• 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:
    The invention relates to an automatically guided carriage (10) for transporting and / or handling a load. comprising a main frame (11) for receiving said load and a carrier frame (12) comprising two rockers extending respectively forwardly and rearwardly of said carriage according to the invention, said rockers are pivotally mounted relative to the frame main respectively about a first axis and a second axis and one such means for securing an arm of a balance with an arm of the other balance comprising bearing means of the first of these arms on the other arm.
    公开号:FR3065208A1
    申请号:FR1753292
    申请日:2017-04-14
    公开日:2018-10-19
    发明作者:Romain Moulin；Renaud Heitz
    申请人:Exotec Solutions；
    IPC主号:
    专利说明:

    (57) The invention relates to an automatically guided carriage (10) for transporting and / or handling a load, comprising a main chassis (11) intended to receive said load and a carrying chassis (12) comprising two rockers. extending respectively forward and backward of said carriage
    According to the invention, said pendulums are pivotally mounted with respect to the main chassis respectively around a first axis and a second axis and such comprises means for securing an arm of a pendulum with an arm of the another balance comprising means for supporting the first of these arms on the other arm.

    AUTOMATIC GUIDED TROLLEY FOR THE TRANSPORT AND / OR HANDLING OF A LOAD
    1. Field of the invention
    The field of the invention is that of logistics.
    More specifically, the invention relates to an automatically guided carriage.
    The invention finds particular application in the handling and transport of parts or products in warehouse
    2. State of the art
    The significant growth in online commerce has directly impacted order flow management strategies and product handling within a logistics warehouse.
    It is well known to automate transport tasks in a warehouse to gain speed of transport.
    Thus, we thought of using self-guided trolleys to transport cases containing products to an order preparation area. There are also known self-guided carts used to transport shelving from a warehouse to a product collection point by an operator in these shelving.
    Very often, the chassis of these automated guided carriages is connected by four-wheel suspensions.
    A disadvantage of known automated guided trolleys is that their mobility is affected when the load on the different wheels of the trolley is not balanced due to a non-uniform distribution of the products in the box or on the shelf which is transported, or when 'They drive on uneven ground.
    Furthermore, in order to avoid that in the absence of a load to be transported, the grip of the wheels on the ground is greatly reduced, and limits the acceleration and deceleration capacities of the trolley, we also seek to increase the self-guided cart to pre-compress suspensions.
    This has the drawback of increasing the energy required to move the carriage and therefore of reducing its autonomy.
    Another disadvantage of these known autoguided trolleys is that when the load is too high, the suspensions are found compressed to their maximum. The distribution of the weight of the load carried by the plate is then transmitted as it is to the wheels. We cannot then distribute the weight of the load on each of the wheels.
    Among these known automatic guide carriages, some can be configured to have axles mounted on bogies, arranged one at the front, the other at the back of a body or car.
    This bogie-guided trolley technique has the same drawbacks as the previous techniques.
    Another disadvantage of these bogie-guided carriages is that they cannot turn on themselves.
    3. Objectives of the invention
    The invention therefore aims in particular to overcome the drawbacks of the state of the art cited above.
    More specifically, the invention aims to provide an automatically guided carriage for the transport and / or handling of a load of which all the wheels adhere properly to the ground, whether the carriage is loaded or empty.
    Another objective of the invention is to provide such an automatic guided carriage technique in which the adhesion of the wheels to the ground is directly proportional to the weight transported.
    An objective of the invention is also to propose such an automatic guided carriage technique which maintains the level of grip of the drive wheels, whatever the distribution of the load transported.
    Another objective of the invention is to provide such an automatic guided carriage technique which limits the problems of load transfer during the acceleration and deceleration phases.
    Another object of the invention is to propose an automatically guided carriage technique whose energy autonomy is increased.
    Another objective of the invention is to provide such an automatic guided carriage technique which is simple to implement, reliable and of reduced cost price.
    4. Statement of the invention
    These objectives, as well as others which will appear subsequently, are achieved with the aid of an automatically guided carriage for transporting and / or handling a load, comprising a main chassis intended to receive said load and a supporting frame comprising a first balance and a second balance extending respectively towards the front and the rear of said carriage or vice versa.
    The invention thus relates to a guided vehicle, also known by the acronym AGV (acronym for "Automated guided vehicle" in English). This self-guided vehicle can be equipped with one or more arms for gripping objects, without departing from the scope of the invention.
    It should be noted that throughout the description of this patent application, reference is made to a direction of advance of the carriage when the terms front, rear, right and left of the carriage are used.
    According to the invention, said first balance and said second balance are pivotally mounted relative to the main chassis respectively around a first axis and a second axis, said first balance having a first arm extending from said first axis in direction of the outside of said carriage, equipped with at least one idler wheel, and a second arm extending from said first axis towards the inside of said carriage, mounted on two wheels with differential drive, said second balance having a first arm extending from said second axis towards the outside of said carriage, equipped with at least one idler wheel and a second arm extending from said second axis towards the interior of said carriage, and such an automatically guided carriage comprises means for securing the second arm of said second balance with the second arm of said first balance comprising means of ap then said second arm of said second pendulum on the second arm of said first pendulum.
    Thus, in an unprecedented manner, the invention proposes to implement two pendulums to distribute the weight of the load carried by the main chassis in a uniform manner between the wheels with differential drive and the idle wheels, whatever this load.
    The use of pendulums also makes it possible to limit the weight of the automatically guided carriage, which gives it better performance in terms of autonomy and speed of movement in particular.
    In addition, the load distribution is carried out equally between the front and the rear, but also between the right and left of the truck.
    Note also that, thus, the assembly of the main chassis with the carrier chassis is substantially isostatic.
    According to a particular aspect of the invention, the wheels with differential drive are mounted in the transverse plane of the carriage, or in other words the vertical median plane orthogonal to the longitudinal axis of the automatically guided carriage, in order to increase the adhesion of these and thus optimize the transfer of engine torque to the ground.
    According to an advantageous embodiment of the invention, said support means comprise a finger extending substantially perpendicular to the second arm of said second pendulum, or vice versa to the second arm of said first pendulum, said finger penetrating at least partially into a lumen formed in said second arm of said first pendulum, or vice versa in said second arm of said second pendulum, wider than said finger.
    One thus obtains a simple and inexpensive way of exerting support on the second arm of the second pendulum, or on the second arm of said first pendulum, reversibly either downwards or upwards.
    According to a particular aspect of the invention, said lumen is of substantially oblong shape and extends substantially in the longitudinal direction of the second arm in which it is formed.
    Thus, when the pendulum carrying the finger pivots about its pivot axis relative to the main frame, the finger travels through an arc of a circle and moves in the light by pushing on one of the interior faces of the latter.
    In a particular embodiment of the invention, said finger comprises a roller intended to come to bear on the edges of said lumen.
    Thus, the friction of the finger in the light is limited, which reduces the wear of the finger and / or of the light.
    According to a preferred embodiment of the invention, said support means are housed substantially vertically on the axis of the wheels with differential drive.
    According to a particular embodiment of the invention, said support means are housed under the axis of said two wheels with differential drive.
    According to a particularly advantageous embodiment of the invention, an automatically guided carriage as described above comprises at least one stop mounted on said main chassis opposite one of said pendulums, intended to limit the clearance of the supporting chassis relative to the main chassis.
    Thus, it is avoided that the wheels with differential drive come into contact with the structure of the carriage, the passage of bumps or holes on the ground, and wear out prematurely by friction therewith.
    According to a preferred embodiment of the invention, the two wheels with differential drive are driven in rotation by two motors controlled independently, fixed to the same pendulum as the wheels with differential drive.
    Thus, the automatically guided carriage is able to turn on itself to effect a change of direction.
    According to an advantageous embodiment of the invention, at least one of the pendulums is equipped with two idler wheels mounted thereon in positions symmetrical relative to the sagittal plane of the carriage
    By moving the two idle wheels away from the sagittal plane, the carriage can then be guided by a guide device on the ground, like a line along which it moves on horseback.
    The term sagittal plane is understood here to mean the vertical median plane which passes through the longitudinal axis of the carriage.
    According to an advantageous aspect of the invention, the position of said first axis and the position of said second axis are symmetrical with respect to the median plane of said carriage.
    Advantageously, the first axis and / or the second axis are midway between the axis of the drive wheels and the axis of the idler wheel which equips the first balance wheel, respectively the second balance wheel.
    5. List of figures
    Other characteristics and advantages of the invention will appear more clearly on reading the following description of an embodiment of the invention, given by way of simple illustrative and nonlimiting example, and of the appended drawings among which:
    Figure 1 is a perspective view of an exemplary embodiment of an automatically guided carriage according to the invention;
    Figure 2 is a perspective view of the underside of the automatic guided carriage shown with reference to Figure 1;
    FIG. 3 is a view from one side of the automatically guided carriage presented with reference to FIG. 1.
    6. Detailed description of the invention
    6.1. First example of embodiment of the invention
    Illustrated in Figure 1 by a perspective view, an exemplary embodiment of an automatically guided carriage 10 according to the invention, dedicated to the transport and / or handling of a load. This self-guided carriage 10 comprises a main chassis 11 intended to receive a load supported by a carrying chassis 12 ensuring the connection to the ground of the carriage 10.
    This supporting frame 12 consists of a first balance 13 extending towards the front of the carriage 10 and a second balance 14 extending towards the rear of the carriage. Each pendulum 13, 14 is formed of a U-shaped frame which has two lateral branches 130, 140 each extending in the longitudinal orientation of the carriage towards the interior thereof.
    The first balance 13 is mounted on two drive wheels 16 with differential drive, the axis of which is located in the median plane of the carrying frame 12. The two drive wheels 16 are driven in rotation by two motors 17 with independent controls, fixed on the frame of the first balance 13 substantially at the proximal end of the second arms 130.
    It will be noted that the differential drive of the two central driving wheels 16 by the motors 17 allows the carriage to move along all types of paths programmed by a control module (not shown in FIG. 1) such as a straight line, a curve or still turn on itself.
    The first pendulum 13 and the second pendulum 14 are each fitted with a idler wheel 18. These idler wheels 18 are fixed to the distal ends of the pendulums 13, 14, in the sagittal plane of the carriage. To accommodate the idler wheel, each pendulum has a U 19 notch which spans this wheel.
    As can be seen in Figure 1, the main frame 11 is formed of a peripheral frame 100 which has two cross members 101 connecting two side rails 102 on each of which is welded, substantially in the middle and in front of the drive wheels 16 , a stop 103.
    To limit the upward stroke of the first balance 13 at the drive wheels 16, each stop 103 has a lug 104 overhanging a branch 130 of the first balance. Thus, the lowest point of the circumference of the drive wheels 16 which corresponds to the point of contact of the tread with the ground remains below the lowest point of the main chassis 11. Furthermore, this avoids that the point the highest of the tread does not come into contact with the main chassis 11 or the load. In addition, at the distal end of the carriage, the travel of the first balance and of the second balance 14 is limited upwards by the crosspieces 101 of the frame 100 which act as a stop for each step 19.
    There is shown in Figures 2 and 3 the carriage in a perspective view, respectively seen from below and seen from the side, in order to make clear the points of articulation between the main frame 11, the first balance 13 and the second balance 14.
    In FIG. 2, it can be seen that each pendulum 13 or 14 of the carrier chassis 12 is pivotally mounted relative to the main chassis 11, around a pair of axes 20 or 21, fixed to the lateral spar 102 of the main chassis 11.
    The axes of each pair of axes 20, 21 are aligned and located opposite each side of the sagittal plane of the carriage. They have at their free end a tongue 22 forming a shoulder, held by a screw 23 at one of the lateral branches 130, 140.
    As can be seen in FIG. 3, the pairs of axes 20, 21 for pivoting the pendulums 13 and 14 relative to the main chassis 11 are located substantially halfway between the drive wheels 16 and the attachment points of the two idler wheels 18 on the pendulums 13, 14. Thus, the load is substantially distributed 50% on the drive wheels 16 and 31% on each of the idler wheels 18.
    Each lateral branch 130 or 140 has on either side of the axes 20, 21 a first arm 131, 141, on which is mounted one of the idler wheels 16, and a second arm 132, 142, extending respectively towards the outside and inside the carriage.
    In Figure 3, we can see that the second balance 14 is secured and supported on the first balance 13 substantially in the transverse median plane of the carrier carriage 12. This support is provided by a finger 30 fixed to each proximal end of each branch 140 of the second pendulum 14. Each finger 30 enters a lumen which is in the form of an oblong hole 31 in each proximal end of each branch 130 of the first pendulum 13, substantially in line with the axis of the drive wheels 16. It is also noted that the longitudinal axis of each oblong hole 31 is oriented substantially in the longitudinal direction of the branch 130. Finally, the length of the oblong holes 31 is dimensioned so as to allow the rotation of the first and second pendulum 13, 14 relative to the main carriage 11 within the limit of the clearance authorized by the crosspieces 101 and the stops 103 ..
    6.2. Other optional features and advantages of the invention
    In variants of the embodiment of the invention detailed above, it can also be provided:
    that the second balance is secured to the first balance using at least one vertical connecting rod which transmits the feedback forces from the second balance on the first balance along the vertical axis;
    to distribute the load differently between the drive wheels and the idler wheels by moving the position of the pivot axes of the rockers relative to the main chassis, in order to favor rather the stability of the carriage or rather the grip of the drive wheels;
    to equip each balance wheel with two idler wheels, fixed to the body of the balance wheel in symmetrical positions relative to the transverse plane of the carrying frame.
    权利要求:
    Claims (10)
    [1" id="c-fr-0001]
    1. An automatically guided carriage (10) for transporting and / or handling a load, comprising a main chassis (11) intended to receive said load and a carrying chassis (12) comprising a first balance (13) and a second pendulum (14) extending respectively towards the front and rear of said carriage or vice versa, characterized in that said first pendulum and said second pendulum are pivotally mounted relative to the main chassis respectively around a first axis and a second axis, said first pendulum having a first arm extending from said first axis towards the outside of said carriage, equipped with at least one idler wheel, and a second arm extending from said first axis towards the interior of said carriage, mounted on two wheels with differential drive (16), said second balance having a first arm extending from said second axis towards the exterior of said carriage, equipped with at least one idler wheel and a second arm extending from said second axis towards the interior of said carriage, and in that it comprises means for securing the second arm of said second pendulum with the second arm of said first pendulum comprising means for supporting said second arm of said second pendulum on the second arm of said first pendulum.
    [2" id="c-fr-0002]
    2. An automatically guided carriage according to claim 1, characterized in that said support means comprise a finger extending substantially perpendicular to the second arm of said second balance, or vice versa to the second arm of said first balance, said finger penetrating at less partially in a lumen formed in said second arm of said first balance, or vice versa in said second arm of said second balance, wider than said finger.
    [3" id="c-fr-0003]
    3. An automatically guided cart according to claim 2, characterized in that said lumen is of substantially oblong shape and extends substantially in the longitudinal direction of the second arm in which it is formed.
    [4" id="c-fr-0004]
    4. Trolley with automatic guidance according to any one of claims 2 and 3, characterized in that said finger comprises a roller intended to come to bear on the edges of said lumen.
    [5" id="c-fr-0005]
    5. Trolley with automatic guidance according to any one of claims 1 to 4, characterized in that said support means are housed substantially vertically from the axis of the wheels with differential drive.
    [6" id="c-fr-0006]
    6. Automatic guided carriage according to claim 5, characterized in that said support means are housed under the axis of said two differential drive wheels.
    [7" id="c-fr-0007]
    7. Automatic guided trolley according to any one of claims 1 to 6, characterized in that it comprises at least one stop mounted on said main frame (11) opposite one of said pendulums, intended for limit the travel of the carrier chassis (12) relative to the main chassis.
    [8" id="c-fr-0008]
    8. An automatically guided carriage according to any one of claims 1 to 7, characterized in that said two differential drive wheels are driven in rotation by two motors (17) independently controlled, fixed to the same pendulum as said wheels with differential drive.
    [9" id="c-fr-0009]
    9. Trolley with automatic guidance according to any one of claims 1 to 8, characterized in that at least one of the said pendulums is equipped with two idler wheels (28) mounted thereon in positions symmetrical with respect to the sagittal plane of said carriage.
    [10" id="c-fr-0010]
    10. An automatically guided carriage according to any one of claims 1 to 9, characterized in that the position of said first axis and the position of said second axis are symmetrical with respect to the median plane of said carriage.
    i
    1/3
    100 ο
    类似技术:
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    同族专利:
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    EP3609771A1|2020-02-19|
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    法律状态:
    2018-04-18| PLFP| Fee payment|Year of fee payment: 2 |
    2019-04-17| PLFP| Fee payment|Year of fee payment: 3 |
    2020-04-27| PLFP| Fee payment|Year of fee payment: 4 |
    2020-08-28| PLSC| Publication of the preliminary search report|Effective date: 20200828 |
    2021-03-12| CD| Change of name or company name|Owner name: EXOTEC, FR Effective date: 20210201 |
    2021-04-14| PLFP| Fee payment|Year of fee payment: 5 |
    优先权:
    申请号 | 申请日 | 专利标题
    FR1753292|2017-04-14|
    FR1753292A|FR3065208B1|2017-04-14|2017-04-14|AUTOMATIC GUIDING TROLLEY FOR TRANSPORTING AND / OR HANDLING A LOAD|FR1753292A| FR3065208B1|2017-04-14|2017-04-14|AUTOMATIC GUIDING TROLLEY FOR TRANSPORTING AND / OR HANDLING A LOAD|
    CN201880005686.XA| CN110167831B|2017-04-14|2018-04-09|Automated guided vehicle for transporting and/or handling loads|
    PCT/EP2018/059020| WO2018189106A1|2017-04-14|2018-04-09|Automatically guided trolley for transporting and/or handling a load|
    KR1020197018507A| KR102320192B1|2017-04-14|2018-04-09|Automated guided trolleys for transporting and/or handling cargo|
    EP18720978.8A| EP3609771A1|2017-04-14|2018-04-09|Automatically guided trolley for transporting and/or handling a load|
    JP2019555864A| JP2020516531A|2017-04-14|2018-04-09|Automatic guided carts for transporting and/or handling cargo|
    US16/345,947| US10780929B2|2017-04-14|2018-04-09|Automated guided trolley for the transport and/or handling of a load|
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