Patent ID: 11905152
Assignee: TATA CONSULTANCY SERVICES LIMITED
Field: Handling (Mechanical engineering)
Classification: CPC B | IPC B

Claim 0:
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.