Adjustable counterweight-based fork type autonomous mobile robot

Patent metadata

Field	Value
Publication number	US-11905152-B2
Application number	US-202217815755-A
Country	US
Kind code	B2
Filing date	Jul 28, 2022
Priority date	Jan 4, 2022
Publication date	Feb 20, 2024
Grant date	Feb 20, 2024

Abstract

Traditionally, counterweight fork type autonomous mobile robots (AMR) have been used for any kind of pallet. But the challenge is it occupies lot more maneuvering space while making turns, which cannot work in narrow operating zones. Hence fork over AMR is preferred. However, these fork over AMR have extended parts always touching the ground surface and thus are not suitable for pallets with a wooden plank at the bottom of the fork opening in the pallet. To overcome the above technical problems, an Adjustable Counterweight-based Fork Type Autonomous Mobile Robot (ACFTAMR) is provided that includes chassis assembly and vertical mast unit, a horizontal cross slide mechanism and forks. The chassis assembly is provided counterweight assembly and counterbalance shafts that move forward and backward during pickup and release of payload when the vertical mast unit moves in upward/downward direction, thus providing better stability and counterbalance to the ACFTAMR.

First claim

What is claimed is:

1. An adjustable counterweight-based fork type autonomous mobile robot (ACFTAMR), comprising:
a chassis assembly;
a mast unit that is held by the chassis assembly, wherein the mast unit comprises:
a fork mount comprising a first end and a second end, wherein the fork mount is configured to accommodate a plurality of forks using a plurality of fasteners at each of the first end and the second end;
a first vertical plate and a second vertical plate;
a first set of Liner Motion (LM) rails mounted on the first vertical plate and the second vertical plate respectively;
a vertical lead screw mechanism comprising a first end and a second end, wherein the first end of the vertical lead screw mechanism is connected to the fork mount, and wherein the vertical lead screw mechanism is configured to drive the fork mount in at least one of a first direction and a second direction;

a counterweight assembly comprising a first end and a second end, each of the first end and the second end of the counterweight assembly comprises a plurality of cutouts, wherein the counterweight assembly comprises:
a first pair of counterbalance shafts and a second pair of counterbalance shafts, wherein each counterbalance shaft from the first pair and the second pair of counterbalance shafts comprises a corresponding flange, wherein each corresponding cutout from the plurality of cutouts is configured to accommodate the corresponding flange,
wherein during a pickup of a payload by the plurality of forks, (i) the first pair and the second pair of counterbalance shafts are configured to change from a first position to a second position, (ii) upon the plurality of the first pair and the second pair of counterbalance shafts changing from the first position to the second position, each of the plurality of forks is configured to slide through a corresponding fork assembly receiver of the payload, and (iii) the fork mount is driven from the first direction to the second direction via the first set of Liner Motion (LM) rails, for lifting the payload by the plurality of forks, and
wherein upon lifting the payload on the plurality of forks, the first pair and the second pair of counterbalance shafts are configured to change from the second position to the first position and the ACFTAMR is operated for navigation to a desired location; and

a battery unit mounted on the chassis assembly, wherein the battery unit is configured to accommodate a battery for providing power to the adjustable counterweight-based fork type autonomous mobile robot (ACFTAMR), and wherein the battery unit comprises:
a plurality of stand-offs, wherein each stand-off comprises a first end and a second end, wherein the first end of each stand-off is connected to a corresponding corner point of the battery unit;
a first support link connected to the second end of a first stand-off and a second stand-off of the plurality of stand-offs;
a second support link connected to the second end of a third stand-off and a fourth stand-off of the plurality of stand-offs;
a first L-shaped guide and a second L-shaped guide, each of the first L-shaped guide and the second L-shaped comprise comprises a first end and a second end, wherein the first end of the first L-shaped guide and the second L-shaped is fixed to a corresponding corner plate mounted on the chassis assembly;
a sliding door operated by a positioning actuator, wherein the sliding door is configured to (i) slide through the first L-shaped guide and the second L-shaped for open and close of the battery unit; and
a first battery aligning component and a second battery aligning component, each of the first battery aligning component and the second battery aligning component comprising a first portion and a second portion,
wherein the first portion of the first battery aligning component and the second battery aligning component is connected to the first stand-off and the third stand-off respectively, and
wherein the second portion of the first battery aligning component and the second battery aligning component is connected to the second stand-off and the fourth stand-off to form a tapered area.

2. The adjustable counterweight-based fork type autonomous mobile robot (ACFTAMR) of claim 1 , wherein the vertical lead screw mechanism is equidistantly positioned between the first vertical plate and the second vertical plate.

3. The adjustable counterweight-based fork type autonomous mobile robot (ACFTAMR) of claim 1 , wherein when the payload is to be released from the plurality of forks to the desired location, (i) the first pair and the second pair of counterbalance shafts are configured to change from the first position to the second position, and (ii) the fork mount is driven from the second direction to the first direction.

4. The adjustable counterweight-based fork type autonomous mobile robot (ACFTAMR) of claim 1 , further comprising a steer and drive unit comprising:
a mounting block having a first side and a second side;
a second set of LM rails, each LM rail of the second set of LM rails is mounted on an inner surface of the first side and the second side respectively;
a plurality of LM blocks, each LM block from the plurality of LM blocks is configured to slide on a corresponding LM rail from the second set of LM rails;
a first rack and a second rack mounted on a corresponding LM block; a driver pinion positioned at the center and in between the first rack and the second rack, and driven is by a motor; and
a first driven pinion and a second driven pinion, each of the first driven pinion and the second driven pinion positioned in between the first rack and the second rack such that the first driven pinion and the second driven pinion are on either side of the driver pinion.

5. The adjustable counterweight-based fork type autonomous mobile robot (ACFTAMR) of claim 4 , wherein the motor is configured to (i) rotate the driver pinion, the first driven pinion and the second driven pinion in at least one direction, (ii) enable a plurality of drive wheels attached to the first driven pinion and the second driven pinion to rotate in the at least one direction.

6. The adjustable counterweight-based fork type autonomous mobile robot (ACFTAMR) of claim 5 , wherein the steer and drive unit further comprises
a plurality of suspension units, wherein each suspension unit from the plurality of suspension units is configured to provide suspension for the plurality of drive wheels during navigation of the ACFTAMR.

7. The adjustable counterweight-based fork type autonomous mobile robot of claim 6 , wherein the battery unit further comprises:
a plurality of telescopic rails connected to the chassis assembly; and
a ball plate mounted on the plurality of telescopic rails connected to the chassis assembly, wherein each of the plurality of telescopic rails is configured to provide a guided pathway for the ball plate to enable the battery to slide inside or outside of the battery unit via the formed tapered area.

Assignees

• Tata Consultancy Services Ltd

Inventors

• Bangalore Srinivas Venkatesh Prasad
• Rajendran Pradeepak
• Bhogineni Sreehari Kumar

Classifications

• B66F9/07531

  Battery compartments · CPC title

• B66F9/07527

  Covers for, e.g. engines or batteries · CPC title

• B66F9/07554 Primary

  Counterweights · CPC title

• B66F9/063

  Automatically guided · CPC title

• B66F9/07559

  Stabilizing means · CPC title