VEHICLE FOR THE AUTOMATED TRANSPORT OF GOODS OR PRODUCTS

A vehicle for automated transport of goods or products described, which includes a container for holding goods or products to be transported and a manipulator assembly to pick up the goods and store them inside the container and remove the goods from the container. The manipulator assembly includes gripping means to grasp or carry the goods and handling means to move the gripping means along a first and second axis so that the movement along the first axis allows the gripping means to enter or leave the container through the container opening, while the movement along the second axis causes the gripping means to move towards or away from the container.

TECHNICAL FIELD OF THE INVENTION

The present invention relates generally to the field of vehicles for transporting goods or products.

More specifically, the present invention relates to a vehicle for transporting one or more goods or products comprising a container capable of holding the goods or products to be transported and a manipulator assembly configured to pick up the goods or products to be transported and place them inside the container and to deposit the goods or products transported in the container outside, wherein the container is open on one side thereof and wherein a lid is mounted at that side of the container, said lid being movable between an open position, in which it leaves that side of the container open to allow entry of the goods or products to be transported into the container or exit of said goods or products from the container, and a closed position, in which it closes that side of the container to isolate the interior compartment of the container from the external environment.

STATE OF THE ART

Vehicles are known for the automated delivery of one or more small products, which are either equipped with a compartment to house goods or products to be delivered or have a portion configured to secure the goods or products. Such vehicles are designed to move completely autonomously using route planning algorithms based on information acquired from high-precision sensors, typically lidar and video cameras. Once the destination is reached, various systems such as facial scans, QR codes, alphanumeric combinations, etc., allow identification of the user requesting access to the transportation compartment to verify that this user matches the predefined recipient. If such verification is successful, the transport compartment is opened to allow the user to collect the goods or products.

However, such known solutions require human intervention both in the phase of placing the product inside the vehicle and in the phase of withdrawing the product.

SUMMARY OF THE INVENTION

It is an object of the present invention to provide a vehicle for transporting goods or products that allows the procedure of picking up and dropping off to be fully automated, without the need for human intervention.

This and other objects are fully achieved according to the present invention by a vehicle as defined in the attached independent claim1.

Preferred embodiments of the vehicle according to the present invention are defined in the dependent claims.

In summary, the invention is based on the idea of providing a vehicle for transporting goods or products comprising a container for transporting one or more products that is open on one side thereof, a lid mounted at that side so as to be movable between an open position in which it leaves such side of the container open to allow entry or exit of the products to be transported inside the container, and a closed position, in which it closes the side of the container to isolate the interior compartment of the container from the outside environment, a manipulator assembly configured to pick up the products to be transported, to store them inside the container, to deposit outside the products being transported in the container, and to be housed inside the container when not in use, said manipulator assembly comprising gripping means configured to grasp and/or transport a product and handling means configured to handle said gripping means along at least a first axis and a second axis, wherein the handling along the first axis allows the gripping means to be released from the container or the introduction of the gripping means into the container through an opening provided in said side of the container, while the handling along the second axis produces an approach or departure of the gripping means with respect to the container.

Thanks to the presence of such a manipulator, the vehicle can autonomously pick up the product to be transported, place it inside the container to transport it to the desired destination, and finally take it out of the container to deliver it where required.

Moreover, due to the special configuration of the manipulator assembly, not only the goods or products being transported but also the manipulator assembly itself is entirely contained within the container during transport, thus remaining isolated from the external environment. This makes it possible to reduce the risk of exposure to contamination from the external environment, as well as allowing the goods or products contained within the container to be sanitized during transport. In addition, the fact that the manipulator assembly, along with the transported good or product, is entirely contained within the container during transport makes it safer to use the vehicle, as it avoids the risk of collisions with people who might be in the vicinity of the vehicle during its movement.

Additional features and advantages of the present invention will be evident from the following detailed description, given purely by way of non-limiting example.

DETAILED DESCRIPTION OF THE INVENTION

Referring initially toFIGS.1to3, a vehicle for transporting goods or products according to the present invention is generally indicated100. The vehicle100basically comprises:a container102suitable for holding the good or product to be transported (shown schematically inFIGS.1to3, where it is denoted by P), the container102having an opening104on one of its sides, which in the present case is the top side but could also be a front side or another side;a lid106mounted at said side of the container102so as to be movable between an open position (FIGS.1and2), in which it leaves the opening104open to allow the entry of good or product P into the container102or the exit of the good or product P from the container102, and a closed position (FIG.3), in which it closes the opening104to isolate the interior compartment of the container102from the external environment; anda manipulator assembly1configured to take the good or product P to be transported and store it inside the container102and, vice versa, to deposit outside the good or product P transported in the container102.

The manipulator assembly1first includes a gripper6configured to grasp and/or transport the good or product P. In the embodiment proposed herein, the gripper6is a fork, but may also be a gripper of another type, such as a suction cup gripper. In the case of the gripper6configured as a fork, as in the exemplary embodiment proposed here, the product P is preferably arranged on a platform Q having special seats for the insertion of the forks of the gripper6. Such seats may, for example, have a triangular-shaped section so as to allow gripping even if the forks are not perfectly aligned with these seats.

The manipulator assembly1also includes a handling system configured to move the gripper6along a first axis z and along a second axis x, these axes being preferably perpendicular to each other. Movement along the first axis z allows the gripper6to exit the container102through the opening104, while movement along the second axis x moves the gripper6closer to or further away from the product P to be picked up. In this regard,FIG.1shows the manipulator assembly1in the operating condition in which the gripper6engages the product P to be picked up, whileFIG.3shows the manipulator assembly1in the operating condition in which the product P, still engaged by the gripper6, is received inside the container102. In the latter operating condition, not only the product P but the entire manipulator assembly1is accommodated inside the container102, and the lid106simultaneously closes the opening104.

However, the handling system may provide for additional degrees of freedom, either translational or rotational, such as a third degree of freedom of rotation about the first axis z.

In the exemplary embodiment proposed here, in which the opening104is placed on the upper side of the container102, the first axis z is oriented vertically, so in the following description reference will be made to that specific orientation of the first axis z for convenience, even though this orientation, as well as the arrangement of the opening104on the upper side of the container102, is not essential for the purposes of the present invention.

Referring now toFIGS.4and5, the handling system of the manipulator assembly1includes a first drive assembly for controlling the movement of the gripper6along the first axis z and a second drive assembly for controlling the movement of the gripper6along the second axis x.

The second drive assembly comprises a pantograph mechanism2, a distal end4of which is connected to the gripper6and is continuously movable between a plurality of operating positions along the second axis x, between a closed position (FIG.5) and an extended position (FIG.4). The first drive assembly is associated with a proximal end8, opposite to the distal end4, of the pantograph mechanism2to move the pantograph mechanism2, and with it the gripper6, continuously between a plurality of operating positions along the first axis z, between a first boundary position (in this case a lower boundary position) and a second boundary position (in this case an upper boundary position).

With reference also toFIGS.6and7, the first drive assembly includes a slide10to which the proximal end8of the pantograph mechanism2is connected. The slide10is movably mounted, along the first axis z, on a support structure12. For this purpose, the slide10is provided, at two of its lateral portions, with a pair of skids18that are slidably engaged with respective guide rails20carried by the support structure12and oriented along the first axis z, i.e., in the present case, vertically. The motion of the slide10along the guide rails20is controlled by a motor16by means of a motion conversion mechanism designed to convert the rotary motion generated by the motor16into a translational motion of the slide10. Such a motion conversion mechanism is, for example, configured as a screw and nut mechanism comprising a worm screw14, supported by the support structure12in a rotatable manner about an axis of rotation directed parallel to the guide rails20and driven into rotation by the motor16, and a nut-screw (not shown) that is attached to the slide10and meshes with the worm screw14in such a way that rotation of the worm screw14about its axis of rotation, in one direction or the other, results in translational movement of the slide10, and thus of the pantograph2, along the first axis z, in one direction or the other. The motor16is preferably directed perpendicular to the worm screw14so as to reduce the footprint of the manipulator assembly1along the first axis z. It is to be understood that other actuation systems for generating the movement along the first axis z may be envisaged. For example, the slide might be moved by means of a belt, cable or rack-and-pinion mechanism.

Referring now specifically toFIGS.6and7, the pantograph mechanism2comprises a pair of pantograph linkages2aand2b,upper and lower respectively, which are identical to each other and connected to each other by a plurality of rods22(which in this case are vertical rods, but more generally are rods directed perpendicular to the planes in which the two linkages lie). Such a structure provides the pantograph mechanism2with greater bending stiffness, thus allowing the transport of the product P without excessive deformation of the mechanism due to the weight of the product and the own weight of the mechanism.

Each linkage2a,2bcomprises a plurality of levers connected to each other so as to rotate in a plane perpendicular to the first axis z, in the present case a horizontal plane. More specifically, each linkage2a,2bcomprises, in order from the slide10to the gripper6, a pair of drive levers24, a pair of first transmission levers26, a pair of second transmission levers28and a pair of end levers30.

The drive levers24are provided at their proximal ends (i.e., the ends facing the slide10) with respective gear wheels32meshing with each other in such a way that these levers rotate synchronously in opposite directions. The drive levers24of both linkage2aand linkage2bare mounted on a support body (corresponding to the aforementioned proximal end8of the pantograph mechanism2) attached to the slide10.

The first transmission levers26are hinged to each other by pins34at their respective midpoints. In addition, each first transmission lever26is hinged at one of its proximal ends to a distal end (i.e., the end facing the gripper6) of a respective drive lever24.

Similarly, the second transmission levers28are hinged to each other by pins36at their respective midpoints. In addition, each second transmission lever28is hinged at one of its proximal ends to a distal end of a respective first transmission lever26.

Finally, each end lever30is hinged at one of its proximal ends to a distal end of a respective second transmission lever28. Furthermore, the end levers30are provided at their distal ends with respective gear wheels38meshing with each other in such a manner that these levers rotate synchronously in opposite directions. The end levers30of both the linkage2aand the linkage2bare mounted on a support body (corresponding to the aforementioned distal end4of the pantograph mechanism2), and to this support body is attached the gripper6. Preferably, the support body to which the end levers30are mounted is identical to the support body to which the drive levers24are mounted.

It should be understood that the pantograph mechanism2described above may also take different, though functionally identical, forms. For example, the pantograph mechanism2might be rotated 90° from the configuration shown in the drawings, i.e., with the linkages2aand2barranged in vertical rather than horizontal planes, or might include additional pairs of transmission levers in addition to the first transmission levers26and the second transmission levers28.

The extension and retraction (or closing) movement of the pantograph mechanism2is driven by a motor40via a pinion gear42meshing with one of the gear wheels32attached to the drive levers24, specifically with one of the gear wheels32attached to the drive levers24of the lower linkage2b.

The use of a pantograph mechanism for the movement of the gripper6along the second axis x is particularly advantageous because it allows to obtain a considerable working stroke with a minimal footprint in the retracted or closed position. This allows the manipulator assembly1to be fully accommodated within the container102even in case the latter has small dimensions, such as dimensions that allow movement of the vehicle within closed spaces, such as aisles or halls of hospitals, stores, or factories.

However, other systems are possible to control the movement of the gripper6along the second axis x.

The manipulator assembly1is advantageously equipped with an electronic control unit (not shown) programmed to automatically control the handling system based on information from sensors associated with the first and second drive assemblies. Specifically, these sensors include a first sensor configured to provide the electronic control unit with first position signals representative of the position of the gripper6along the first axis z, and a second sensor configured to provide the electronic control unit with second position signals representative of the position of the gripper6along the second axis x.

For example, the second sensor includes a potentiometer44associated with a measuring wheel46that meshes with one of the gear wheels32associated with the drive levers24of the pantograph mechanism2. Alternatively, the position of the gripper6along the second axis x may be sensed using an encoder associated with the motor shaft40.

For example, the first sensor is made as a magnetic sensor48suitable for detecting the linear position along the first axis z of a magnet50integral with the slide10. Also preferably provided, as shown inFIG.4, are an upper limit switch52and a lower limit switch54suitable for detecting whether the slide10has reached an upper limit position and a lower limit position, respectively, in its movement along the first axis z. The magnetic sensor48is advantageously placed at an upper portion of the support structure12so as to measure the position of the slide10with greater accuracy as it approaches the upper limit position. Other examples of implementation for the first sensor are, of course, possible. The first sensor may, for example, be an encoder associated with the shaft of the motor16or the worm gear14, or even be a laser sensor or an optical sensor capable of measuring the travel of the slide10.

The vehicle100is preferably provided with wheels108, particularly two wheels, for movement over land. In the case where only two wheels108are provided, the vehicle100preferably includes a plurality of motorized feet110, for example four motorized feet110, configured to be used during the manoeuvring of the manipulator assembly1to stabilize the vehicle.

The vehicle100is preferably a self-driving vehicle, and for this purpose it is equipped with appropriate sensors and an autonomous driving system (not illustrated here, but nonetheless of a type per se known).

According to an aspect of the invention, the vehicle100includes a UVC lamp (not shown) housed in the container102so that the outer surface of the transported product P can be sanitized during the movement of the vehicle100.

In any case, regardless of the presence of the UVC lamp (or other sanitizing device), the fact that the product P to be transported can be contained within a closed compartment formed by the container102and the lid106makes it possible to avoid contamination of the product and ensure its safe transport.

Referring finally toFIG.8, the vehicle100preferably includes an automatic opening system for opening the lid106comprising a control rod112hinged on one side to the slide10, or another component integral with it, and on the other side to the lid106, so that the movement of the slide10along the first axis z from the lower limit position to the upper limit position causes the lid106to open progressively. More specifically, the rod112includes a first rod part114, which is hollow, and a second rod part116, which is solid and is accommodated within the first rod part114. The first rod part114and the second rod part116are mutually constrained with respect to sliding due to the magnetic interaction between a magnet (not shown), which is contained within the first rod part114, and a ferrous nut118attached around the second rod part116. Applying a tensile force on the lid106, and thus on the first rod part114, allows the magnetic force of attraction between the magnet and the ferrous nut118to be overcome, thus decoupling the two rod parts114and116. In this way, it is possible for an operator to open the lid106independently of the action of the second drive unit, that is, independently of the movement of the slide10.

The present invention has been described herein with reference to a preferred embodiment thereof. It is to be understood that other embodiments may be envisaged that share the same inventive core of the invention herein described, as defined by the scope of protection of the following claims.