• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    Guided automatic vehicle for the multidirectional displacement of loads, comprising at least two driving wheels (10, 11) each connected to a motor (38, 39) and at least two wheels (12, 13, 14 and 15), the assembly being supported by a frame (9) and surmounted by a housing (8), and comprising at least one coupling element (21, 22) for coupling a load (51). In addition, the coupling element (21, 22) is retractable.
    公开号:FR3039104A1
    申请号:FR1556943
    申请日:2015-07-22
    公开日:2017-01-27
    发明作者:Pierre Guibe；Julien Fe
    申请人:Renault SAS；
    IPC主号:
    专利说明:

    Guided automatic vehicle for multidirectional displacement of loads
    The present invention relates, in general, to vehicles for the transport of loads. The invention relates more particularly to vehicles for the automated movement of loads, and even more specifically to guided automatic vehicles.
    A guided automatic vehicle is a robotic vehicle capable of moving autonomously, without a driver. It intervenes, for example, outside or inside warehouses or industrial sites where it facilitates logistics by ensuring the handling of goods and other products. Generally, a guided automatic vehicle comprises driving wheels, driven by an engine, and held on a chassis, as well as wheels stabilizing the vehicle on the ground.
    The vehicle is usually equipped with cameras and sensors intended for navigation. It can move by optoguidage, that is to say by following a strip of color affixed to the ground that it detects by means of a camera, or by magnetic tape guidance that it perceives via sensors. magnetic field. In this regard, document CN104015836 A describes a guided automatic vehicle comprising two driving wheels and four wheels. Two navigation systems, arranged on either side of the vehicle, allow it to move easily forward and back without having to borrow a radius of gyration. This feature thus reduces the space occupied by these imposing vehicles, when transporting a load on a straight-back trip.
    However, the vehicle disclosed in this document does not reduce the space dedicated to the movement of it, when it takes a path comprising at least one turn. The vehicle will be systematically brought to occupy a substantial space to deviate from a straight path and turn. The invention therefore aims to remedy this drawback and to propose a guided automatic vehicle, simple and inexpensive, capable of minimizing the space it occupies for the transport of a load, when it takes a path comprising including turns, especially at right angles.
    It is therefore proposed a guided automatic vehicle for the multidirectional displacement of loads, comprising at least two drive wheels each connected to an engine and at least two wheels, the assembly being supported by a frame and surmounted by a housing, and comprising at least a coupling element for coupling a load.
    In addition, the hitch element is retractable.
    Advantageously, the guided automatic vehicle comprises two retractable hitching elements.
    Moreover, the upper face of the vehicle is able to receive a rolling load.
    Preferably, the hitch elements are arranged on the upper face of the vehicle.
    It can be provided that the vehicle comprises at least one battery and an external connection system for recharging the batteries.
    Preferably, the frame comprises two T-side flanks, cross members distributed along the longitudinal axis of the chassis and a bottom mechanically closing the assembly.
    According to another characteristic, the vehicle comprises detection means for its safe displacement and its orientation.
    Advantageously, the vehicle comprises two driving wheels and four wheels.
    According to one embodiment, the vehicle comprises a coupling element type automobile attachment. The invention also relates to a multidirectional load displacement system, comprising a rolling base capable of receiving a load on its upper face.
    In addition, the base cooperates with the guided automatic vehicle via a coupling interface adapted to cooperate with the coupling elements.
    The underside of said base cooperates with a guided automatic vehicle as previously described. Other objects, advantages and features will become apparent from the following description, given by way of purely illustrative example and with reference to the accompanying drawings, in which: FIG. 1 is a perspective view of a vehicle according to FIG. invention; - Figure 2 is a perspective view of a vehicle according to the invention in which the housing is not shown; FIG. 3 represents a view from below of a vehicle according to the invention; and - Figure 4 is a side view of a load moving system according to the invention.
    As illustrated in FIGS. 1 to 4, an automatic guided vehicle according to the invention, designated by the general numerical reference 1, and preferably of generally rectangular parallelepipedal shape, comprises an upper face 2, a lower face 3, and four lateral sides 4, 5, 6 and 7.
    Referring first to Figure 1. As illustrated, the vehicle 1 is surmounted by a housing 8, which can be assembled by screwing, and advantageously covering the upper face 2 and its lateral sides 4, 5, 6 and 7 The lateral sides 5 and 7 respectively correspond to the front and the rear of the vehicle 1.
    In the example illustrated in Figure 2, in which the housing 8 has not been shown, it can be seen that the vehicle 1 is formed of a frame 9. This frame 9 may comprise two sides 16 and 17 in 'T giving respectively shape to the lateral sides 4 and 6, and two cross members 18 and 20 respectively giving shape to the lateral sides 7 and 5. The cross member 18 advantageously allows the attachment of the rear hitch. A third cross member 19 is disposed between the cross members 18 and 20, it makes it possible to fix the central coupling and strengthens the structure. Preferably, four circular and solid trays 30, 31, 32 and 33 are attached to the four corners of the frame 9.
    The vehicle 1 comprises two drive wheels 10 and 11, arranged vis-à-vis and can be fixed to the frame 9 by a rolling bearing not shown. Each wheel 10 and 11 is connected to an assembly 38 and 39, visible in Figure 3, comprising a motor and a gearbox. The assemblies 38 and 39 preferably correspond to a brushless or brushless motor and a wheel and screw gearbox.
    Preferably, four wheels 12, 13, 14 and 15 orientable and free along the vertical axis, respectively fixed on the trays 30, 31, 32 and 33, ensure the stability of the vehicle.
    Preferably, two wheels advantageously located on the same side, 5 or 7, relative to the axis of rotation of the drive wheels 10 and 11, will be suspended, ensuring the permanent contact of the drive wheels with the ground.
    Fenders 34, 35, 36 and 37 can be respectively fixed around the trays 30, 31, 32 and 33, so as to surround and protect the rollers 12, 13, 14 and 15.
    In the example illustrated in Figure 2, the vehicle 1 comprises two coupling elements 21 and 22 retractable, arranged on the upper face 2 of the vehicle 1. Advantageously, the elements 21 and 22 are of generally cylindrical shape. In FIG. 1, the central element 21 can be seen in the deployed position outside the casing 8, and the rear element 22 in the retracted position inside the casing 8.
    The vehicle 1 advantageously comprises two batteries 23 and 24, arranged in the heart of the frame 9, on either side of the axis on which the two coupling elements 21 and 22 are arranged. The batteries 23 and 24 may extend forward to the rear of the vehicle 1.
    In the example shown, an external connection system 25 is disposed on the lateral side 4 of the vehicle 1. In addition, two electric cables 26 and 27, intended to connect the batteries 23 and 24 to the connection system 25, allow ensure their charge.
    A set of electronic cards 28 can be added to the vehicle 1 to allow the automation of its operation, and in particular the deployment and retraction of the coupling elements 21 and 22. Also, a control screen, not shown in the figures , can be integrated into the vehicle 1 in order to set its operation. This screen will preferably be arranged so as to be accessible to a user who wishes to parameterize the vehicle 1.
    The lower face 3 of a vehicle 1 according to the invention is illustrated in FIG. 3. A bottom, advantageously made of solid sheet metal and not shown, can be fixed by screwing, and support the elements arranged at the heart of the frame 9 like the batteries. 23 and 24.
    In the example illustrated in FIG. 3, the guided automatic vehicle 1 is provided with detection means. A camera 40 is preferably disposed at the front of the vehicle 1, so that it can collect images of the ground, and allow a displacement by optoguidage. An RFID antenna 43 is placed on the lower face 3 so as to receive signals emitted by chips placed on the ground. These information signals make it possible to control the displacement, the orientation or the speed of the vehicle 1. Of course, it is not beyond the scope of the invention when the vehicle is equipped with other types of guide means. An accurate stop detector 42, placed on the lower face 3, makes it possible to stop the vehicle 1 at a precise location by detecting a signal coming from the ground, for example for loading or unloading a load. A security system, for example a laser scanner 41, is attached to the lateral side 5, and detects obstacles in the vehicle path. This sensor 41 allows the emergency stop of the vehicle 1 and avoids a collision with the obstacles concerned. The invention also relates to a load-displacement system, illustrated in FIG. 4. In the example illustrated, a rolling base 44 comprises a support 45 resting on four feet on which a wheel is articulated. Only two feet 46 and 47 and two wheels 48 and 49 are visible in the side view of Figure 4. A load 51 is disposed on the upper face 44a of the support 45 of the rolling base 44. The dimensions of the support 45 may be chosen according to the load 51 to move.
    A guided automatic vehicle 1 according to the invention is placed under the rolling base 44. A coupling interface 50 is fixed on the lower face 44b of the support 45, so as to be positioned between the vehicle 1 and the rolling base 44. the illustrated example, the coupling elements 21 and 22 are deployed and inserted in the coupling interface 50.
    In this configuration, when the vehicle 1 advances, taking a path affected by guidance, the rolling base 44 supporting the load to move 51, advance, towed by the vehicle.
    In order to effect a 90 ° displacement of the rolling base 44 relative to its previous axis of travel, the vehicle 1 performs the retraction of the rear coupling element 22, while keeping the central element 21 deployed. The vehicle 1 then performs a rotation of 90 °, which can be performed by a difference in speed between the two drive wheels 10 and 11. The front portion 5 is thus positioned towards the continuation of the path. When the vehicle 1 moves forward, the rolling base 44 moves laterally, without the need to turn and borrow a radius of gyration.
    In the same way, in order to reverse the rolling base 44, the vehicle 1 rotates 180 ° below it, immobile.
    When it is however necessary to rotate the base 44 on itself, the vehicle 1, positioned beneath it, deploys its two coupling elements 21 and 22, so as to insert them into the coupling interface. 50. The vehicle 1 makes a suitable rotation to position the direction to be taken, while driving the base 44. The central hitch 21 is adapted to transmit the traction force of the guided automatic vehicle 1 to the rolling base 44, bearing the load 51. The rear hitch 22, meanwhile, manages the direction and orientation of the base 44.
    In the illustrated example, the vehicle 1 is therefore able to embark or remove the rolling base 44 at a chosen position, by inserting or withdrawing from beneath it by four tracks oriented along two perpendicular axes, delimited by its four wheels 48 and 49.
    It can be provided that the rolling base 44 is configured so that the boarding and depositing tracks of the base 44 are oriented along different axes, adapted to the location of use of the vehicle 1 and to the needs of the user.
    In addition, when the two coupling elements 21 and 22 are retracted, the upper face 2 of the vehicle 1 is able to support the load 51 for its transport, without requiring the presence of a rolling base 44.
    According to another embodiment, not shown in the figures, the vehicle 1 comprises a coupling element corresponding to a car-type fastener. Preferably, this element is an ISO50 ball. The vehicle is thus able to tow a load, hitched to the fastener.
    It may also be provided that the vehicle 1 can tow a load placed at the rear thereof, coupled to at least one of the coupling elements 21 and 22, without departing from the scope of the invention.
    The proposed guided automatic vehicle 1 is compact and agile, and makes it possible to move multidirectional loads of large volume and mass in small spaces.
    权利要求:
    Claims (11)
    [1" id="c-fr-0001]
    Guided automatic vehicle for the multidirectional displacement of loads, comprising at least two driving wheels (10, 11) each connected to a motor (38, 39) and at least two wheels (12, 13, 14 and 15), assembly being supported by a frame (9) and surmounted by a housing (8), and comprising at least one coupling element (21, 22) for coupling a load (51), characterized in that hitch element (21, 22) is retractable.
    [2" id="c-fr-0002]
    2. Automatic guided vehicle according to claim 1, characterized in that it comprises two retractable hitch elements (21, 22).
    [3" id="c-fr-0003]
    3. automatic guided vehicle according to claim 1 or 2, characterized in that the upper face (2) of the vehicle (1) is adapted to receive a rolling load (44).
    [4" id="c-fr-0004]
    4. Automatic guided vehicle according to one of the preceding claims, characterized in that the coupling elements (21, 22) are arranged on the upper face (2) of the vehicle (1).
    [5" id="c-fr-0005]
    5. Automatic guided vehicle according to one of the preceding claims, characterized in that it comprises at least one battery (23, 24) and an external connection system (25) for recharging the batteries (23, 24).
    [6" id="c-fr-0006]
    Guided automatic vehicle according to one of the preceding claims, characterized in that the frame (9) comprises two T-shaped lateral flanks (16, 17), crosspieces (18, 19 and 20) distributed along the longitudinal axis of the vehicle. chassis (9) and a bottom mechanically closing the assembly.
    [7" id="c-fr-0007]
    7. Automatic guided vehicle according to one of the preceding claims, characterized in that it comprises detection means (40, 41, 42 and 43) for its safe movement and orientation.
    [8" id="c-fr-0008]
    8. Automatic guided vehicle according to one of the preceding claims, characterized in that it comprises two drive wheels (10, 11) and four wheels (12, 13, 14 and 15).
    [9" id="c-fr-0009]
    9. Automatic guided vehicle according to any one of the preceding claims, characterized in that it comprises a hitch type fastener for automobile.
    [10" id="c-fr-0010]
    Multidirectional displacement system of loads, comprising a rolling base (44) capable of receiving a load (51) on its upper face (45a), characterized in that the lower face (44b) of said base (44) cooperates with a guided automatic vehicle (1) according to one of claims 1 to 8.
    [11" id="c-fr-0011]
    11. multidirectional displacement system of loads according to claim 10, characterized in that the base cooperates with the guided automatic vehicle (1) via a coupling interface (50) adapted to cooperate with the elements of hitch (21, 22).
    类似技术:
    公开号 | 公开日 | 专利标题
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    同族专利:
    公开号 | 公开日
    FR3039104B1|2018-10-19|
    引用文献:
    公开号 | 申请日 | 公开日 | 申请人 | 专利标题
    US4137984A|1977-11-03|1979-02-06|Jennings Frederick R|Self-guided automatic load transporter|
    GB2146822A|1983-09-17|1985-04-24|Tsubakimoto Chain Co|Automatic guided vehicle control|
    US20140228999A1|2006-06-09|2014-08-14|Amazon Technologies, Inc.|Method and system for transporting inventory items|
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    EP3447023A1|2017-08-24|2019-02-27|Linde Material Handling GmbH|Autonomous industrial truck, in particular industrial truck for picking|
    EP3511271A1|2018-01-15|2019-07-17|The Automation Group Limited|Transport apparatus for object handling system, and object handling system incorporating such apparatus|
    WO2019221662A1|2018-05-15|2019-11-21|Rindus Industri Ab|Load carrier with lift device|
    EP3715313A1|2019-03-29|2020-09-30|Universitat Politécnica De Catalunya|Compact omnidirectional autonomous drive unit|
    法律状态:
    2016-07-21| PLFP| Fee payment|Year of fee payment: 2 |
    2017-01-27| PLSC| Search report ready|Effective date: 20170127 |
    2017-07-24| PLFP| Fee payment|Year of fee payment: 3 |
    2018-07-25| PLFP| Fee payment|Year of fee payment: 4 |
    2019-07-19| PLFP| Fee payment|Year of fee payment: 5 |
    2020-07-21| PLFP| Fee payment|Year of fee payment: 6 |
    2021-07-27| PLFP| Fee payment|Year of fee payment: 7 |
    优先权:
    申请号 | 申请日 | 专利标题
    FR1556943A|FR3039104B1|2015-07-22|2015-07-22|GUIDED AUTOMATIC VEHICLE FOR MULTIDIRECTIONAL DISPLACEMENT OF LOADS|
    FR1556943|2015-07-22|FR1556943A| FR3039104B1|2015-07-22|2015-07-22|GUIDED AUTOMATIC VEHICLE FOR MULTIDIRECTIONAL DISPLACEMENT OF LOADS|
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