Patent Grant
12304787
This U.S. patent application claims priority under 35 U.S.C. § 119 to: Indian Patent Application No. 202221033813, filed on Jun. 13, 2022. The entire contents of the aforementioned application are incorporated herein by reference.
The disclosure herein generally relates to chassis and fork assemblies, and, more particularly, to a chassis with an integrated fork assembly for autonomous mobile robots and autonomous guided vehicles.
Traditionally, forklift types have been made available in the market for automated guided vehicles (AGVs) and autonomous mobile robots (AMRs). Application of these robots are huge in logistic warehouses and smart factories postal industries across the world. All factories/manufacturing units are leading to adoption of AGVs and AMRs to act as smart factory and to achieve increased safety, reduction in infrastructure cost, and improved production time.
It is therefore imperative for logistics manufacturing units/organizations to demand for compact and multi-purpose forklift AMRs for optimally utilize their environment space and to achieve speedy handling of both stringer and non-stringer pallet types. Typical available vehicles such as fork type autonomous mobile robots (AMRs) are suitable to handle pallets and are typically designed with two forks. Such AMRs are very bulky and designed for a cart handling application, and usually have large openings. These traditional AMRs also have a mast unit to enable lifting of payload, owing to higher cost.
Embodiments of the present disclosure present technological improvements as solutions to one or more of the above-mentioned technical problems recognized by the inventors in conventional systems.
For example, in one aspect, there is provided an apparatus for Autonomous Mobile Robots (AMRs) and Autonomous Guided Vehicles (AGVs). The apparatus comprises a chassis comprising a front end and a rear end, wherein the rear end of the chassis assembly serves as a fork assembly, wherein the fork assembly comprises a first end and a second end. The fork assembly comprises a first plate comprising a first side wall and a second side wall, wherein each of the first side wall and the second side wall extends from the first end through the second end of the fork assembly; a first set of bushings and a second set of bushings, wherein each bushing from the first set of bushings and the second set of bushings comprises a circular end and a flange end, wherein the flange end of each bushing from the first set of bushings and the second set of bushings comprises a plurality of holes, and wherein the first set of bushings and the second set of bushings are mounted adjacent to the first side wall and the second side wall respectively on the first plate of the fork assembly by a plurality of screws that are fitted into the plurality of holes of the flange end; a first set of guide rods and a second set of guide rods, each guide rod from the first set of guide rods and the second set of guide rods is configured to slide through the circular end and a corresponding linear bearing comprised in a corresponding bushing from the first set of bushings and the second set of bushings; a bearing retainer mounted on the first plate; a ball screw and bevel gear assembly coupled to the bearing retainer using one or more bearings, wherein the ball screw and bevel gear assembly comprises a ball screw and a bevel gear arrangement; a ball screw nut assembled on the ball screw and bevel gear assembly, wherein a first end of the ball screw nut comprises a step to form a plurality of threads, and a second end of the ball screw nut comprises a set of holes; a hinge clamp mounted on the second end of the ball screw nut via the set of holes using a plurality of pins; a fork motor fitted in the first plate, wherein the fork motor is operatively coupled to the ball screw and bevel gear assembly; and a second plate mounted on the first plate, wherein the second plate comprises a plurality of hinge mounting holes and a plurality of guide rod mounting holes, wherein the second plate is fixed to the hinge clamp and the first set of guide rods and the second set of guide rods using a plurality of screw mechanisms through the plurality of hinge mounting holes and the plurality of guide rod mounting holes respectively.
In an embodiment, each of the first plate and the second plate comprises a tapered guide plate that extends from the second end.
In an embodiment, the bevel gear arrangement comprises a drive bevel gear and a driven bevel gear, and wherein the drive bevel gear and the driven bevel gear are operatively coupled to each other.
In an embodiment, the fork motor comprises a first end and a second end. The first end of the motor is configured to receive power supply, and the second end of the fork motor is connected to the drive bevel gear of the bevel gear arrangement.
In an embodiment, the fork motor is configured to rotate the drive bevel gear in a first direction that in turn rotates the driven bevel gear, wherein rotation of the driven bevel gear drives the ball screw nut and the ball screw in a second direction, and wherein driving of the ball screw nut and ball screw in the second direction causes movement of the second plate in the second direction.
In an embodiment, the fork motor is further configured to rotate the drive bevel gear in a third direction that in turn rotates the driven bevel gear, wherein rotation of the driven bevel gear drives the ball screw nut and the ball screw in a fourth direction, and wherein driving of the ball screw nut and ball screw in the fourth direction causes the movement of the second plate in the fourth direction.
In an embodiment, the apparatus further comprises a lip seal mounted on a top surface of (i) the first side wall, and (ii) the second side wall, (iii) a third side wall, and (iv) a fourth side wall of the first plate. The lip seal is configured to (i) refrain entry and accumulation of dust inside the first plate and the second plate, and (ii) enable the movement of the second plate with reference to the first plate.
In an embodiment, the first direction and the second direction are a clockwise direction and an upward direction respectively.
In an embodiment, the third direction and the fourth direction are an anti-clockwise direction and a downward direction respectively.
In an embodiment, the first set of bushings, the second set of bushings, the first set of guide rods and the second set of guide rods are configured to counter at least one of imbalance and deflection of the second plate during at least one of (i) placement of a payload on the second plate, and (ii) transport of the payload from one location to another location.
In an embodiment, the bearing retainer and the ball screw and bevel gear assembly are placed and mounted at a center of a region formed by the first side wall, the second side wall, the third side wall, and the fourth side wall of the first plate between the first plate and the second plate such that the bearing retainer and the ball screw and bevel gear assembly are equidistant from the first end and the second end of the fork assembly.
In an embodiment, each bushing from the first set of bushings and the second set of bushings is mounted at a specific position on the first plate such that each bushing and an adjacent bushing are separated by a pre-defined distance.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the invention, as claimed.
The accompanying drawings, which are incorporated in and constitute a part of this disclosure, illustrate exemplary embodiments and, together with the description, serve to explain the disclosed principles:
Exemplary embodiments are described with reference to the accompanying drawings. In the figures, the left-most digit(s) of a reference number identifies the figure in which the reference number first appears. Wherever convenient, the same reference numbers are used throughout the drawings to refer to the same or like parts. While examples and features of disclosed principles are described herein, modifications, adaptations, and other implementations are possible without departing from the scope of the disclosed embodiments.
Traditionally, forklift types have been made available in the market for automated guided vehicles (AGVs) and autonomous mobile robots (AMRs). Application of these robots are huge in logistic warehouses and smart factories postal industries across the world. All factories/manufacturing units are leading to adoption of AGVs and AMRs to act as smart factory and to achieve increased safety, reduction in infrastructure cost, and improved production time.
It is therefore imperative for logistics manufacturing units/organizations to demand for compact and multi-purpose forklift AMRs for optimally utilize their environment space and to achieve speedy handling of both stringer and non-stringer pallet types. Typical available vehicles such as fork type autonomous mobile robots (AMRs) are suitable to handle pallets and are typically designed with two forks. Such AMRs are very bulky and designed for a cart handling application, and usually have large openings. These traditional AMRs also have a mast unit to enable lifting of payload, owing to higher cost. There may be single fork based AMRs, but these do not have mechanisms to lift top plate of the fork assembly and are not capable of countering imbalance and deflection caused during payload placement on the fork assembly and movement thereof from one location to another location.
Embodiments of the present disclosure provides chassis with integrated single fork assembly for AMRs/AGVs specifically used for transporting roller cages or carts within the warehouses. The chassis with integrated single fork assembly enables performing tasks given by end users. The chassis carries the steer and traction wheel and additional swivel wheels to increase the stability of the autonomous mobile robot wherein fork mechanism includes the follower wheels and lifting mechanism. Such design and mechanism of the chassis with integrated single fork assembly overcomes the limitations of smaller widths between wheels of roller cage or carts at the bottom side for placement and movement of payload within warehouses and logistics environments. The chassis with integrated single fork assembly comprises bushings, guide rods, which are fixed to bottom and top plates (first and second plate) of the single fork assembly using a hinge clamp via a plurality of hinge mounting holes and a plurality of guide rod mounting holes. The bushings and guide rods counter imbalance and deflection of the second plate during (i) placement of a payload on the second plate, and/or (ii) transport of the payload from one location to another location.
Referring now to the drawings, and more particularly to
Reference numerals of one or more components of the chassis with an integrated fork assembly as depicted in the
The fork assembly 106 further comprises a first set of bushings 112A-C and a second set of bushings 114A-C. Each bushing from the first set of bushings 112A-C and the second set of bushings 114A-C comprises a circular end 116A and a flange end 1168. The flange end 1168 of each bushing from the first set of bushings 112A-C and the second set of bushings 114A-C comprises a plurality of holes 118A-N. The first set of bushings 112A-C and the second set of bushings 114A-C are mounted adjacent to the first side wall 110A and the second side wall 1108 respectively on the first plate 108 of the fork assembly 106 by a plurality of screws that are fitted into the plurality of holes 118A-N of the flange end 1168. Each bushing from the first set of bushings 112A-C and the second set of bushings 114A-C is mounted at a specific position on the first plate 108 such that each bushing and an adjacent bushing are separated by a pre-defined distance. For instance, as depicted in
The fork assembly 106 further comprises a first set of guide rods 120A-C and a second set of guide rods 122A-C. Each guide rod from the first set of guide rods 120A-C and the second set of guide rods 120A-C is configured to slide through the circular end 116A and a corresponding linear bearing 124 comprised in a corresponding bushing from the first set of bushings 120A-C and the second set of bushings 122A-C. For instance, as depicted in
The fork assembly 106 further comprises a bearing retainer 126 mounted on the first plate 108. The fork assembly 106 further comprises a ball screw and bevel gear assembly 128 coupled to the bearing retainer 126 using one or more bearings 126A. The ball screw and bevel gear assembly 128 may also be coupled to the bearing retainer 126 using the bearing 126A and a circlip (not shown in FIGS.)
The ball screw and bevel gear assembly 128 comprises a ball screw 128A and a bevel gear arrangement 128B. The bevel gear arrangement 128B comprises a drive bevel gear 152 and a driven bevel gear 154. The drive bevel gear 152 and the driven bevel gear 154 are operatively coupled to each other. In other words, the drive bevel gear 152 and the driven bevel gear 154 are connected to each other for operating the apparatus 100 (described in later section).
The fork assembly 106 further a ball screw nut 130 which is assembled on the ball screw and bevel gear assembly 128. The ball screw nut 130 comprises a first end 132A and a second end 132B. The first end 132B of the ball screw nut 130 comprises a step 134 to form a plurality of threads, and a second end 132B of the ball screw nut 130 comprises a set of holes 136A-N.
The fork assembly 106 further comprises a fork motor 142 fitted in the first plate 108. The fork motor 142 is operatively coupled to the ball screw and bevel gear assembly 128. More specifically, the fork motor 106 comprises a first end 156A and a second end 156B. The first end 156A of the fork motor 142 is configured to receive power supply (e.g., the first end 156A is adjacent to the third side wall 110C), and the second end 156B of the fork motor 142 is connected to the drive bevel gear 152 of the bevel gear arrangement 128B comprised in the ball screw and bevel gear assembly 128. In other words, the fork motor 142 is connected to the ball screw and bevel gear assembly 128 for enabling operations of the apparatus 100.
The fork assembly 106 further comprises a second plate 144. The second plate 144 is also referred as a top plate and may be interchangeably used herein.
Each of the first plate 108 and the second plate 144 comprises a tapered guide plate 150 that extends from the second end 106B of the fork assembly 106. Tip of the tapered guide plate 150 acts as a chamfer profile which helps to reduce the risk of hitting or scratching of fork assembly during pickup of the payload.
The fork motor 142 is configured to rotate the drive bevel gear 152 in a first direction, that in turn rotates the driven bevel gear 154. Rotation of the driven bevel gear 154 drives the ball screw nut 130 and the ball screw 128A in a second direction. Driving of the ball screw nut 130 and the ball screw 128A in the second direction causes movement of the second plate 144 in the second direction.
Similarly, the fork motor 142 is further configured to rotate the drive bevel gear 152 in a third direction that in turn rotates the driven bevel gear 154. Rotation of the driven bevel gear 154 drives the ball screw nut 130 and the ball screw 128A in a fourth direction. Driving of the ball screw nut 130 and the ball screw 128A in the fourth direction causes the movement of the second plate 144 in the fourth direction. The above movement of the second plate 144 in the second and fourth direction is better understood by way of following description that shall not be construed as limiting the scope of the present disclosure.
In one instance, the fork motor 142 rotates the drive bevel gear 152 in a clockwise direction. Rotation of the drive bevel gear 152 in the clockwise direction enables rotation of the driven bevel gear 154 in the clockwise direction. Rotation of the driven bevel gear 154 drives the ball screw nut 130 and the ball screw 128A in an upward direction. This upward direction of the ball screw nut and the ball screw causes movement of the second plate 144 in the upward direction. Such working principle of the drive bevel gear 152, the driven bevel gear 154, the ball screw nut 130 and the ball screw 128A enables lifting the second plate 144 (e.g., which is movement of the second plate 144 in the upward direction).
In another instance, the fork motor 142 rotates the drive bevel gear 152 in an anti-clockwise direction. Rotation of the drive bevel gear 152 in the anti-clockwise direction enables rotation of the driven bevel gear 154 in the anti-clockwise direction. Rotation of the driven bevel gear 154 drives the ball screw nut 130 and the ball screw 128A in a downward direction. This downward direction of the ball screw nut and the ball screw causes movement of the second plate 144 in the downward direction. Such working principle of the drive bevel gear 152, the driven bevel gear 154, the ball screw nut 130 and the ball screw 128A enables lowering the second plate 144 (e.g., which is movement of the second plate 144 in the downward direction). The first direction and the second direction are a clockwise direction and an upward direction respectively. Similarly, the third direction and the fourth direction are an anti-clockwise direction and a downward direction respectively. The first direction and the second direction may be also clockwise direction and downward direction respectively and the third direction and the fourth direction may be also clockwise direction and upward direction respectively wherein such working principle is based on a threading property of the ball screw 128A and gear arrangement (e.g., drive bevel gear and driven bevel gear). For instance, a RH (right hand) threading configuration of the components of the apparatus 100 may enable rotation in a clockwise direction, and a LH (left hand) threading configuration of the components of the apparatus 100 may enable rotation in an anti-clockwise direction. The clockwise direction and/or rotation enables lifting of the second plate 144 and the anti-clockwise direction and/or rotation enables lowering the second plate 144, in example embodiment. Such working principle of the components as described herein shall not be construed as limiting the scope of the present disclosure.
Referring to
The first set of bushings 112A-C, the second set of bushings 114A-C, the first set of guide rods 120A and the second set of guide rods 122A-C counter at least one of imbalance and deflection of the second plate 144 during at least one of (i) placement of a payload on the second plate, and (ii) transport of the payload from one location to another location. For instance, when a payload (e.g., a pallet, a roller cage, a roller cart, or some load) is being placed or placed on the second plate 144, there is a possibility that due to weight of the payload there may be an imbalance and/or deflection of the second plate 144. Such imbalance and deflection that is being caused or caused in the second plate 144 is adjusted to normal or countered by way of the first set of bushings 112A-C, the second set of bushings 114A-C, the first set of guide rods 120A and the second set of guide rods 122A-C. Similarly, if the payload placed on the second plate 144 is being moved from one location (e.g., say a pickup location) to another location (e.g., a drop location or desire location or destination), during the transit the payload may shift its weight on either side of the fork assembly 106 thus causing imbalance and/or deflection of the payload. Such imbalance and/or deflection is also countered by the first set of bushings 112A-C, the second set of bushings 114A-C, the first set of guide rods 120A and the second set of guide rods 122A-C.
The apparatus 100 further comprises one or more center ribs 160A-B that are configured to counter the imbalance and/or deflection that may be caused during placement or movement of the payload. The apparatus 100 further comprises a plurality of mount flanges 162A-B. Each mount flange from the plurality of mount flanges 162A-B is configured to mount one or more panels (e.g., front and rear panels) of the apparatus. The apparatus 100 further comprises one or more image/video capturing devices 192 (also referred as sensors such as image sensor(s), sensor(s), camera(s), and the like that capture image/video data of the environment in which the apparatus is deployed. The sensors may be mounted on the front of the fork assembly near the tapered guide plate 150 or at the other end of the chassis 102. The sensors are configured to help navigate and detect the payload. Once detected, the pickup operation as described above is performed by the apparatus 100. The apparatus 100 further comprises a steer and drive wheel mount bracket 164. The steer and drive wheel mount bracket 164 is configured (or fixed or coupled) with one or more steer and drive wheels 178 for driving the AMRs/AGVs via the apparatus 100. The one or more steer and drive wheels are mounted to a long pin 166 wherein the long pin 166 is mounted to the first plate 108 at two ends. Such mounting may be supported by a mounting block 172 and positioned on the first plate 108 to enable proper balancing of the apparatus 100. The steer and drive wheels are easy to insert over the long pin 166 and may be further locked with one or more spacers 174A-B and/or circlips (not shown in FIGS.) as known in the art.
The apparatus 100 further comprises one or more fork wheels 176A-B at the bottom surface of the first plate 108. The one or more fork wheels 176A-B are configured for enabling navigation of the apparatus 100 when integrated with AMRs/AGVs to increase the stability therebetween. The one or more fork wheels may be mounted (or attached or coupled) to one or more wheel mount brackets 168A-B of the first plate 108 as depicted in
The apparatus 100 further comprises one or more chassis gussets 182A-B as shown in
As described above, the apparatus 100 may form an attachable component or a fixable component to an autonomous mobile robot (AMR) or an autonomous guided vehicle (AGV) via one or more fixing components/means (e.g., either via hardware components such as clamps, or coupled via electrical buses/cables through appropriate interfaces as known in the art.
The apparatus 100 may be operated based on instructions set comprised in a system (e.g., the system is either within the apparatus 100 or externally connected to the system 100 via I/O communication interfaces). For executing the instructions set(s) as mentioned above, the apparatus 100 may comprise (or comprises) the system (not shown in FIGS) that includes a memory for storing the instructions set(s), one or more input/output communication interfaces interface(s), one or more hardware processors. The one or more hardware processors are communicatively coupled to the memory via the one or more communication interfaces wherein the one or more hardware processors are configured by the instructions to execute and enable operation of each component of the apparatus 100 as described herein. More specifically, the movement of the apparatus 100, the fork assembly 106 operation and the working of the other components comprised in the apparatus 100 as described above may be based on instructions set being executed by the one or more hardware processors for handling payload (either placed on the fork assembly or to be placed or to be moved from one location to another location). Various components of the apparatus 100 are (or may be) configured by the instructions set to perform the method described herein for handling the payload. The system may be mounted on the apparatus 100, in one example embodiment of the present disclosure. The system may be housed on the apparatus 100, in another example embodiment of the present disclosure. The system may be comprised in the apparatus 100, in yet another example embodiment of the present disclosure. The system may be communicatively coupled to the apparatus 100 via one or more communication interfaces as applicable and known in the art, in yet further example embodiment of the present disclosure. In such scenarios where it is communicatively coupled (or connected) to the apparatus 100, the apparatus 100 may be provisioned with options and configured with suitable arrangement such that the apparatus 100 can be operated via the connected/communicatively coupled system. The apparatus 100 may be used and/or implemented in AMRs/AGVs for roller carts lifting, vertical rack in a goods to picker setup and the like. Other applications include but are not limited to warehouse and logistics environments, distribution centers where pallets and/or roller carts/cages are to be picked and placed from one location to another location.
The written description describes the subject matter herein to enable any person skilled in the art to make and use the embodiments. The scope of the subject matter embodiments is defined by the claims and may include other modifications that occur to those skilled in the art. Such other modifications are intended to be within the scope of the claims if they have similar elements that do not differ from the literal language of the claims or if they include equivalent elements with insubstantial differences from the literal language of the claims.
It is intended that the disclosure and examples be considered as exemplary only, with a true scope of disclosed embodiments being indicated by the following claims.
| Number | Date | Country | Kind |
|---|---|---|---|
| 202221033813 | Jun 2022 | IN | national |
| Number | Name | Date | Kind |
|---|---|---|---|
| 4741412 | Sable | May 1988 | A |
| 20120012425 | Hayase et al. | Jan 2012 | A1 |
| Number | Date | Country |
|---|---|---|
| 110357005 | Oct 2019 | CN |
| 111377378 | Jul 2020 | CN |
| Number | Date | Country | |
|---|---|---|---|
| 20230399212 A1 | Dec 2023 | US |
