Horizontal transit robot

Abstract

A robot comprising a body (1), four omnidirectional wheels (2), four motors (3), a control unit (4), a battery, radio control means (7), two forks (5), a lifting system (6), an actuator (8) arranged to activate said lifting system (6), a sensor / transmitter module (9), said control unit (6) being configured to generate differential drive commands for each of said four motors (3) and at least two omnidirectional rolling means (10) arranged near one end of said forks (5). Figure for publication: Fig. 1

Description

Title of the invention: Horizontal transport robot technical field

[0001] The present invention lies in the design of a new type of robot, specifically designed in particular to carry out missions and operate in environments characterized by superimposed floors having 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, while taking into account floor load limits of 250 to 400 kg per m2.

[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. By automating the safe unloading and transport of loads to storage areas, the robot ensures efficient load transport management, thereby 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 2003118431A1 discloses a forklift apparatus with multiple degrees of freedom of movement. The forklift apparatus also preferably includes an operator station connected to the forklift to slide between a retracted and an extended position to counterbalance a load positioned on the forklift apparatus (see Abstract). Furthermore, the forklift apparatus also preferably includes a plurality of wheels, each of the omnidirectional wheels preferably adapted to move the forklift in forward, backward, lateral, and transverse or oblique directions (see paragraph 39). However, the apparatus disclosed in US patent 2003118431A1 is of a complex and heavy design. and it is not suitable for transporting loads to a narrow storage space and along inclined paths with limited ceiling height and does not provide any solution in these circumstances.

[0007] Document CN116853986A discloses an omnidirectional industrial transport vehicle comprising a chassis and two load-bearing wheels with steering functions arranged symmetrically on the side of the chassis near the front, the steering angle of the load-bearing wheels being controllable. However, document CN116853986A is of a complex and heavy design and is not suitable for transporting loads to a confined storage space or along inclined paths with limited ceiling height, and does not provide any solution in these circumstances.

[0008] Document CN116730257A discloses an intelligent omnidirectional carrier robot comprising a vehicle body with four omnidirectional wheels. The door frame is fixedly connected to the front end of the vehicle body, and the door frame includes a longitudinal drive mechanism; the lateral moving frame is connected to the front end of the portal frame, the lateral moving frame is driven by the longitudinal drive mechanism to move up and down along the portal frame, and the lateral moving frame includes two transverse drive mechanisms; the number of pallet fork frames is the same as the number of transverse drive mechanisms, the pallet fork frames are arranged transversely at the front end of the lateral moving frame side by side, and the pallet fork frames are driven by one of the transverse frames.Drive mechanisms for moving left and right along the lateral moving frame; and the counterweight assembly is used to adjust the center of gravity of the intelligent transport robot and the center of gravity of the goods when the goods are forked by the goods fork frames, so that the center of gravity of the intelligent transport robot and the center of gravity of the goods are balanced (see Summary). However, document CN116730257A is of a complex and heavy design and is not suitable for transporting loads to a narrow storage space and along inclined paths with limited ceiling height, and does not provide any solution in these circumstances.

[0009] 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

[0010] The invention relates to a robot-type vehicle comprising a body, four omnidirectional wheels, four motors, each of said four motors being arranged connected with each of said four omnidirectional wheels, a control unit, a battery, radio control means, two forks, a lifting system, an actuator, said actuator being arranged to activate said lifting system, a sensor / transmitter module, said control unit being configured to generate differential pilot commands for each of said four motors and furthermore at least two omnidirectional rolling means arranged near one end of said forks.

[0011] According to one embodiment, each of said at least two omnidirectional rolling means comprises at least two rolling balls, each ball being encapsulated in a retaining cage.

[0012] According to one embodiment, the lifting system comprises at least one lifting arm and possibly several arms arranged to lift two movable forks, each of said two movable forks having an upper surface that is substantially parallel to an lower surface of said two forks.

[0013] According to one embodiment, said actuator comprises two motors, each motor being connected to a worm gear by means of a homokinetic link, said worm gear actuating said lifting system.

[0014] According to one embodiment, has an overall width (L) substantially equal to 80 cm.

[0015] According to one embodiment, a height (H) of the robot is at most half of said overall width (L).

[0016] According to one embodiment, an overall width (L') greater than 80 cm less than 120 cm and in which a lateral translation means (12) is arranged to allow a lateral translation of said two forks relative to the body of the robot.

[0017] According to one embodiment, an overall length (D) substantially equal to 80 cm and preferably a weight of no more than 200 kg. List of figures

[0018] [Fig.1] Fig. 1 illustrates the robot according to an embodiment of the invention in a narrow version.

[0019] [Fig.2] Figure [Fig. 2] illustrates the robot according to an embodiment of the invention in a narrow version.

[0020] [Fig.3] Figure 3 illustrates the robot according to an embodiment of the invention in a narrow version.

[0021] [Fig.4] Figure 4 illustrates the robot according to an embodiment of the invention in a narrow version.

[0022] [Fig.5] Figure 5 illustrates the robot according to an embodiment of the invention in a narrow version.

[0023] [Fig.6] Figure 6 illustrates the robot according to an embodiment of the invention in a narrow version.

[0024] [Fig.7] Figure 7 illustrates the robot according to an embodiment of the invention in a wide configuration.

[0025] [Fig.8] Figure 8 illustrates the robot according to an embodiment of the invention in a wide configuration.

[0026] [Fig.9] Figure 9 illustrates the robot according to one embodiment of the invention. Detailed description of the invention

[0027] The embodiments described below are not in any 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 a portion of the structural details if this portion alone is sufficient to confer a technical advantage or to differentiate the invention from the prior art.

[0028] The identified technical problem concerns the need to design a robotic vehicle capable of maneuvering efficiently in confined spaces while respecting a maximum weight limit of 250 kg per square meter, including the robot and its payload. This requires an innovative solution for environments where paths are very narrow and movement surfaces have limited load-bearing capacity.

[0029] The proposed robot vehicle has reduced maximum dimensions, for example 80 cm in length and 80 cm or 120 cm in width, which corresponds to the standard dimensions of a transport pallet. This compact size allows the robot to maneuver easily in confined spaces such as warehouses or narrow corridors. The low height also improves stability and the ability to pass under low obstacles.

[0030] Due to the weight limit of 250 kg per square meter, the robot will be designed to be lightweight while maintaining an effective load-carrying capacity. This allows it to carry significant loads without exceeding the load-carrying capacity of the surfaces on which it operates, while also improving energy efficiency and battery life.

[0031] Thanks to its omnidirectional wheels, the robot can move in all directions, including turning on the spot. This exceptional mobility, combined with its small size, allows the robot to navigate easily in confined environments and precisely around obstacles. An integrated suspension system also helps to overcome uneven surfaces, essential for both indoor and outdoor operations.

[0032] The robot will be equipped with powerful and quiet electric motors, ensuring fast and efficient movement even with a load of 200 kg or more. A rechargeable battery with sufficient autonomy for a full day's work eliminates the need for frequent recharging, thus increasing productivity.

[0033] According to one embodiment, with an autonomous navigation system using lidar-type positioning and / or shape recognition sensors and / or cameras, the robot can avoid obstacles and navigate smoothly in confined spaces. A GPS can complement the sensor suite to ensure precise outdoor navigation, while wireless connections allow for remote control and simple software updates.

[0034] To ensure safety, the robot is equipped with proximity sensors and emergency stop systems. Integrated signal lights and / or light emitters clearly indicate the robot's status, whether it is moving, stopped, or charging, thus reducing the risk of accidents.

[0035] The robot is designed to be compatible with existing warehouse management systems, with standardized communication ports such as USB and Ethernet. This facilitates its integration into existing infrastructures, thereby optimizing workflows.

[0036] The robot's structure is made from impact- and weather-resistant materials, with protection against dust and water, preferably having an IP65 rating or higher. This robustness ensures a long service life, even under harsh conditions.

[0037] A modular design allows for quick and easy repairs, thus reducing downtime. Spare parts will be readily available, ensuring that the robot can be quickly returned to service if needed.

[0038] Finally, the total cost of ownership of the robot, including purchase, maintenance, and energy, is competitive compared to manual or semi-automated alternatives. This makes it an economical solution for improving efficiency and productivity in various operational environments.

[0039] These detailed characteristics describe a lightweight and compact robot vehicle capable of efficiently resolving weight and space constraints, making this concept innovative and particularly suitable for a patent application.

[0040] According to the invention, 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 (14), 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 shown in [Fig. 1].

[0041] 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. 1]. 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.

[0042] The body (2) may preferably also include internal ribs. These ribs mechanically reinforce the body (2) and reduce the weight of the robot.

[0043] The body (2) can be made by assembly by welding, screwing or riveting, 3d printing but also by molding, for example of a polymer.

[0044] According to the invention, the robot comprises a body (1), four omnidirectional wheels (2), four motors (3), each of said four motors (3) being arranged connected with each of said four omnidirectional wheels (2), a control unit (4), a battery (14), radio control means (7), two forks (5), a lifting system (6), an actuator (8), said actuator (8) being arranged to activate said lifting system (6), a sensor / transmitter module (9), said control unit (6) being configured to generate differential pilot commands for each of said four motors (3), see [Fig.1].

[0045] The radio control means (7) may include any equipment enabling remote communication between the robot and a base.

[0046] According to the invention, the robot further comprises at least two omnidirectional rolling means (10) arranged near one end of said forks (5). This allows the load to be distributed evenly on the ground, thus reducing the pressure exerted on each point of contact and preserving the integrity of the surfaces. In addition, this configuration relieves stress on the robot's fork fixings by reducing the force required to support the load, which helps to extend the system's service life and improve its reliability. Finally, the robot gains stability and precision during handling operations, thus offering optimal performance in a variety of environments. In one example of a robot implementation, said at least two omnidirectional rolling means (10) are always located on a different slab to distribute the load, as illustrated in [Fig. 6] and [Fig. 8].

[0047] The control unit (4), symbolically represented in [Fig. 2], is protected inside the robot, preferably within the body (2). The control unit (4) may comprise one or more modules, particularly when 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 (4), 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.

[0048] The control unit (4) 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 (4) will be able to maintain the center of gravity so as to preserve the balance and stability of the robot + load assembly.

[0049] This design allows for a uniform distribution of its weight over a surface of 4 m2. In the case where the robot moves on a concrete slab having a ground load limit for example of 250kg / m2, the robot + load assembly can reach a total weight of a maximum of 1T, i.e. 1000 kg.

[0050] The robot further comprises at least one transmitter and / or sensor module (9) preferably arranged in areas around the extremities of the robot. In addition, at least one transmitter and / or sensor module (9) may be retractable. These sensors and / or transmitters (9) may operate with radiation, in particular with light in the visible and non-visible spectrum, such as infrared. The set of sensors and / or transmitters (9) may include sensors located anywhere on the robot to allow the robot to move automatically and independently, while constantly analyzing its environment. The use of a solution of the type Artificial intelligence and learning allows the control unit (4) to be configured for the execution of independent missions, using an artificial intelligence type guidance system.

[0051] The sensor and / or transmitter (9) may include a CCD camera, a LIDAR, a radar, an infrared sensor, a radar, any other sensor and a combination of several sensors.

[0052] The sensor and / or transmitter (9) may further include a transmitter of the light, sound, radio type or a combination of different transmitters.

[0053] According to one embodiment, each of said at least two omnidirectional rolling means (10) comprises at least two rolling balls, each ball being encapsulated in a retaining cage. This is visible in [Fig. 3] and [Fig. 5].

[0054] According to a variant of this embodiment, in which each fork (5) has an omnidirectional rolling means (10) comprising at least two rolling balls, each ball being encapsulated in a retaining cage, the two ball cages can be mounted in a plate, and said plate can be flexibly mounted in the body of the fork (5). In this case, the plate may preferably have an axis about which said plate can tilt relative to the body of the fork (5). The tilt about this axis can be achieved by means of a pivot-type function and makes it possible to maintain contact between the two balls and the ground, regardless of the orientation of the longitudinal axis of the body of the fork (5). This makes it possible to maintain contact between the two balls and the ground even when the ground is undulating, while also making it possible to maintain the four wheels (2) in contact with the ground.

[0055] This embodiment can be used, mutandis mutatis, even if the two omnidirectional rolling means (10) comprise other types of means than balls.

[0056] According to one embodiment, the lifting system (6) comprises at least one lifting arm. In a preferred embodiment as illustrated in [Fig. 3], sixteen arms can be arranged to lift two movable forks (11), each of said two movable forks (11) having an upper surface that is at all times substantially parallel to a lower surface of said two forks (5). This is visible in [Fig. 1], [Fig. 3], and [Fig. 4]. However, a different number of arms can be implemented, for example, two, three, four, five, seven, eight, and so on, particularly depending on the length of the forks.

[0057] According to this preferred embodiment, the sixteen arms are arranged to raise two movable forks (11) in a movement continuously parallel to the two forks (5).

[0058] In addition, the two movable forks (11) are designed with a U-shaped profile so that they can fit onto the forks (5) when the two movable forks (11) are in their lowest position.

[0059] The arms of the lifting system (6) are designed to fit into the profile of the forks (5) when the two movable forks (11) are in their lowest position.

[0060] The two movable forks (11) are in their highest position on [Fig.1], [Fig.3], [Fig.4], [Fig.5] and [Fig.9],

[0061] According to one embodiment, said actuator (8) comprises two motors, each motor being connected to a worm gear by means of a constant velocity joint, said worm gear actuating said lifting system (6), see [Fig. 2], [Fig. 3] and [Fig. 4]. This embodiment allows for the optimized positioning of the actuator motors (8), which have a certain size to generate the torque necessary to actuate said lifting system (6), substantially below the axis of the traction motors, which can thus be mounted directly on the axle of the wheels (2), as seen in [Fig. 4].

[0062] According to one embodiment, the robot has an overall width (L) of approximately 80 cm. This corresponds to the width of a wooden pallet. According to an alternative embodiment, the overall width (L) can be adapted as needed to dimensions between approximately 40 cm and approximately 120 cm.

[0063] According to one embodiment, the height (H) of the robot is at most half of its overall width (L). According to this embodiment, the ratio between H and L can vary between 1 / 10 and 1 / 2. In this embodiment, the robot is made particularly flat.

[0064] According to an alternative embodiment, the ratio between H and L can vary between 1 / 10 and 10 / 10.

[0065] According to one embodiment, the robot has an overall width (L') greater than 80 cm but less than 120 cm, and in which a lateral translation means (12) is arranged to allow lateral translation of said two forks (5) relative to the body (1) of the robot. Indeed, in the case of a need to handle heavier loads, the weight can be distributed over several slabs, as shown in [Fig. 8], where it can be seen that the 4 wheels of the robot are always in contact with at least two slabs measuring 1 m by 1 m.

[0066] According to this embodiment, the control unit (4) can send commands to the wheel motors (2) of the robot in order to move the robot body laterally relative to the load. Indeed, in a scenario where the load is significant, the lateral translation means (12) allows the robot body to move in translation while keeping the forks stationary.

[0067] In this embodiment, the robot can move around the loaded pallet by sliding the pair of forks laterally. This is particularly useful in the case of narrow paths and when the robot needs to handle a pallet in a corner between vertical walls. Indeed, when the robot has to place a pallet along a wall, such as in a freight elevator or in a gap between pallets, the lateral translation means (12) is slid to an extreme left or right position before approaching the placement location. To slide the lateral translation means (12), the pallet may touch the ground, and the robot is moved laterally on its wheels. Once the sliding motion is complete, the robot can continue its trajectory toward the placement location.

[0068] According to one embodiment, the robot has an overall width (L) substantially equal to a length of 70 to 90 cm. In a preferred embodiment, this length is approximately 80 cm, plus or minus a few centimeters, which corresponds to the dimensions of a standard pallet. In this embodiment, a compact robot is obtained, particularly well-suited for use in confined spaces.

[0069] According to a preferred embodiment, the robot has a weight of at most 200 kg. This allows our robot to be implemented under restrictive weight per unit area conditions.

[0070] However, according to an alternative embodiment, the robot has a weight of more than 200 kg, when the restrictive conditions on weight per unit area allow it. In this case, the robot can have a weight of 300 kg, 500 kg or even more, depending on the implementation requirements.

[0071] A robot according to any one of the preceding claims, further comprising a flexible connection means (15, 16) arranged between the body (1) and the two forks (5). This means is illustrated in [Fig. 9] and may, for example, include a means for performing a hinge function (15) and a means for performing a damping function (16). This embodiment of the invention may consist of any other solution for mechanically connecting the body (1) and the two forks (5).

[0072] The flexible connection means (15, 16) arranged between the body (1) and the two forks (5) can preferably be located near a constant velocity joint between an actuator (8) and a worm gear actuating said lifting system (6). Thus, the two functionalities of lifting the forks and flexibility are achieved simultaneously.

[0073] The damping means (15, 16) can be a single damping means (15, 16) for both forks. Preferably, each fork can be equipped with its own damping means (15, 16). The expected effect is to obtain flexibility between the body (1) and the two forks (5). Here is a list of advantages of a flexible connection. between forks (5) equipped with ground support means for a 4-wheel omnidirectional robot:

[0074] The identified technical problem is the hydrostatic phenomenon that can occur on a robot with four omnidirectional wheels. This phenomenon, due to differences in ground pressure caused by an uneven weight distribution, can lead to instability of the robot and a reduction in its maneuverability, particularly on irregular surfaces.

[0075] Proposed solution: The use of a flexible link between the robot forks, equipped with ground support means, offers several advantages for solving this problem.

[0076] 1. Uniform distribution of ground pressure

[0077] Description: The flexible linkage allows the forks to adapt to variations in the ground surface, thus distributing the pressure exerted by the robot more evenly.

[0078] Advantage: This reduces the risk of excessive pressure points, minimizing the hydrostatic phenomenon and improving the stability of the robot.

[0079] 2. Stability Improvement

[0080] Description: Omnidirectional rolling means (10) offer a wider and more flexible contact surface compared to rigid wheels.

[0081] Advantage: Combined with the damping means (15, 16), this feature increases the stability of the robot, even on uneven surfaces, and allows better adaptation to variations in terrain.

[0082] 3. Increased maneuverability

[0083] Description: The damping means (15, 16) and the omnidirectional rolling means (10) together allow for smoother and more adaptive movements.

[0084] Advantage: The robot can move more freely and in a more controlled manner in confined spaces, thus improving its operational efficiency.

[0085] 4. Adaptability to irregular surfaces

[0086] Description: If each fork has its own damping means (15, 16), this allows the forks to adjust independently to variations in the ground surface.

[0087] Advantage: The robot can navigate efficiently over rough or uneven terrain without compromising its performance or stability.

[0088] 5. Improvement of traction performance

[0089] Description: The uniform distribution of pressure and the flexibility of the omnidirectional rolling means (10) increase the contact area with the ground.

[0090] Advantage: This improves the robot's traction performance, allowing for more precise and controlled movements, even under heavy loads.

[0091] 6. Increased flexibility and resilience

[0092] Description: The damping means (15, 16) give the robot increased resilience to shocks and impacts.

[0093] Advantage: This resilience improves the durability of the robot, making its operation more reliable in harsh environments.

[0094] According to one embodiment, the robot further comprises an induction charging means arranged on one face of said body (2). Equipping a robot with an induction charging means arranged on one face of its body (2) offers several advantages:

[0095] 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 the rear or underside of its body (2) as illustrated in [Fig. 5], the robot can be placed against an inductive charging pad, which can, for example, be mounted on a wall or on the floor. In this case, when the robot needs to recharge its battery, it will be positioned with its body (2) against the charging pad.

[0096] 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.

[0097] 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.

[0098] 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.

[0099] 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.

[0100] Enhanced safety: Since there are no exposed wires or plugs, induction charging reduces the risk of short circuits and electric shocks, improving the overall safety of the robot, especially in humid or dusty environments.

[0101] 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.

[0102] 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. Robot comprising a body (1), four omnidirectional wheels (2), four motors (3), each of said four motors (3) being arranged connected with each of said four omnidirectional wheels (2), a control unit (4), a battery (14), radio control means (7), two forks (5), a lifting system (6), an actuator (8), said actuator (8) being arranged to activate said lifting system (6), a sensor / transmitter module (9), said control unit (6) being configured to generate differential pilot commands for each of said four motors (3), characterized in that the robot further comprises at least two omnidirectional rolling means (10) arranged near one end of said forks (5).

2. Robot according to the preceding claim, wherein each of said at least two omnidirectional rolling means (10) comprises at least two rolling balls, each ball being encapsulated in a retaining cage.

3. Robot according to any one of the preceding claims, wherein the lifting system (6) comprises at least one lifting arm and preferably sixteen arms arranged to lift two movable forks (11), each of said two movable forks (11) having an upper surface which is at all times substantially parallel to a lower surface of said two forks (5).

4. Robot according to any one of the preceding claims, wherein said actuator (8) comprises two motors, each motor being connected to a worm gear by means of a constant velocity link, said worm gear actuating said lifting system (6).

5. Robot according to any one of the preceding claims, which has an overall width (L) substantially equal to a length of 70 to 90 cm, preferably 80 cm.

6. Robot according to the preceding claim, wherein a height (H) of the robot is at most half of said overall width (L).

7. Robot according to any one of claims 1-4, which has an overall width (L') greater than 80 cm less than 120 cm and in which a lateral translation means (12) is arranged to permit lateral translation of said two forks (5) relative to the body (1) of the robot.

8. Robot according to any one of the preceding claims, having an overall length (D) substantially equal to 80 cm and preferably a weight of at most 200 kg.

9. Robot according to any one of the preceding claims, further comprising a flexible connection means (15, 16) arranged between the body (1) and the two forks (5).

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