Patent Description:
Mobile robots are automated guided vehicles being programmed to operate in both indoor and outdoor logistics environments. These robots are widely used to transport various objects, goods or articles in private and public locations.

The articles to be transported are normally arranged on a rigid support structure, such as a table, a cart, or similar. The purpose of the mobile robot is consequently to connect to the support structure in some manner, and to move the entire support structure including the articles arranged thereon. For this, the mobile robot is capable of adjusting its height.

In a retracted mode the mobile robot is able to position itself underneath the support structure to be transported. When in this position, the mobile robot is configured to increase its height to an elevated mode, where it connects to the support structure. Once connected, the mobile robot can carry the support structure with its loaded articles to its delivery position. Here, the mobile robot reduces its height back to the retracted mode, whereby the support structure is disconnected from the mobile robot. Transport of the support structure and the associated articles is thereby accomplished, and the mobile robot is available to perform another automated transport of articles.

Existing solutions for height-adjusting mobile robots cannot guarantee safety in regards to having a low center of gravity point during article transport. This is of paramount importance for assuring a stable and safe operation, particularly in certain events such as fast transport causing sudden deceleration or acceleration of the mobile robots, or when transporting fragile goods. There is currently no existing practical solution to the above described technical problems alone or even less so in combination, particularly while simultaneously being universally compatible to mobile robots in logistics environments. Even if some existing mobile robots have means for adjusting their heights, this is typically a tailored solution for each mobile robot. A document reflecting the related prior art, describing thereby the operation of such a robot, is known from <CIT>.

In light of the observations above, the present inventors have identified these problems and shortcomings. Accordingly, an object of the present invention is to overcome, or at least mitigate one or more of these problems.

An object of the present disclosure is to provide a transmission arrangement, a mobile robot, a logistics entity, a system, and a method which seek to mitigate, alleviate, or eliminate one or more of the above-identified deficiencies in the art and disadvantages singly or in any combination.

In a first aspect, a mobile robot transmission arrangement is provided. The mobile robot transmission arrangement comprises a movable actuator assembly and a transmission element. The transmission element is movably connected to the actuator assembly such that the transmission element is guided in a vertical plane by moving the actuator assembly in a horizontal plane. The actuator assembly comprises one or more vertically tilted tracks, and the transmission element is connected to the actuator assembly by means of said one or more tracks.

Technical provisions provided by the mobile robot transmission arrangement are multiple. The mobile robot effectively uses the transmission arrangement to adjust its height, thereby enabling many desired features in logistics environments. Loading, unloading and article transport can be simplified, since a number of different loading structures and areas can be reached by a mobile robot assisted by the transmission arrangement, no matter the height of the structure. Therefore, any type of mobile robot having a transmission arrangement can be used for this, which makes it universally compatible in any logistics environment that uses mobile robots. Another technical provision is that a vertically lower center of gravity is achieved during article transport, which contributes to a lesser amount of articles being lost due to sudden acceleration or deceleration. This in turn leads to a higher uptime related to speed and security, with low failure rates related to machine failures and compatibility issues. Additional technical provisions include that the transmission arrangement can be used to elevate, hoist or lower external support structures without requiring a specific type of vehicle for this. As the transmission arrangement is very robust, it is extremely helpful when heavy objects need to be lifted from e.g. carts or tables, by simply using the mobile robot as a type of hoisting device.

According to one embodiment, the transmission element is provided with at least one guide member that is fitted in a respective track of the actuator assembly in a sliding or rolling engagement.

According to the invention embodiment, the transmission arrangement further comprises a fixed frame that is supporting the actuator assembly and the transmission element. The fixed frame may comprise one or more linear tracks, and the actuator assembly may further comprise at least one guide member that is movably supported by said one or more linear tracks. The fixed frame does further comprise one or more steering members that are configured to prevent horizontal movement of the transmission element.

According to one embodiment, the actuator assembly comprises a drive unit for driving the actuator assembly. The drive unit may comprise an electrical linear actuator.

According to the invention embodiment, the transmission element further comprises one or more vertically extending pins that are configured to engage with a corresponding recess of an associated support structure when the transmission element is in a vertically elevated position. The steering member does further comprise an opening that is configured to receive an associated pin, such that only vertical movement of the pin relative the opening is allowed.

According to one embodiment, the transmission element is at one end pivotally connected to at least one lever, which in turn is pivotally connected to the fixed frame at its opposite end. The transmission element may be connected to a planar surface that is adapted to be vertically elevated by the transmission element.

In a second aspect, a mobile robot is provided. The mobile robot comprises a top module that has a transmission arrangement according to the first aspect, and any embodiment thereof.

In a third aspect, a support structure, such as a table or a cart, is provided. The support structure is adapted to receive one or more pins of a transmission element in a transmission arrangement according to the first aspect, and any embodiments thereof.

In a fourth aspect, a system is provided. The system comprises a mobile robot according to the second aspect, and a support structure according to the third aspect.

In a fifth aspect, a mobile robot transmission method is provided. The method comprises a step of providing a movable actuator assembly comprising one or more vertically tilted tracks. The method also comprises a step of movably connecting a transmission element to the actuator assembly by means of said one or more tracks, such that the transmission element is guided in a vertical plane by moving the actuator assembly in a horizontal plane. The transmission element is provided with one or more vertically extending pins configured to engage with a corresponding recess of an associated support structure when the transmission element is in a vertically elevated position, and wherein the steering member comprises an opening configured to receive an associated pin, such that only vertical movement of the pin relative the opening is allowed.

According to a further aspect, a transmission mechanism for mobile robots is provided. The mechanism (transmission system) is distinguished by being able to create a transformation of motion from the plane x, y to a motion out of the plane, z-direction, so that the motion out of the plane is made relatively large in relation to the constructional height of the mechanism. The movement in the z-direction can be used in different top modules. One or more locking pawls can be slid up from a top module and lock a carriage in the plane x, y relative to the top module. One or more locking pawls can be connected via a plate, thereby creating a top module that acts as a lifting unit that can run under a pallet or other goods, lift it free from a stand at one position and move, and then deliver it to another position. By using an activating unit that moves in the plane x, y, one can take advantage of the fact that most available electric actuators are typically flat and long, and thereby achieve a low construction height for the top module. This is important, as when moving goods with mobile robots, you want as low a center of gravity as possible. This is to ensure stable driving in the event of sudden braking and the like. A transmission system which transmits movement in a plane x, y to a movement out of the plane (z-direction) is provided, characterized in that an activating unit is moved in the plane x, y, whereby a shift in the z-direction is created for a transmission element that is locked to be moved only in the z-direction. A transmission system is provided, characterized in that an activating unit is provided with a backdrop track in which an element sitting on or integrated in a transmission element can roll or slide. A transmission system is provided, characterized in that an activating unit is equipped with an element that can slide or roll in a scenic track that sits on or is integrated in a transmission element. An activating unit is provided, characterized in that the activating unit is equipped with a bearing that rolls in a groove that ensures that the activating unit is guided in the plane x, y. An activating unit is provided, characterized in that the activating unit is equipped with a low friction element which slides in a groove which ensures that the activating unit is guided in the plane x, y. An actuating unit is provided, characterized in that the actuating unit is displaced in the plane relative to a frame unit by means of an actuator. A transmission element is provided, characterized in that one or more actuator elements sit on or are integrated in the transmission element and that this/these actuator element is locked by one or more guides when the transmission element is displaced in the z-direction. A transmission system is provided, characterized in that one or more actuator elements are used as locking pawls which limit external components/systems in moving in the plane x, y relative to the transmission element. A transmission system is provided, characterized in that one or more actuator elements are used as lifting columns which can lift packages/goods in the z-direction relative to the frame unit. A transmission system is provided, characterized by the fact that the ball ice track can be used as gearing, which can be done by adjusting the angle of the track in relation to the plane x, y, where a smaller angle enables heavier lifting. A transmission mechanism for installation in top modules for mobile robots is provided. The mechanism can be used for both creating engagement with trolleys, and as a mechanism in a top module that can lift goods free from a stand at one position and deliver it at another position.

It should be emphasized that the term "comprises/comprising" when used in this specification is taken to specify the presence of stated features, integers, steps, or components, but does not preclude the presence or addition of one or more other features, integers, steps, components, or groups thereof. All terms used in the claims are to be interpreted according to their ordinary meaning in the technical field, unless explicitly defined otherwise herein. All references to "a/an/the [element, device, component, means, step, etc.]" are to be interpreted openly as referring to at least one instance of the element, device, component, means, step, etc., unless explicitly stated otherwise.

The drawings are not necessarily to scale; emphasis instead being placed upon illustrating the example embodiments.

The following description is directed to a mobile robot transmission arrangement and components thereof which are used to adjust the height of loading areas in mobile robots, so that objects in logistics environments can be safely loaded, unloaded and transported between different locations.

Embodiments of the invention will now be described with reference to the accompanying drawings. The invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein; rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art. The terminology used in the detailed description of the particular embodiments illustrated in the accompanying drawings is not intended to be limiting of the invention.

With reference to <FIG>, one embodiment is shown of a transmission arrangement <NUM>. The transmission arrangement <NUM> is typically used in mobile robots operating in logistics environments, both indoors and outdoors, where loading, unloading and transporting of objects occur. Such facilities are typically related to industrial production, warehousing and stocktaking, but may also include a wide variety of facilities across multiple industries. The transmission arrangement <NUM> is however not restricted to mobile robots in particular, and can advantageously be used in other vehicles where safe and convenient height-adjustable characteristics are in demand. Alternatively, the transmission arrangement <NUM> can also be used with other devices or arrangements not necessarily being vehicles.

A transmission arrangement <NUM> such as the one illustrated in <FIG> may vary in both size and extent. Although some important components are presented in <FIG>, the transmission arrangement <NUM> may comprise other features not presently shown in the figures. The dimensions of the transmission arrangement <NUM> are designed to function with various vehicle, mobile robots or devices where it is arranged in.

In <FIG>, a block diagram is shown of one embodiment of a mobile robot transmission arrangement <NUM>. The transmission arrangement <NUM> comprises an actuator assembly <NUM> that is configured to be movable in a horizontal plane xy in relation to a ground level. In one embodiment, the transmission arrangement <NUM> comprises a fixed frame <NUM> that is supporting the actuator assembly <NUM>. The fixed frame <NUM> may be arranged within or mounted to a mobile robot or any other vehicle. In different embodiments of the invention, the actuator assembly <NUM> may also be supported by any other structure appropriately used to connect parts of a transmission arrangement suitable for mobile robots. The transmission arrangement <NUM> further comprises a transmission element <NUM> that is movably connected to the actuator assembly <NUM> and supported by the fixed frame <NUM>. Similarly to the actuator assembly <NUM>, the transmission element <NUM> may also be supported by other structures in the transmission arrangement <NUM>. As the actuator assembly <NUM> is moved in a horizontal plane xy, the transmission element <NUM> is guided in a vertical plane z in relation to a ground level.

The fixed frame <NUM> may further comprise one or more tracks <NUM> extending along the surface of the fixed frame <NUM>. The tracks <NUM> may be linear, although curved tracks <NUM> may also be possible. In one embodiment the tracks <NUM> are provided as grooves at the surface of the fixed frame <NUM>. Alternatively, the linear tracks <NUM> are formed within a rail that is separately attached to the fixed frame <NUM> by using e.g. an adhesive material or other, more rigid, fastening means. Moreover, the fixed frame <NUM> may also comprise one or more steering members <NUM> being configured to prevent horizontal movement of the transmission element <NUM>. Each steering member <NUM> preferably comprises at least one opening <NUM> that is configured to fit parts of the transmission element <NUM> therein.

<FIG> shows constructional details of a mobile robot transmission arrangement <NUM> according to one embodiment. The embodiment illustrates where the parts explained with references to the block diagram in <FIG> may be arranged within the transmission arrangement <NUM>. As is seen from the figure, in this embodiment the fixed frame <NUM> serves as a base for the transmission arrangement <NUM>. The fixed frame <NUM> preferably supports both the actuator assembly <NUM> and the transmission element <NUM>, and these parts may be movably mounted thereto using any fastening means such as for example screws, bolts, an adhesive material, etc. Consequently, the transmission element <NUM> is arranged so that movement can be achieved in the vertical plane z and restricted in the horizontal plane xy in relation to the fixed frame <NUM>. Moreover, the actuator assembly <NUM> is arranged so that movement can be achieved in the horizontal plane xy and restricted in the vertical plane z in relation to the fixed frame <NUM>. As can be seen in <FIG>, this embodiment comprises two parallel linear tracks <NUM> extending along the horizontal plane xy of the fixed frame <NUM>. Two U-shaped steering members <NUM>, each comprising one opening <NUM>, are adapted to receive parts of the transmission element <NUM>.

<FIG> illustrates a block diagram of an actuator assembly <NUM> according to one embodiment of the invention. The actuator assembly <NUM> may comprise one or more vertically tilted tracks <NUM> whereto the transmission element <NUM> may be connected. Vertically tilted in this regard means that the tracks <NUM> extend between two vertical positions z1, z2, while also extending between two different horizontal positions. The vertically tilted tracks <NUM> are preferably configured to receive the transmission element <NUM>, and in response to having moved the actuator assembly <NUM> thereby guiding the transmission element <NUM> in the vertical plane z between the two vertical positions z1, z2. Alternatively or additionally, the vertically tilted tracks <NUM> are used as a gearing by adjusting the angle θ of the tracks <NUM> in relation to the horizontal plane xy.

The actuator assembly <NUM> may further comprise at least one guide member <NUM> that is movably supported by the one or more tracks <NUM> of the fixed frame <NUM>. The at least one guide member <NUM> preferably comprises a low-friction material so that a gliding movement being as friction-free as possible is achieved for the movement of the actuator assembly <NUM> within the one or more tracks <NUM>. Alternatively, the at least one guide member <NUM> may comprise wheels, rollers or casters, etc., for achieving a rolling engagement of the at least one guide member <NUM> within the one or more tracks <NUM>.

Additionally, the actuator assembly <NUM> may comprise a drive unit <NUM> that is responsible for driving the actuator assembly <NUM> in the horizontal plane xy along the one or more tracks <NUM>. The drive unit <NUM> may be embodied as an electrical linear actuator, or any other drive unit <NUM> suitable in mobile robot transmission arrangements. The drive unit <NUM> may initiate movement of the actuator assembly <NUM> in between two horizontal positions xy1, xy2, as well as stop the movement if required. The horizontal positions xy1, xy2 are linked to the vertical positions z1, z2 such that the distance between xy1 and xy2 is matched to the horizontal extension of the tilted tracks <NUM>. Stopping the movement of the actuator assembly <NUM> may for instance be required if a malfunction has been discovered, or if the transmission element <NUM> has reached its vertical end positions z1, z2. In an alternative embodiment, the drive unit <NUM> may stop the actuator assembly <NUM> at a desired height not located at the vertical end positions z1, z2. In this embodiment, the desired height may be controlled by a control unit (not shown). The control unit may in one embodiment trigger an alarm if any malfunction is detected.

<FIG> shows an actuator assembly <NUM> according to one embodiment. The embodiment illustrates where the parts explained with references to the block diagram in <FIG> may be arranged within the actuator assembly <NUM>. As is seen from the figure, in this embodiment the actuator assembly <NUM> comprises four vertically tilted tracks <NUM>. The tracks <NUM> are in this embodiment arranged generally at a respective corner of the actuator assembly <NUM>, and extending between the two vertical positions z1, z2. The actuator assembly <NUM> comprises four guide members <NUM>, being depicted as wheels or rollers in this embodiment. Two guide members <NUM> are located at each long side of the actuator assembly <NUM>, and are preferably arranged within the two tracks <NUM> of the fixed frame <NUM> as shown in <FIG>. The drive unit <NUM> (not shown) may be arranged anywhere near the actuator assembly <NUM> such that movement can be controlled.

In the embodiment shown in <FIG>, it is seen that the actuator assembly <NUM> is provided in one piece. "Provided in one piece" is in this sense referring to that the actuator assembly <NUM> has robust mechanical connections between components provided therein. Consequently, the parts associated with the actuator assembly <NUM> are moving as one unit, in the same direction, upon the actuator assembly <NUM> being moved in a certain direction along the horizontal plane xy.

<FIG> illustrates a block diagram of a transmission element <NUM> according to one embodiment of the invention. The transmission element <NUM> may comprise one or more guide members <NUM> that are fitted in a respective vertically tilted track <NUM> of the actuator assembly <NUM> in a rolling or sliding engagement. Similarly to the guide members <NUM> of the actuator assembly <NUM>, the guide members <NUM> of the transmission element <NUM> may comprise wheels, casters or rollers. Alternatively, a low-friction material is used so that the guide members <NUM> can be smoothly guided along the tracks <NUM>.

The transmission element <NUM> further comprises one or more vertically extending pins <NUM>. Each opening <NUM> of the steering members <NUM> of the frame <NUM> as shown in <FIG> are configured to receive an associated pin <NUM> such that only vertical movement of the pin <NUM> relative the opening <NUM> is allowed. Upon being fitted inside the openings <NUM>, the openings <NUM> are thereby effectively preventing horizontal movement of the transmission element <NUM>. As the actuator assembly <NUM> is moved in the horizontal plane xy, an achieved effect of this is therefore a corresponding movement of the transmission element <NUM> that is caused in the vertical plane z. As a result, the pins <NUM> are vertically extending in a vertically elevated position of the transmission element <NUM>. In this embodiment, the vertically extending pins <NUM> are configured to engage with a corresponding recess of an associated support structure <NUM>. The transmission arrangement <NUM> is thus configured to vertically elevate, hoist, or lower any support structure <NUM>, such as a table or a cart, that in turn is adapted to receive the one or more vertically extending pins <NUM>.

<FIG> shows a transmission element <NUM> according to one embodiment. The embodiment illustrates where the parts explained with references to the block diagram in <FIG> may be arranged within the transmission element <NUM>. As is seen from the figure, in this embodiment the transmission element <NUM> comprises two horizontally spaced pins <NUM> that are vertically extending from the transmission element <NUM>. Additionally, the transmission element <NUM> shown in the figure comprises four guide members <NUM>, two being arranged on a respective long side of the transmission element <NUM>.

<FIG> shows one embodiment of an operation of a transmission arrangement <NUM>. An operation of elevating the transmission element <NUM> in a transmission arrangement <NUM> is shown. In the upper figure, the transmission arrangement <NUM> is configured to start elevation of the transmission element <NUM>, and in the lower figure the transmission element <NUM> has been elevated to a vertically raised position. As is indicated by the arrows shown in the lower figure, the drive unit <NUM> (not shown) has driven the actuator assembly <NUM> in the horizontal plane along the surface of the fixed frame <NUM>. Consequently, the steering members <NUM> of the fixed frame <NUM> are forcing the pins <NUM> of the transmission element <NUM> to restrict any movement of the transmission element <NUM> in the horizontal plane xy. Hence, the transmission element <NUM> is guided in the vertical plane z by following the profile of the tilted tracks <NUM>, and the pins <NUM> are extending through the opening <NUM> of each steering member <NUM>.

<FIG> illustrate a system that comprises a transmission arrangement <NUM> having the functionality as previously described, a mobile robot <NUM> and a support structure <NUM>. The mobile robot <NUM> may be an automated guided vehicle configured to automatically move along the ground or floor in logistics facilities. The mobile robot <NUM> is typically designed to perform transportation tasks such as transporting an object from one location to another. Depending on the object to be transported, the mobile robot <NUM> may be arranged in various configurations. In one embodiment, the mobile robot <NUM> therefore comprises a top module <NUM> being arranged on the mobile robot <NUM> in order to provide the mobile robot <NUM> with different associated equipment. The top module <NUM> is provided as a separate part, i.e. it is pre-manufactured and later mounted/connected to the mobile robot <NUM>. It should be mentioned that the top module <NUM> could in some embodiments instead be integrated with the mobile robot <NUM>, i.e. the top module <NUM> forms part of the mobile robot <NUM>. The top module <NUM> comprises a transmission arrangement <NUM> that comprises all of the functionality as previously described. Therefore, the complete transmission arrangement <NUM> may be installed inside the top module <NUM> prior to being located on a mobile robot <NUM>, which assures universal compatibility.

In <FIG>, the mobile robot <NUM> is seen as approaching the support structure <NUM>, with the goal of securing the structure <NUM> to the mobile robot <NUM>.

In <FIG>, the mobile robot <NUM> is aligned with the support structure <NUM>, so that the structure <NUM> is ready to receive the one or more vertically extending pins <NUM> of the transmission element <NUM> by means of vertical recesses <NUM> arranged at the underside of the support structure <NUM>.

In <FIG>, the actuator assembly <NUM> has been moved in the horizontal plane xy between two different horizontal end positions, and a corresponding movement of the transmission element <NUM> has thereby been caused between two vertical end positions. Consequently, the pins <NUM> are vertically extending from the transmission element <NUM>, and fitting the recesses <NUM> of the support structure <NUM>. The structure <NUM> is thus locked to the transmission arrangement <NUM>, i.e. to the mobile robot. As the support structure <NUM>, here in the form of a table, is provided with wheels <NUM> the support structure <NUM> will be able to follow the movement of the mobile robot <NUM>. Transporting of the support structure <NUM> is thereby possible due to the operation of the transmission arrangement <NUM>.

<FIG> illustrate one embodiment of a transmission arrangement <NUM>. In this embodiment, the transmission element <NUM> forms a planar surface <NUM>. The planar surface <NUM> is in one embodiment adapted to accommodate one or more objects being stored thereon. The planar surface <NUM> may be substantially parallel with the ground level and may also be connected to the fixed frame <NUM>. As can be seen in the figures, the transmission element <NUM> comprises two vertically extending parts 19a-b, wherein each part 19a-b of the transmission element <NUM> is movably connected to an associated part 21a-b of the actuator assembly <NUM>. The vertical parts 19a-b of the transmission element <NUM> are joined by opposing lateral ends of the planar surface <NUM>, so that the entire transmission element forms a U-shape.

The functionalities of the transmission arrangement <NUM> in this embodiment is similar to the previously described, with the exception that at least one lever <NUM> is restricting the horizontal movement of the transmission element <NUM>. The transmission element <NUM> is at one end pivotally connected to one end 16a of at least one lever <NUM>, which in turn is pivotally connected at its opposite end 16b to the fixed frame <NUM>. In the embodiment shown, two levers <NUM> are interconnected via two connecting rods 17a, 17b, such that both levers <NUM> pivots in a similar motion in response to the actuator assembly <NUM> driving the transmission element <NUM> in the vertical plane z.

As can be seen in <FIG> the two parts 21a-b of the actuator assembly <NUM> are connected to each other by a transverse beam 21c, or similar structure. Each part 21a-b of the actuator assembly is provided with rollers <NUM> for guiding the actuator assembly <NUM> horizontally along a frame, and tilted tracks <NUM> are provided for guiding rollers <NUM> of the transmission element <NUM>. The levers <NUM> will prevent horizontal movement of the transmission element <NUM> as the actuator assembly <NUM> is driven, and the tilted tracks <NUM> will force the transmission element <NUM> to move vertically.

<FIG> show an operation of elevating the transmission element <NUM> of a transmission arrangement <NUM> according to the embodiment described with references to <FIG>. In <FIG>, the transmission arrangement <NUM> is configured to start elevation of the transmission element <NUM> from a first vertical position z1, and in <FIG>, the transmission element <NUM> has been elevated to a second vertical position z2, thereby also elevating the planar surface <NUM> that is connected to the transmission element <NUM>. As is indicated by the arrows shown in <FIG>, the drive unit <NUM> (not shown) has driven the actuator assembly <NUM> in the horizontal plane xy along the surface of the fixed frame <NUM>. Consequently, the end 16b of the lever <NUM> being pivotally connected to the fixed frame <NUM> is restricting movement of the transmission element <NUM> in the horizontal plane xy, and the end being pivotally connected to the transmission element <NUM> forces the transmission element <NUM> to move along the vertically tilted tracks <NUM> of the actuator assembly <NUM>. A corresponding movement of the transmission element <NUM> and the planar surface <NUM> being connected thereto is thus effectively achieved between the two vertical end positions z1, z2.

<FIG> show a mobile robot <NUM> comprising a top module <NUM> according to one embodiment. The embodiment shown is the transmission arrangement <NUM> as described with <FIG>. The mobile robot <NUM> and its top module <NUM> shown may comprise similar features as the mobile robot <NUM> previously described. In <FIG>, the transmission arrangement <NUM> is in a non-elevated position. <FIG> shows that the transmission arrangement <NUM> has elevated the planar surface <NUM>.

<FIG> shows a block diagram of a mobile robot transmission method <NUM>. The method <NUM> comprises a first step of providing <NUM> a movable actuator assembly <NUM> comprising one or more vertically tilted tracks <NUM>. The movable actuator assembly <NUM> is preferably provided within a fixed frame <NUM>, but other structures may also be used. A second step involves movably connecting <NUM> a transmission element <NUM> to the actuator assembly <NUM> by means of said one or more tracks <NUM>, such that the transmission element <NUM> is guided in a vertical plane z by moving the actuator assembly <NUM> in a horizontal plane xy. The method <NUM> may be performed at any time in a logistics environment where it is necessary to adjust the height of a mobile robot <NUM> or a support structure <NUM>. The method <NUM> may be performed autonomously by a control unit (not shown) that is instructing the mobile robot <NUM> to adjust its height. The control unit may be a part of a bigger communication system within a logistics facility, or a component internal to the mobile robot <NUM>. Alternatively, the method <NUM> may be performed by a user, by manually activating the drive unit <NUM> of the actuator assembly <NUM>. The flexibility of performing the method <NUM> improves universal compatibility no matter what mobile robot <NUM> or other vehicle is used for the transmission arrangement <NUM>.

Claim 1:
A mobile robot transmission arrangement (<NUM>), comprising:
a movable actuator assembly (<NUM>); and
a transmission element (<NUM>) being movably connected to the actuator assembly (<NUM>) such that the transmission element (<NUM>) is guided in a vertical plane (z) by moving the actuator assembly (<NUM>) in a horizontal plane (xy),
wherein the actuator assembly (<NUM>) comprises one or more vertically tilted tracks (<NUM>), and wherein the transmission element (<NUM>) is connected to the actuator assembly (<NUM>) by means of said one or more tracks (<NUM>), wherein the mobile robot transmission arrangement (<NUM>) further comprises a fixed frame (<NUM>) supporting the actuator assembly (<NUM>) and the transmission element (<NUM>), and wherein the fixed frame (<NUM>) comprises one or more steering members (<NUM>) configured to prevent horizontal movement of the transmission element (<NUM>),
characterized in that
wherein the transmission element (<NUM>) further comprises one or more vertically extending pins (<NUM>) configured to engage with a corresponding recess of an associated support structure (<NUM>) when the transmission element (<NUM>) is in a vertically elevated position, and wherein the steering member (<NUM>) comprises an opening (<NUM>) configured to receive an associated pin (<NUM>), such that only vertical movement of the pin (<NUM>) relative the opening (<NUM>) is allowed.