resistance to operational stresses.

[0013] The drive unit incorporates propulsion and movement mechanisms necessary to move the robot smoothly and precisely in different environments. It includes steering and stabilization systems to ensure the robot's maneuverability and balance when using the tool, which may be motorized.

[0014] The control unit is the brain of the robot, integrating high-performance processors and sophisticated algorithms. It enables the programming, management, and coordination of the movements and operations of the motorized tool in response to user commands or predefined parameters.

[0015] Advantages of the robot:

[0016] Increased efficiency: Automating tasks with motorized tools improves the speed and accuracy of operations.

[0017] Adaptability and modularity: The modular structure allows for easy customization for specific applications.

[0018] Cost and risk reduction: The robot's versatility reduces the need to purchase specialized robots for each task.

[0019] An articulated-body robot can offer several advantages in the field of cleaning transport: a. Flexibility: An articulated body robot can fold and unfold into different configurations, allowing it to access confined spaces and hard-to-reach areas for cleaning, such as under furniture or behind objects. b. Versatility: Thanks to its joints, the robot can perform a variety of movements and gestures, allowing it to carry out different types of cleaning tasks, such as sweeping, vacuuming, wiping or scrubbing, depending on specific needs. c. Adaptability: Articulated body robots can adapt to different types of surfaces and room configurations, making them ideal for cleaning various environments, such as homes, offices, boats, warehouses, or industrial environments. d. Efficiency: Thanks to their ability to cover a large area and reach hard-to-access areas, articulated body robots can clean more efficiently and faster than traditional manual cleaning methods. e. Automation: Automating cleaning tasks with an articulated body robot frees up valuable time and human resources, while ensuring regular and systematic cleaning without requiring constant human intervention. f. Cost reduction: In the long term, the use of an articulated body robot for cleaning can reduce the costs associated with employing cleaning staff, while increasing operational efficiency and minimizing the risk of workplace accidents. g. Improved hygiene: Thanks to their ability to clean regularly and systematically, articulated body robots help maintain a high level of hygiene and cleanliness in domestic, commercial and industrial environments, which can have a positive impact on the health and well-being of occupants.

[0020] An articulated body robot can offer several advantages in the field of load transport: a. Increased safety for employees: By automating the process of unloading and transporting loads, it reduces the risk of injuries related to repetitive physical tasks and handling heavy loads. b. Operational efficiency: Thanks to automation, it accelerates the unloading and transport of loads, thus contributing to more efficient management of transport flows. c. Dynamic route adaptability: The ability to dynamically adjust the route according to needs allows for optimization the relocation of loads to storage areas, thereby improving the use of available space. d. Optimization of storage space: By efficiently routing loads to specific storage locations, it contributes to better use of storage space, maximizing storage capacity. e. Reduction of operational costs: By automating unloading and transport operations, it reduces labor costs and the risk of material damage. f. Flexibility in handling loads: Thanks to its articulated body and the ability to modify the path, it can adapt to different types and sizes of loads, thus offering great flexibility in handling waste or other objects. g. Improved productivity: By optimizing operations and reducing the time required for unloading and storage, it increases the overall productivity of the storage center. h. Reduction of processing time: By automating the movement of loads to their storage location, it reduces the time required for loads to be ready for distribution, thus accelerating the transfer chain between the collection point and transport to another center or directly to the recycling site. i. Adaptability to sloping paths and multi-level access: The robotic platform's ability to navigate sloping paths and transport loads across multiple levels enables optimal use of vertical space. This maximizes storage efficiency by allowing loads to be transported directly to the appropriate levels, thus reducing handling time and optimizing space utilization in multi-level storage facilities. It also contributes to a more balanced distribution of loads throughout the storage facility, thereby improving accessibility and load retrieval when needed.

[0021] By combining these advantages, an articulated body robot helps to modernize transport and storage operations, improve employee safety and optimize performance.

[0022] According to the invention, the robot comprises at least one tool, a body, a pair of arms, a drive unit, a battery, radio control means and a control unit, a first joint arranged between said at least one tool and said pair of arms, a second joint arranged between said pair of arms and said body, a third joint arranged between said body and said drive unit, at least a means of control, said at least one means of control being arranged to vary an angle between said body and said driving part, said driving part comprises two means of movement.

[0023] According to the invention, said body, the arms of said pair of arms and said at least one tool are arranged in a space between said two means of movement and said control unit is configured to generate pilot commands to maintain said at least one tool at a determined angle with respect to the horizontal plane independently of the inclination of said driving part by piloting said at least one servo means, said first joint and said second joint.

[0024] According to one embodiment, each means of movement is arranged in the form of a track or in an elongated form which includes two or more wheels, in order to maximize a contact area with a ground and said control unit being configured to generate differential piloting commands for each of the two means of movement.

[0025] According to one embodiment, the arms of said pair of arms comprise a flat and narrow portion in the area of ​​said second joint and a wider portion, which comprises at least one actuator arranged to orient an angle of said at least one tool, said at least one tool being arranged in a space located between the arms of said pair of arms.

[0026] According to one embodiment, the arms of said pair of arms have a substantially straight longitudinal shape and said body is arranged in the general form of a parallelepiped having a longitudinal axis and includes a curved part, positioned at an end far from said third joint, so as to offset the axis of said second joint relative to the axis of said third joint along said longitudinal axis, or said body is arranged in the general form of a parallelepiped and the arms of said pair of arms have a longitudinal axis perpendicular to the axis of said first joint and include a curved part, positioned at an end far from said first joint, so as to offset the axis of said second joint relative to the axis of said first joint along said longitudinal axis.

[0027] According to one embodiment, the robot further comprises at least one transmitter and / or sensor module arranged preferably in areas around the ends of the robot and at least one transmitter and / or sensor module being arranged preferably retractable.

[0028] According to one embodiment, the robot further comprises an induction charging means arranged on one face of said body.

[0029] According to one embodiment, said drive part covers a ground contact dimension A, said body and said pair of arms being arranged so as to be able to vary a distance between the axis of said first joint and the axis of said third joint over an interval of 0.1xA to 1.5xA, said ground contact dimension A being preferably between 1.5m and 2m.

[0030] According to one embodiment, said at least one control means comprises two control means, each one being arranged on one of the displacement means, said control unit being configured to generate differential pilot commands for each of the two control means, said two control means being integrated into said body and preferably arranged coaxially with respect to the joint or outside said body.

[0031] According to one embodiment, said at least one tool comprises a pair of two forks, each fork being individually articulated on an arm of said pair of arms by means of said first articulation, said control unit being configured to generate differential pilot commands in order to achieve different angles between the two pairs of forks and arms, preferably further comprising a stabilizer bar between each fork.

[0032] According to one embodiment, the robot further comprises at least one rolling means arranged near said first joint, said at least one rolling means preferably comprising omnidirectional wheels.

[0033] According to one embodiment, the robot includes, in addition to at least one fastening means arranged to secure a platform with said at least one tool, said at least one fastening means preferably comprising at least one electromagnet.

[0034] According to the invention, a platform for a robot, having a general parallelepiped shape and comprising at least one space to receive said at least one tool, said space being arranged so as to generate a substantially flat upper surface when said at least one tool is secured with said platform.

[0035] According to one embodiment, said platform further comprises two vertical side walls arranged to be located in a defined space between one of said two arms and one of said two nearest means of movement and further comprising a lip arranged on one side of said platform which connects said two vertical side walls. List of figures

[0036] [Fig.1] Figure [1] illustrates the robot according to an embodiment of the invention with a rotating brush and a gripper.

[0037] [Fig.2] Figure [Fig.2] illustrates the robot according to an embodiment of the invention with three rotating brushes.

[0038] [Fig.3] Figure 3 illustrates the robot according to an embodiment of the invention with a pair of forks.

[0039] [Fig.4] Figure 4 illustrates a situation of loading or unloading a pallet from a truck.

[0040] [Fig.5] Figure 5 illustrates the positioning of the center of gravity G in three situations.

[0041] [Fig.6] Figure 6 illustrates the possibilities for extending the robot's arms.

[0042] [Fig.7] Figure 7 illustrates the robot according to one embodiment of the invention.

[0043] [Fig. 8] Figure 8 illustrates the grid of weight constraints per unit area.

[0044] [Fig.9] Figure 9 illustrates the robot according to one embodiment of the invention.

[0045] [Fig. 10] Figure 10 illustrates the robot according to one embodiment of the invention.

[0046] [Fig. 11] Figure

[11] illustrates the grid of weight constraints per unit area.

[0047] [Fig. 12] Figure 12 illustrates the grid of weight constraints per unit area.

[0048] [Fig. 13] Figure 13 illustrates the grid of weight constraints per unit area.

[0049] [Fig. 14] Fig. 14 shows the robot according to an embodiment of the invention in a configuration allowing the robot to move on a surface having a V-shaped profile.

[0050] [Fig. 15] Figure 15 illustrates the robot according to one embodiment of the invention.

[0051] [Fig. 16] Figure 16 illustrates a fork. Detailed description of the invention

[0052] The embodiments described below are in no way limiting; variants of the invention may, in particular, be considered comprising only a selection of the features described, hereinafter isolated from the other features described, if This selection of features is sufficient to confer a technical advantage or to differentiate the invention from the prior art. This selection includes at least one feature, preferably functional, without structural details, or with only some structural details if that part alone is sufficient to confer a technical advantage or to differentiate the invention from the prior art.

[0053] A new robot vehicle can meet a range of needs, a list of which follows:

[0054] Efficient transport management through automation: An articulated robotic vehicle automates the unloading of loads and their transport to storage areas, thereby reducing the time and human resources required for these manual tasks. For example, it can be programmed to unload and sort loads as soon as a delivery truck arrives, thus optimizing the flow of goods.

[0055] Dynamic route adaptability to optimize space: A vehicle's ability to dynamically modify its route according to needs allows for more efficient use of storage space. It can adjust the route to transport loads to specific locations in real time, thus maximizing the use of available space and minimizing waiting times. For example, if a certain type of product, item, or waste is in high demand, the vehicle can be programmed to quickly transport these loads to more accessible storage areas.

[0056] Reduced risks for employees: By automating the unloading of loads, the vehicle can significantly reduce the risk of injury to employees, who are no longer exposed to repetitive physical tasks and the handling of heavy loads. This improves worker safety and well-being, reducing costs related to workplace accidents and sick leave.

[0057] Optimization of vertical space utilization: The ability of such a vehicle to travel on sloping paths and serve multiple floors optimizes the use of vertical space in the distribution center. It can move loads to different levels, thus allowing for efficient storage of loads at height and optimizing all available space, which is particularly advantageous in multi-level distribution centers.

[0058] Improved load retrieval and accessibility: By transporting loads to the appropriate floors, the robot vehicle facilitates the rapid retrieval of loads when they are needed for distribution. This optimizes order processing time and improves the overall responsiveness of the supply chain, thus responding more effectively to customer demands.

[0059] By combining these advantages, an articulated body robot vehicle modernizes transport operations, offering better safety for employees, optimized operational efficiency and optimized storage space management, resulting in a smoother and more cost-effective supply chain.

[0060] According to the invention, the robot comprises at least one tool (1, 1'), a body (2), a pair of arms (13, 14), a drive part (3), a battery, radio control means and a control unit (6), a first joint (5, 5') arranged between said at least one tool (1, 1') and said pair of arms (13, 14), a second joint (12) arranged between said pair of arms (13, 14) and said body (2), a third joint (4) arranged between said body (2) and said drive part (3).

[0061] By way of example, said at least one tool (1, 1') may include a rotating brush or a clamp or both at the same time, as illustrated in [Fig.1], or two, or even three rotating brushes as illustrated in [Fig.2] or forks, as seen in [Fig.3] or a bucket as illustrated in [Fig.14] or any other combination of tools.

[0062] The body (2) is the central element of the robot. The body (2) is preferably in the form of a casing that contains a power source such as a battery, actuators such as motors, and one or more control units. The body (2) will preferably be designed to be watertight and impact-resistant. The body (2) can be made of a preferably lightweight material such as an aluminum alloy, and, in order to optimize its weight, external reinforcing ribs can be arranged, as seen in [Fig. 1].

[0063] External pockets or blind notches allow the robot's mass to be reduced while ensuring its mechanical strength. Examples of blind notches can be seen, for example, in [Fig. 3]. These notches are located on the faces of the body (2) as well as near the joint handles or on the arms. In addition to their mechanical function, blind notches can be used to represent visually identifiable shapes such as a name or symbols that allow the robot or company to be visually identified.

[0064] The body (2) may preferably also include internal ribs. These ribs mechanically reinforce the body (2) and reduce the weight of the robot.

[0065] The body (2) can be made by assembly by welding, screwing or riveting, 3d printing but also by molding, for example of a polymer.

[0066] According to the invention, the robot further comprises at least one control means (7), which may be a cylinder or any other extendable device. Said at least one control means (7) being arranged to vary an angle between said body (2) and said drive part (3), said drive part (3) comprises two means of movement (31, 32). In other words, said at least one control means (7) allows the rotation of the third joint (4) to be controlled.

[0067] According to the invention, said body (2), the arms of said pair of arms (13, 14), and said at least one tool (1, 1') are arranged in a space between said two means of movement (31, 32). This space is delimited by two vertical planes, each located along a longitudinal end of the two means of movement (31, 32). In other words, said body (2), the arms of said pair of arms (13, 14), and said at least one tool (1, 1') have ample degrees of freedom in their movement without, however, coming into contact with the two means of movement (31, 32).

[0068] According to the invention, said control unit (6) is configured to generate pilot commands to maintain said at least one tool (1, 1') at a determined angle with respect to the horizontal plane independently of the inclination of said driving part (3) by piloting said at least one servo means (7), said first joint (5, 5') and said second joint (12).

[0069] The control unit (6) is symbolically represented in [Fig. 3] outside the robot. However, the control unit (6) is protected inside the robot, preferably within the body (2). The control unit (6) may comprise one or more modules, particularly if the robot's logic is distributed closer to the sensors and / or actuators. In this case, control units can be arranged specifically for managing electrical power, the battery, actuators, sensors, and the telecommunications module, as well as a control unit for the robot's mission. Communication between these units can be achieved through the implementation of communication protocols such as the CAN bus.

[0070] The control unit (6) can control the robot's actuators to maintain its balance in different configurations. In the case of transporting loads such as a pallet, the control unit (6) will be able to maintain the center of gravity and the horizontality of the pallet in various situations such as those illustrated as an example in [Fig. 5], where the center of gravity G is always positioned so as to preserve the balance and stability of the robot + load assembly when the robot is on a 30° slope, when loading / unloading the pallet onto the tailgate of a truck, and when the pallet is raised to its maximum height.

[0071] The interface during pallet loading / unloading onto a truck tailgate is illustrated in [Fig. 4]. This figure shows an example of a situation where the edge of the truck tailgate is in an inclined area. In this case, the robot will approach the truck while simultaneously adjusting its position. The height of the forks relative to the ground and the angle of the forks relative to the ground are both factors. To achieve these adjustments, several joints are controlled simultaneously.

[0072] The robot of the invention is therefore capable of loading or unloading a pallet while moving up a slope. The robot of the invention is also capable of transporting the pallet in a narrow, sloping corridor with a low ceiling, as seen on the right of [Fig. 4].

[0073] Figure 4 illustrates a slope descending to the right. The robot of the invention is capable of performing this unloading / transporting task of a load even in a situation where the slope ascends to the right.

[0074] According to an optional embodiment of the invention, the robot further comprises a stabilizing bar between each fork, as seen in [Fig. 3]. This enhances the stability of the fork handling, particularly when the robot is performing a pallet transport task.

[0075] According to one embodiment, each means of movement (31, 32) is arranged in the form of a track or in an elongated shape comprising two or more wheels, in order to maximize a contact area with the ground, and said control unit (6) is configured to generate differential steering commands for each of the two means of movement (31, 32). This mode of operation allows the robot to be steered progressively to the right and to the left, while carrying loads.

[0076] The elongated shape of the means of locomotion (31, 32) allows the load to be distributed over a larger surface area. According to a preferred embodiment of this feature of the invention, the robot can be equipped with tracks. The tracks will distribute the load on the ground over a wider area. The length and width of the tracks, as well as the spacing between the tracks, are parameters chosen according to the ground load constraints, which can be a constraint found particularly in structures such as car parks.

[0077] However, the two means of movement (31, 32) may also include wheels, strips, feet or any other technical means which will allow the robot to move.

[0078] According to this embodiment, the robot is distinguished by its compact dimensions, measuring, in one example of an implementation of the invention, 1800 mm in length by 1450 mm in width. This design allows for a uniform distribution of its weight over a surface area of ​​4 m². If the robot operates on a concrete slab with a floor load limit, for example, of 250 kg / m², the robot plus its load can reach a total weight of up to 1 metric ton, or 1000 kg.

[0079] According to this embodiment of the robot, and despite its lightness, with a weight of only 600 kg, the robot is therefore capable of moving loads weighing up to 400 kg without risk of ground deformation. This unique feature offers an efficient and safe transport solution, allowing the movement of heavy loads in constrained environments without compromising the integrity of work surfaces.

[0080] The pair of arms (13, 14) comprises two arms, as seen in [Fig. 1]. However, it is possible to add a third articulated arm for specific needs.

[0081] The arms extend from the body (2). Each arm (13, 14) is designed to support and orient a tool, see [Fig. 1] and [Fig. 3]. Each arm (13, 14) is designed to transmit forces between the body and a tool. For this reason, each arm (13, 14) is designed to optimize the ratio between the transmission of forces along the three axes while limiting the weight.

[0082] According to one embodiment, the arms of said pair of arms (13, 14) comprise a flat and narrow portion in the area of ​​said second joint (12) and a wider portion, which comprises at least one actuator arranged to orient an angle of said at least one tool (1, 1'), said at least one tool (1, 1') being arranged in a space located between the means of movement (31, 32).

[0083] The arrangement of the tool(s) in space between the means of movement (31, 32) makes it possible to obtain a compact robot, taking into account dimensional constraints.

[0084] The flat, narrow portion and the wider portion are visible in [Fig. 1]. Given that the space between the two means of locomotion (31, 32) is limited by the robot's dimensions, the narrower portion maximizes the width of the body (2), thereby maximizing the usable volume inside the body (2) and optimizing its structural strength. This flat, narrow portion allows the arm to rotate relative to the body (2) over a very wide angular range, as shown in [Fig. 6].

[0085] The wider portion includes at least one actuator such as a motor and its gearbox. This wider portion may constitute a protrusion of part of the arm mainly towards the center of the robot, as seen in [Fig. 1].

[0086] A very useful feature of the robot of the invention is to maximize the amplitude and interval of the movements made by the tool relative to the ground. This mainly amounts to maximizing the amplitude and interval of the distance between the first joint (5, 5') and the third joint (4).

[0087] In order to maximize the range of motion and the distance between the first joint (5, 5') and the third joint (4), the robot may, in one embodiment, include a curved portion. This curved portion allows the robot to perform greater movements. This curved portion enables an offset between an axis of the second joint (12) and an axis of the third joint (4) or an axis of the first joint (5, 5'). This offset can preferably allow a rotation over a range between 0° and more than 180° between a part of the body (2) located near the third joint. articulation (4) a part of the arms (13, 14) which is located near the first articulation (5, 5'). [Fig. 6] illustrates the robot in two situations in which this angle varies between 0°, in the figure on the right and approximately 150°, in the figure on the left.

[0088] This curved part can be made in two ways, as follows: 1. The arms of said pair of arms (13, 14) have a substantially straight longitudinal shape, and said body (2) is arranged in the general form of a parallelepiped having a longitudinal axis and comprising a curved portion, positioned at an end distant from said third joint (4), so as to offset the axis of said second joint (12) relative to the axis of said third joint (4) along said longitudinal axis. The curved portion, illustrated for example in [Fig. 1], [Fig. 2], [Fig. 3], [Fig. 5], and [Fig. 6], makes it possible to achieve this offset of the axis of said second joint (12) relative to the axis of said third joint (4). 2. Said body (2) is arranged in the general form of a parallelepiped, and the arms of said pair of arms (13, 14) have a longitudinal axis perpendicular to the axis of said first joint (5) and comprise a curved portion, positioned at an end distant from said first joint (5, 5'), so as to offset the axis of said second joint (12) relative to the axis of said first joint (5) along said longitudinal axis. Preferably, the curved portion is located in the flat and narrow part of the arms (13, 14).

[0089] According to one embodiment, the robot further comprises at least one transmitter and / or sensor module (20, 21) preferably arranged in areas around the extremities of the robot, and at least one transmitter and / or sensor module (20, 21) preferably retractable. These sensors and / or transmitters (20, 21) can operate with radiation, in particular with light in the visible and non-visible spectrum, such as infrared. The set of sensors and / or transmitters (20, 21) can include sensors located anywhere on the robot to allow the robot to move automatically and independently, while constantly analyzing its environment. The use of an artificial intelligence and machine learning solution allows the control unit (6) to be configured for the execution of independent missions, using an artificial intelligence guidance system.

[0090] According to an optional embodiment, a CCD camera-type sensor can be arranged in an orientable manner as illustrated in [Fig. 15]. In this example, a camera is arranged at the end of an arm that can be mounted on the upper part of the body (2). In the example in [Fig. 15], the arm has a joint at each of its two ends, which allows the camera to be oriented towards the front and rear of the robot while maintaining a camera angle, thus enabling image capture. The robot's environment is optimized. The arm's dimensions can be chosen to allow the camera to be positioned either above or below the load being transported (see the two figures in [Fig. 15]). The arm can consist of several articulated segments. It can also include joints allowing for forward-backward and left-right rotation. The arm can also have a curved section to follow the curvature of the body (2). Finally, the arm can be telescopic, with variable extension relative to the body (2).

[0091] The sensor and / or transmitter (20) of [Fig.15] may include a CCD camera, a LIDAR, a radar, an infrared sensor, a radar, any other sensor and a combination of several sensors.

[0092] The sensor and / or transmitter (20) of [Fig. 15] may further include a transmitter of the light, sound, radio type or a combination of different transmitters.

[0093] According to one embodiment, the robot further comprises an induction charging means (33) arranged on one face of said body (2). Equipping a robot with an induction charging means (33) arranged on one face of its body (2) offers several advantages:

[0094] Ease of charging: With inductive charging, it is not necessary to physically connect the robot to a power source. Simply place the robot on a charging base equipped with inductive technology for the battery to recharge automatically. When the inductive charging means (33) is arranged on one face of its body (2) as illustrated in [Fig. 3] and [Fig. 7], the robot can be placed against an inductive charging plate, which can, for example, be mounted on a wall. In this case, when the robot needs to recharge its battery, it will be positioned with its body (2) against the charging plate.

[0095] Elimination of physical connectors: By using inductive charging, there are no exposed connectors or plugs on the robot, which reduces the risk of damage and premature wear due to repeated plugging and unplugging.

[0096] Enhanced sealing: Induction charging maintains a high level of sealing on the robot's surface, as there are no exposed charging ports. This makes the robot more resistant to dust, moisture, and external elements.

[0097] More compact design: By eliminating charging connectors, robots can be designed with thinner profiles and more ergonomic shapes, making them more aesthetically pleasing and easier to handle.

[0098] Ease of use: Inductive charging simplifies the charging process, as you simply place the robot on the charging base and it will begin charging automatically. This makes it more user-friendly for users of all skill levels.

[0099] Enhanced safety: Since there are no exposed wires or plugs, induction charging reduces the risk of short circuits and electric shocks, thereby improving the overall safety of the robot, particularly in humid or dusty environments.

[0100] In order to maintain the center of gravity of the robot and the load to be transported within the robot's wheelbase, the control unit (6) can be designed to vary the angles of the joints (4, 5, 5', 12) constantly according to the inclination of the ground on which the robot moves and also according to height constraints, if the robot is required to move in a space with a height constraint, such as a tunnel or a multi-story parking garage. In this latter case, three ground conditions can be identified: horizontal ground, positively inclined ground, and negatively inclined ground, in other words, ascending and descending ramps. The control unit (6) can be arranged to manage the robot's movement in these three conditions as well as during transitions between any two conditions.

[0101] According to one embodiment, said drive part (3) covers a ground contact dimension A, said body (2) and said pair of arms (13, 14) being arranged so as to be able to vary a distance between the axis of said first joint (5, 5') and the axis of said third joint (4) over an interval of 0.1xA to 1.5xA, said ground contact dimension A being preferably between 1m and 3m. In other words, if the ground contact dimension A is 2m, the distance between the axis of said first joint (5, 5') and the axis of said third joint (4) can vary over an interval between 20cm and 3m, as illustrated in [Fig.6], where we can see a first situation in which the distance between the axis of said first joint (5, 5') and the axis of said third joint (4) is maximum and another situation in which this dimension is minimum.

[0102] According to one embodiment of the invention, said control unit (6) is configured to generate piloting commands to position the two means of movement (31, 32) on a V-shaped surface, the center of the V being located along a longitudinal axis of the robot. This embodiment allows the robot to evaluate terrains such as a boat hull or any other terrain on which the robot is required to rest on two inclined surfaces in the shape of a V, see [Fig. 14]. The ground profile may also have an inverted V profile, with the point upwards. To this end, the joint (4) may advantageously include pivots or any other connecting means enabling the inclination of the rolling plane of the means of movement (31, 32).

[0103] According to one embodiment of the invention, said at least one control means (7) comprises two control means (7), each one being arranged on one of the displacement means (31, 32), said control unit (6) being configured to generate differential control commands for each of the two control means (7). In this embodiment, said two control means (7) can be arranged in two alternative ways, as follows: 1. integrated into said body (2) and preferably arranged coaxially with respect to the joint (4). In this case, the actuator is located inside the body (2) and can be of the geared motor type or 2. outside said body (2). In this case the actuator can be of the electric or hydraulic cylinder type and is found as illustrated, by way of example, on [Fig.2] and [Fig.3].

[0104] According to one embodiment of the invention, said at least one tool (1, 1') comprises a pair of two forks, each fork being individually articulated on an arm of said pair of arms (13, 14) by means of said first articulation (5, 5'), said control unit (6) being configured to generate differential pilot commands in order to achieve different angles between the two pairs of forks and arms. This embodiment is illustrated in [Fig. 3] and [Fig. 7]. In this embodiment, the robot can interact, for example, with a pallet on which a load is placed.

[0105] According to one embodiment of the invention, the robot further comprises at least one rolling means (16) arranged near said first joint (5, 5'), said at least one rolling means (16) preferably comprising omnidirectional wheels, as illustrated in [Fig.7] and [Fig.8].

[0106] Figure 8 illustrates, in a simplified manner, a situation in which the robot moves on a concrete slab floor that imposes a load limit constraint for each rectangular area of ​​1 m by 1 m. The grid in Figure 8 reflects these areas. According to this embodiment of the invention, the spacing between the different points of contact with the ground makes it possible to distribute a significant total weight while respecting the load limit constraints per unit area. In this case, it can be seen in Figure 8 that each means of locomotion (31, 32) is always in contact with two tiles and each rolling means (16) is in contact with another tile. By judiciously choosing the dimensions of the tracks, the body (2) and the arms (13, 14) of the robot, this configuration makes it possible to distribute the weight over a total of 6 distinct tiles.

[0107] According to this embodiment, wheels (16) can be arranged at the first joint (5, 5'), in other words, at the joints of the forks, if applicable. According to this embodiment with standard wheels, this allows the robot to rest its arms on the ground, offering several significant advantages. First, it allows the load to be distributed evenly on the ground, thus reducing the pressure exerted on each contact point and preserving the integrity surfaces. Furthermore, this configuration relieves stress on the robot's arms by reducing the effort required to support the load, thus extending the system's lifespan and improving its reliability. Finally, by reducing the overhang, the robot gains stability and precision during handling operations, delivering optimal performance in a variety of environments.

[0108] According to a preferred embodiment, omnidirectional wheels allow the robot to take turns while retaining the advantages mentioned above.

[0109] According to one embodiment of the invention, the robot further comprises at least one fastening means (17) arranged to secure a platform (15) with said at least one tool (1, 1'), said at least one fastening means (17) preferably comprising at least one electromagnet.

[0110] To illustrate this embodiment of the invention, Figure 16 shows a fork comprising three attachment means (17) in the form of electromagnets. These electromagnets are arranged on the lower part of each fork so as to make contact with the platform (15). Thus, when the platform is on the ground and the robot brings the forks towards it from above, the electromagnets will be pressed against the platform. By energizing these electromagnets, the robot can use the platform as an extension of the tool to carry loads requiring a larger contact surface than that provided by the forks alone.

[0111] The invention also relates to a platform (15) for a robot, said platform (15) having a general parallelepiped shape and comprising at least one space for receiving said tool (1, 1'), said space being arranged so as to generate a substantially flat upper surface when said at least one tool (1, 1') is secured to said platform (15). The platform (15) is illustrated in [Fig. 9], [Fig. 10], where the robot equipped with the platform (15) can be seen during a loading / unloading operation, the platform (15) being in contact with the tailgate of a truck. It can be seen that the platform can accommodate a pallet jack while ensuring that the wheels of the pallet jack can move freely and safely on the flat surface formed between the upper surface of the platform (15) and the upper surface of the forks.

[0112] Figures [Fig. 11], [Fig. 12] and [Fig. 13] illustrate in a simplified manner the steps unloading a pallet that has been transported with the platform (15) as follows: placing the platform (15) on the ground, deactivating the fastening means (17) and moving the pallet.

[0113] According to a preferred embodiment, said platform (15) further comprises two vertical side walls arranged to be located in a defined space between one of said two arms (13, 14) and one of said two nearest means of movement (31, 32), and further comprises a lip arranged on one side of said platform (15) which connects said two vertical side walls. The lip visible in [Fig. 9] and [Fig. 10], This allows for securing an interface between the platform (15) and a horizontal surface of a truck tailgate. The two side walls visible in [Fig.12] and [Fig.13] allow for framing and securing the positioning of a load on the platform (15).

[0114] According to one embodiment of the invention, the robot further comprises an explosion-proof battery case, which provides protection against battery runaway. This protects the robot itself and the environment in which it operates, particularly in the event of a battery fire.

[0115] As will be understood, the invention is not limited to the embodiments of the invention described above by way of non-limiting example; on the contrary, it encompasses all variant embodiments. Of course, the invention is not limited to the examples just described, and numerous modifications can be made to these examples without departing from the scope of the invention. Moreover, the various features, forms, variants, and embodiments of the invention can be combined in various ways, provided they are not incompatible or mutually exclusive.

Claims

Demands

1. A robot comprising at least one tool (1, 1'), a body (2), a pair of arms (13, 14), a drive unit (3), a battery, radio control means and a control unit (6), a first joint (5, 5') arranged between said tool (1, 1') and said pair of arms (13, 14), a second joint (12) arranged between said pair of arms (13, 14) and said body (2), a third joint (4) arranged between said body (2) and said drive unit (3), at least one control means (7), said at least one control means (7) being arranged to vary an angle between said body (2) and said drive unit (3), said drive unit (3) comprising two movement means (31, 32), characterized in that said body (2), the arms of said pair of arms (13, 14) and said at least one tool (1, 1') are arranged in a space between said two means of locomotion (31,32) and said control unit (6) is configured to generate pilot commands to maintain said at least one tool (1, 1') at a predetermined angle with respect to the horizontal plane independently of the inclination of said drive part (3) by piloting said at least one servo means (7), said first joint (5, 5') and said second joint (12), said at least one servo means (7) comprising two servo means (7), each one being arranged on one of the movement means (31, 32), said control unit (6) being configured to generate differential pilot commands for each of the two servo means (7).

2. Robot according to the preceding claim, wherein each means of locomotion (31, 32) is arranged in the form of a track or in an elongated form which includes two or more wheels, in order to maximize a contact area with a ground and said control unit (6) being configured to generate differential piloting commands for each of the two means of locomotion (31, 32).

3. A robot according to any one of the preceding claims, wherein the arms of said pair of arms (13, 14) comprise a flat, narrow portion in the area of ​​said second joint (12) and a wider portion, which comprises at least one actuator arranged to orient an angle of said at least one tool (1, 1'), said at least one tool (1, 1') being arranged in a space located between the means of movement (31, 32).

4. Robot according to any one of the preceding claims, wherein: a. the arms of said pair of arms (13, 14) have a substantially rectilinear longitudinal shape and said body (2) is arranged in the general form of a parallelepiped having a longitudinal longitudinal axis and includes a curved part, positioned at an extremity far from said third joint (4), so as to offset the axis of said second joint (12) relative to the axis of said third joint (4) along said longitudinal axis, or b.said body (2) is arranged in the general form of a parallelepiped and the arms of said pair of arms (13, 14) having a longitudinal axis perpendicular to the axis of said first joint (5) and include a curved part, positioned at an end far from said first joint (5, 5'), so as to offset the axis of said second joint (12) relative to the axis of said first joint (5) along said longitudinal axis.

5. Robot according to any one of the preceding claims, further comprising at least one transmitter and / or sensor module (20, 21) preferably arranged in areas around the ends of the robot and at least one transmitter and / or sensor module (20, 21) preferably arranged retractable.

6. Robot according to any one of the preceding claims, further comprising an induction charging means (33) arranged on one face of said body (2).

7. Robot according to any one of the preceding claims, wherein said drive part (3) covers a ground contact dimension A, said body (2) and said pair of arms (13, 14) being arranged so as to be able to vary a distance between the axis of said first joint (5, 5') and the axis of said third joint (4) over an interval of 0.1xA to 1.5xA, said ground contact dimension A being preferably between 1.5m and 2m.

8. Robot according to any one of the preceding claims, wherein said two control means (7) are integrated into said body (2) and preferably arranged coaxially with respect to the joint (4) or outside said body (2).

9. Robot according to any one of the preceding claims, wherein said at least one tool (1, 1') comprises a pair of two forks, each fork being individually articulated on an arm of said a pair of arms (13, 14) by means of said first articulation (5, 5'), said control unit (6) being configured to generate differential pilot commands to achieve different angles between the two pairs of forks and arms, preferably further comprising a stabilizer bar between each fork.

10. Robot according to any one of the preceding claims, further comprising at least one rolling means (16) arranged near said first articulation (5, 5'), said at least one rolling means (16) preferably comprising omnidirectional wheels.

11. Robot according to any one of the preceding claims, further comprising at least one fastening means (17) arranged to secure a platform (15) with said at least one tool (1, 1'), said at least one fastening means (17) preferably comprising at least one electromagnet.

12. Platform (15) for a robot according to the preceding claim, said platform (15) having a general parallelepiped shape and comprising at least one space for receiving said at least one tool (1, 1'), said space being arranged so as to generate a substantially flat upper surface when said at least one tool (1, 1') is secured with said platform (15).

13. Platform (15) for a robot according to any one of claims 11 or 12, said platform (15) further comprising two vertical side walls arranged to be located in a defined space between one of said two arms (13, 14) and one of said two nearest means of movement (31, 32) and further comprising a lip arranged on one side of said platform (15) which connects said two vertical side walls.

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