Description:FORM 2
THE PATENTS ACT, 1970
(39 of 1970)
&
THE PATENT RULES, 2003
COMPLETE SPECIFICATION
(See Section 10 and Rule 13)
Title of Invention:
AN ARTICLE HANDLING APPARATUS
APPLICANT:
BHARAT FORGE LIMITED
An Indian entity having address as:
Mundhwa, Pune - 411036,
Maharashtra, India.

The following specification particularly describes the invention and the manner in which it is to be performed.
CROSS-REFERENCE TO RELATED APPLICATIONS AND PRIORITY
[0001] The present application claims no priority from any of the patent application(s).
TECHNICAL FIELD
[0002] The present disclosure relates to a field of apparatuses configured for handling of articles/items. More specifically, the present specification relates to an article handling apparatus.
BACKGROUND
[0003] This section is intended to introduce the reader to various aspects of art, which may be related to various aspects of the present disclosure that are described or claimed below. This discussion is believed to be helpful in providing the reader with background information to facilitate a better understanding of the various aspects of the present disclosure. Accordingly, it should be understood that these statements in this background section are to be read in this light, and not as admissions of prior art. Similarly, a problem mentioned in the background section or associated with the subject matter of the background section should not be assumed to have been previously recognized in the prior art. The subject matter in the background section merely represents different approaches, which in and of themselves may also correspond to implementations of the claimed technology.
[0004] Article handling apparatuses are devices configured for the management and transportation of items/articles. These apparatuses are designed to transport and position items as per requirement.
[0005] However, it is imperative to acknowledge the inherent challenges associated with conventional article handling apparatuses. Foremost among these concerns is the substantial initial cost required for their acquisition and integration, which may present a financial obstacle, especially for smaller enterprises. The operation of these conventional apparatuses necessitates intricate maintenance procedures to ensure uninterrupted functionality, and any downtime has the potential to disrupt workflows and cause production delays. Integrating such conventional apparatuses into existing operational frameworks can be a complex endeavour, often involving structural and procedural modifications. Additionally, the operation and maintenance of these conventional apparatuses require skilled technicians or engineers, giving rise to concerns about potential workforce skill gaps. Furthermore, safety issues are of paramount concern for these conventional apparatuses, as human-machine interactions demand rigorous safety protocols to protect personnel and ensure the seamless operation of such apparatuses.
[0006] In light of the above stated discussion, there exists a need of an improved article handling apparatus to overcome but may not be limited to the above stated disadvantages.
SUMMARY
[0007] This summary is provided to introduce concepts related to the field of apparatus configured for the management and transportation of items/articles. More specifically, the present specification relates to an article handling apparatus. This summary is not intended to identify the essential features of the claimed subject matter nor is it intended for use in determining or limiting the scope of the claimed subject matter.
[0008] In a non-limiting embodiment, the present disclosure provides an article handling apparatus. The article handling apparatus includes a guide rail structure, a support structure, a mounting structure, a first actuator, a first encoder, a first arm, a second arm, a second actuator, and a second encoder. The guide rail structure includes a slider. The support structure is configured to slide on the slider. In addition, a first end of the support structure is adapted to securely hold an article. The mounting structure is configured for rotation around an axis. Also, the second end of the support structure is pivoted to the mounting structure. The first actuator is attached on the mounting structure. The first encoder is mounted on the second end of the support structure. The first arm is coupled to the first actuator. Additionally, the second arm is pivotally attached to the first arm. Further, the second actuator is pivotably affixed to the first arm and to the second arm. Furthermore, the second encoder is positioned at point of contact of the first arm and the second arm.
[0009] In one embodiment, the sliding between the slider and the support apparatus is facilitated by a pin-slot joint.
[0010] In another embodiment, the first end of the support structure is detachable. In addition, the first end of the support structure includes at least one sensor for article detection. Also, the first end includes at least one clamp for holding the article.
[0011] In yet another embodiment, the first actuator includes a gearbox and motor. Also, the first actuator is configured to rotate the first arm. Additionally, the first encoder is a transverse encoder.
[0012] In yet another embodiment, the second actuator includes an electric actuator. Additionally, the second actuator is configured for rotation of the second arm. In addition, the second encoder is an elevation encoder.
[0013] In yet another embodiment, for change in position of the mounting structure, the first encoder is configured for aligning the support structure at a constant angle with respect to the guide rail structure. The first encoder is also configured for aligning the first end of the support structure in proximity to an article depot. Additionally, the article depot is adapted to store a plurality of articles.
[0014] In yet another embodiment, the second arm includes an article gripping device configured to grip and release the article.
[0015] In yet another embodiment, the second encoder is configured for determining the elevation of the second arm.
[0016] In yet another embodiment, the article handling apparatus includes a home position. The home position is an idle position of the article handling apparatus.
[0017] In yet another embodiment, the second end of the support structure is in proximity to the article depot. In addition, the article gripping device of the second arm is in proximity to an article delivery location.
[0018] In yet another embodiment, the article handling apparatus includes a control system configured for automated operation of the article handling apparatus. In addition, the control system operates the first actuator, the first encoder, the second actuator, the second encoder, and the article gripping device.
[0019] In yet another embodiment, the control system is configured for actuating the first actuator and the second actuator, to position the article gripping device in proximity to the first end of the support structure. Further, the control system is also configured for gripping the article by the article gripping device. Furthermore, the control system is also configured for actuating the first actuator and the second actuator, to position the article gripping device in proximity to the delivery location. In addition, the control system is configured for releasing the article by the article gripping device at the delivery location. Also, the control system is also configured for aligning the article handling apparatus to the home position.
[0020] In yet another embodiment, the control system is configured for simultaneously, detecting change in position of the mounting structure, aligning the support structure at a constant angle with respect to the guide rail structure, and aligning the first end of the support structure in proximity to the article depot.
[0021] In yet another embodiment, the first actuator, the second actuator and the article gripping device are equipped with a lever arrangement adapted for manual operation.
[0022] In yet another embodiment, the guide rail structure is mounted on a vehicle.
[0023] The foregoing summary is illustrative only and is not intended to be in any way limiting. In addition to the illustrative aspects, embodiments, and features described above, further aspects, embodiments, and features will become apparent by reference to the following detailed description.
BRIEF DESCRIPTION OF DRAWINGS
[0024] Having thus described the invention in general terms, reference will now be made to the accompanying drawings, which are not necessarily drawn to scale, and wherein:
[0025] Figure 1 illustrates an article handling apparatus (100), in accordance with various embodiments/instances/implementations of the present subject matter.
[0026] It should be noted that the accompanying figures are intended to present illustrations of exemplary embodiments of the present disclosure. These figures are not intended to limit the scope of the present disclosure.
DETAILED DESCRIPTION
[0027] Reference throughout the specification to “various embodiments,” or “some embodiments,” or “one embodiment,” or “an embodiment,” or “another embodiment” or “yet another embodiment” means that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one embodiment. Thus, appearances of the phrases “in various embodiments,” “in some embodiments,” “in one embodiment,” or “in an embodiment” or “in one implementation” or “in an implementation” or “in another implementation” or “in yet another implementation” in places throughout the specification are not necessarily all referring to the same embodiment. Furthermore, the particular features, structures, or characteristics may be combined in any suitable manner in one or more embodiments.
[0028] The words "comprising", "having", "containing", and "including", and other forms thereof, are intended to be equivalent in meaning and be open ended in that an item or items following any one of these words is not meant to be an exhaustive listing of such item or items or meant to be limited to only the listed item or items. It must also be noted that, the singular forms "a", "an" and "the" include plural references unless the context clearly dictates otherwise. For example, the term “an article” may include a plurality of articles unless the context clearly dictates otherwise. Although any methods similar or equivalent to those described herein may be used in the practice or testing of embodiments of the present disclosure, the exemplary methods are described. The disclosed embodiments are merely exemplary of the disclosure, which may be embodied in various forms.
[0029] Various modifications to the embodiment may be readily apparent to those skilled in the art and the generic principles herein may be applied to other embodiments. However, one of ordinary skill in the art may readily recognize that the present disclosure is not intended to be limited to the embodiments illustrated but is to be accorded the widest scope consistent with the principles and features described herein. The detailed description of the invention will be described hereinafter referring to accompanied drawings.
[0030] As required, detailed embodiments of the present invention are disclosed herein; however, it is to be understood that the disclosed embodiments are merely exemplary of the invention, which may be embodied in various forms. Therefore, specific structural and functional details disclosed herein are not to be interpreted as limiting, but merely as a basis for the claims and as a representative basis for teaching one skilled in the art to variously employ the present invention in virtually any appropriately detailed structure. Further, the terms and phrases used herein are not intended to be limiting but rather to provide an understandable description of the invention.
[0031] Those with ordinary skill in the art will appreciate that the elements in the figures are illustrated for simplicity and clarity and are not necessarily drawn to scale. For example, the dimensions of some of the elements in the figures may be exaggerated, relative to other elements, in order to improve the understanding of the present invention. There may be additional components described in the foregoing application that are not depicted on one of the described drawings. In the event such a component is described, but not depicted in a drawing, the absence of such a drawing should not be considered as an omission of such design from the specification.
[0032] In the accompanying drawings components have been represented, showing only specific details that are pertinent for an understanding of the present invention so as not to obscure the disclosure with details that will be readily apparent to those with ordinary skill in the art having the benefit of the description herein.
[0033] In accordance with an embodiment of the present subject matter, referring to figure 1, an article handling apparatus (100) is described herein.
[0034] In general, article handling apparatuses represent devices specifically designed to manage and convey items/articles. These devices are tailored to efficiently transport and accurately place items, in accordance user inputs.
[0035] In a non-limiting embodiment, an article handling apparatus (100). The article handling apparatus (100) includes a guide rail structure (102), a support structure (106), a mounting structure (108), a first actuator (110), a first encoder (112), a first arm (114), a second arm (116), a second actuator (118), and a second encoder (120). The guide rail structure (102) includes a slider (104). Also, the support structure (106) is configured to slide on the slider (104). In addition, a first end (106a) of the support structure (106) is adapted to securely hold an article. The mounting structure (108) is configured for rotation around an axis. Additionally, the second end (106b) of the support structure (106) is pivoted to the mounting structure (108). The first actuator (110) is attached to the mounting structure (108). In addition, the first encoder (112) is mounted on the second end (106b) of the support structure (106). The first arm (114) is coupled to the first actuator (110). The second arm (116) is pivotally attached to the first arm (114). Also, the second actuator (118) is pivotably affixed to the first arm (114) and to the second arm (116). In addition, the second encoder (120) is positioned at point of contact of the first arm (114) and the second arm (116).
[0036] In one embodiment, the sliding between the slider (104) and the support apparatus (106) is facilitated by a pin-slot joint. In one implementation, the sliding between the slider (104) and the support apparatus (106) may be facilitated by any sliding joint providing 2 degrees of freedom (DOF). In another implementation, the sliding between the slider (104) and the support apparatus (106) may be facilitated by any suitable joint that provides sliding in a plane.
[0037] In another embodiment, the slider (104) may linearly slide on the guide rail structure (102). In one implementation, linear sliding may be facilitated by linear ball bearings, linear guides, drawer slides, and the like. In one implementation, the linear sliding bearings may be linear roller bearings, linear plain bearings, linear slide guides, linear magnetic bearings, linear air bearings, linear motor systems, linear guideways, linear motion bushings, linear flexure bearings, linear ceramic bearings, and the like. In one implementation, the guide rail of the guide rail structure may be V-groove guide rail, box guide rail, round guide rail, linear guide rail, dovetail guide rail, profile guide rail, curved guide rail, telescopic guide rail, magnetic guide rail, cable and wire rope system, pipe and tubing guide, linear motion module, or any other suitable guide rail configuration that meets the specific requirements of a particular application.
[0038] In yet another embodiment, the first end (106a) of the support structure (106) is detachable. The first end (106a) of the support structure (106) includes at least one sensor for article detection. Also, the first end (106a) includes at least one clamp for holding the article. In one implementation, the first end (106a) may include a switch for firmly holding (or gripping) the article. In another implementation, the article may be placed on the first end (106a) by a user associated with the article handling apparatus (100). In yet another implementation, the article may be placed on the first end (106a) by use of an external device (such as a crane).
[0039] In one embodiment, the first actuator (110) includes a gearbox and motor. In one implementation, the first actuator (110) may be servo motor, stepper motor, DC motor with gears, brushless DC motor, ac motor, hydraulic rotary actuator, pneumatic rotary actuator, and the like. The first actuator (110) is configured to rotate the first arm (114). In another implementation, the first actuator (110) may be any driving unit/device that provides rotational motion to the first arm (114). The first encoder (112) includes a transverse encoder. The first encoder (112) may be configured to monitor angular displacement of the mounting structure (108), with respect to a reference point (or angle). Further, the first encoder (112) may be configured to rotate and align the support structure (106), in order to maintain a constant angle between the guide rail structure (102) and the support structure (106), if in case the mounting structure (108) is rotated. In one implementation, the first encoder (112) may simultaneously monitor angular displacement of the mounting structure (108) and may simultaneously send signals to the first actuator (110) for its actuation in order to maintain a constant angle between the guide rail structure (102) and the support structure (106), if in case the mounting structure (108) is rotated.
[0040] In another embodiment, the second actuator (118) includes an electric actuator. The second actuator (118) is configured for rotation (or swinging) of the second arm (116). Also, the second encoder (112) includes an elevation encoder. The second encoder (120) is configured to monitor angular displacement of the mounting structure (108), with respect to a reference point (or angle).
[0041] In yet another embodiment, for change in position of the mounting structure (108), the first encoder (112) is configured for aligning the support structure (106) at a constant angle with respect to the guide rail structure (102). Additionally, the first encoder (112) is also configured for aligning the first end (106a) of the support structure (106) in proximity to an article depot. The article depot is adapted to store a plurality of articles. In one implementation, the article may be placed on the first end (106a) by the user associated with the article handling apparatus (100).
[0042] In one embodiment, the second arm (116) includes an article gripping device (122) configured to grip and release the article. The article gripping device (122) is mounted on an extreme end of the second arm (116), opposite to the pivoting point of the first arm (114) and the second arm (116). In one implementation, the article gripping device (122) may be electrically powered for enabling the gripping and releasing operation. In another implementation, the article gripping device (122) may include at least two gripping claws for gripping the article.
[0043] In another implementation, the second encoder (120) is configured for determining the elevation of the second arm (116). In one implementation, the second encoder (120) may be configured to monitor angular displacement of the second arm (116), with respect to a reference point (or angle). In another implementation, the second encoder (120) may simultaneously monitor angular displacement of the second arm (116) and may simultaneously send signals to the second actuator (118) for its actuation, in order to position the article gripping device (122) in proximity to the article depot. In yet another implementation, the second encoder (120) may simultaneously monitor angular displacement of the second arm (116) and may simultaneously send signals to the second actuator (118) for its actuation, in order to position the article gripping device (122) in proximity to a delivery location for the article. In one embodiment, the second encoder (120) may simultaneously monitor angular displacement of the second arm (116) and may simultaneously send signals to the second actuator (118) for its actuation, in order to swing (or rotate) the second arm (116).
[0044] In another embodiment, the article handling apparatus (100) includes a home position. The home position is an idle (or reset) position of the article handling apparatus (100). In the home position, the first end (106a) of the support structure (106) is in proximity to the article depot. Also in the home position, the article gripping device (122) of the second arm (116) is in proximity to an article delivery location. The home position, as disclosed above, is followed during a reset (or idle) state of the article handling apparatus (100), irrespective of the position or alignment of the mounting structure (108).
[0045] In another embodiment, the article handling apparatus (100) includes a control system configured for automated operation of the article handling apparatus (100). The control system operates the first actuator (110), the first encoder (112), the second actuator (118), the second encoder (120), and the article gripping device (122), and the like. The control system may be adapted to independently handle and operate the aforementioned features/elements of the article handling apparatus (100). The independent handling and operating of the aforementioned features/ elements will enable the article handling apparatus (100) to pick up the article from the first end (106a) of the support structure (106) and to place it in the article at the delivery location. In one implementation, the control system may be configured to measure the weight of the article and accordingly adjust the actuating force for gripping the article, by actuating the article gripping device (122). In another implementation, the first end (106a) may comprise an arrangement for measurement of weight of the article.
[0046] In yet another embodiment, the control system is configured for actuating the first actuator (110) and the second actuator (118) for positioning the article gripping device (122) in proximity to the first end (106a) of the support structure (106). The control system is also configured for actuating the article gripping device (122) for gripping the article. Additionally, the control system is also configured for actuating the first actuator (110) and the second actuator (118) in order to position the article gripping device (122) in proximity to the delivery location. In addition, the control system is also configured for actuating the article gripping device (122) for releasing the article at the delivery location. Also, the control system is configured for aligning the article handling apparatus (100) to the home position. The aforementioned procedure may be followed in a loop to efficiently place the article from the depot to the delivery location, irrespective of the position of the mounting structure (108). This will result in efficient transportation and handling of the article.
[0047] In one embodiment, the control system is configured for simultaneously detecting change in position of the mounting structure (108), aligning the support structure (106) at a constant angle with respect to the guide rail structure (102), and aligning the first end (106a) of the support structure (106) in proximity to the article depot. In one implementation, the control system of the article handling apparatus (100) may be adapted for adjusting the article gripping device (122) based on shape, size, and weight of the article.
[0048] In another embodiment, the first actuator (110), the second actuator (118) and the article gripping device (122) are equipped with a lever arrangement adapted for manual operation. The lever arrangement may facilitate actuation of the first arm (114) and the second arm (116), in case of power failure.
[0049] In yet another embodiment, the guide rail structure (102) is mounted on a vehicle.
[0050] In one embodiment, the first end (106a) of the support structure (106) may be configured to hold a plurality of articles. In addition, the delivery location may be adapted to receive the plurality of articles from the article handling apparatus (100).
[0051] In another embodiment, the guide rail structure (102) may be mounted on a vehicle chassis, warehouse, factory shop floor, distribution centre, and the like. In one implementation, the guide rail structure (102) may be mounted on trailer, trucks, ships, and the like. In another implementation, the article handling apparatus (100) may be mounted on a production line, facilitating seamless material handling and item transfer between different stages of the manufacturing process. In yet another implementation, the article handling apparatus (100) may be mounted on a floating barge, enabling the article handling apparatus (100) to navigate waterways and efficiently transport goods between ports and warehouses. In one implementation, the article handling apparatus (100) may be mounted on a drone, allowing the article handling apparatus (100) to take to the skies and deliver items swiftly and precisely to remote or inaccessible locations. In another implementation, the article handling apparatus (100) may be mounted on an underwater rover, designed for subaquatic operations, enabling the article handling apparatus (100) to handle items in underwater environments, such as deep-sea exploration or underwater salvage. In yet another implementation, the guide rail structure (102) of the article handling apparatus (100) may be a magnetic levitation track, providing frictionless movement for the slider (104), ensuring ultra-smooth and precise transportation of items. In one implementation, the article handling apparatus (100) may be mounted on a smart conveyor belt system, equipped with advanced sensors and automation features, optimizing the article handling device's material handling capabilities within a high-tech production facility. In another implementation, the article handling apparatus (100) may be mounted on a fixed structure or a moving structure, ideal for applications where the article handling apparatus (100) operates within a dedicated area, providing stability and consistent handling capabilities.
[0052] In yet another embodiment, the first actuator (110) and the second actuator (118) may be linear actuators, piezoelectric actuators, hydraulic actuators, pneumatic actuators, voice coil actuators (VCA), flexure mechanisms, cam-follower mechanisms, rack and pinion mechanisms, belt and pulley systems, cable-driven actuators, screw-driven actuators, lever mechanisms, crank and slider mechanisms, chain-driven systems, torsion springs, magnetic actuators, muscle wire actuators, shape memory polymer actuators, hydraulic cylinders, gear mechanisms, magnetic gears, friction wheels and rollers, spring and damper systems, rotary solenoids, linear induction motors, linear synchronous motors, rotary piezoelectric actuators, vibrating motors, shape memory hydraulic actuators, electromagnetic clutches and brakes or sonic and ultrasonic actuators and combination thereof.
[0053] In yet another embodiment, the motor of the first actuator (110) may be an electric motor, such as a brushed DC motor, a brushless DC motor, a stepper motor, an induction motor, and the like.
[0054] In one exemplary embodiment, the article handling apparatus (100) may be deployed for manufacturing and assembling. The article handling apparatus may be used to pick, place, and assemble articles/components in manufacturing processes, including automotive assembly lines and electronics manufacturing.
[0055] In another exemplary embodiment, the article handling apparatus (100) may find applications in warehousing and logistics. Within warehouses and distribution centres, it may play a vital role in material handling, order picking, and inventory management, potentially enhancing efficiency and accuracy.
[0056] In yet another exemplary embodiment, the article handling apparatus (100) may be employed in packaging operations. It may ensure efficient and precise packaging of goods, contributing to the potential consistency and quality of packaged products.
[0057] In one exemplary embodiment, the article handling apparatus (100) may be instrumental in the food industry, where it may aid in tasks such as sorting, handling, and packaging. It may be commonly used for items like fruits, vegetables, and baked goods, potentially maintaining product integrity.
[0058] In another exemplary embodiment, the article handling apparatus (100) may be deployed in pharmaceutical settings to handle pharmaceutical products with precision. It may assist in sorting and packaging medications, potentially ensuring compliance with stringent quality standards.
[0059] In yet another exemplary embodiment, agriculture may benefit from the article handling apparatus (100) as it may aid in fruit harvesting, crop planting, and the sorting of agricultural produce, potentially enhancing agricultural processes.
[0060] In one exemplary embodiment, the medical and healthcare sector may deploy the article handling apparatus (100) for various tasks. In healthcare settings, it may handle medical instruments, assist in surgeries, and perform tasks in pharmaceutical labs, potentially contributing to healthcare advancements.
[0061] In another exemplary embodiment, laboratories may benefit from the automation capabilities of the article handling apparatus (100). It may automate sample handling, testing, and laboratory processes, potentially ensuring accuracy and efficiency in research and analysis.
[0062] In yet another exemplary embodiment, the 3D printing industry may embrace the article handling apparatus (100) to additively build parts or structures layer by layer, enabling precise and potentially automated 3D printing processes.
[0063] In one exemplary embodiment, the electronics industry may rely on the article handling apparatus (100) to handle delicate electronic components during circuit board assembly and testing, potentially ensuring product quality.
[0064] In another exemplary embodiment, the textile industry may utilize the article handling apparatus (100) for fabric handling. It may manage fabric rolls, aid in sewing processes, and potentially contribute to textile manufacturing efficiency.
[0065] In yet another exemplary embodiment, construction sector may benefit from the article handling apparatus (100) as it may perform tasks like bricklaying and concrete spraying, potentially enhancing efficiency and safety at construction sites.
[0066] In one exemplary embodiment, mining and exploration activities may benefit from the capabilities of the article handling apparatus (100). It may assist in extracting minerals and inspecting underground areas in potentially challenging environments.
[0067] In another exemplary embodiment, space exploration missions may often deploy the article handling apparatus (100). It may play a critical role in collecting samples, operating equipment, and conducting experiments in potentially extreme space environments.
[0068] In yet another exemplary embodiment, the entertainment industry may utilize the article handling apparatus (100) for creative purposes. In film and theatre, it may power animatronics, puppetry, and special effects, potentially bringing stories to life.
[0069] In one exemplary embodiment, environmental cleanup efforts may leverage the article handling apparatus (100) in hazardous environments. It may assist in tasks such as nuclear waste handling and cleaning up oil spills, potentially reducing human exposure to risks.
[0070] In another exemplary embodiment, underwater exploration may benefit from the article handling apparatus (100) as it may be used in underwater vehicles and submersibles for tasks like deep-sea exploration and underwater archaeology.
[0071] In yet another exemplary embodiment, the oil and gas industry may find the article handling apparatus (100) indispensable. It may be deployed for pipeline inspection, maintenance, and repair in offshore and remote locations, potentially enhancing safety and efficiency.
[0072] In one exemplary embodiment, the defence and military sector may deploy the article handling apparatus (100) for various purposes. It may be used in bomb disposal, reconnaissance, and unmanned ground vehicles, potentially contributing to military operations.
[0073] In another exemplary embodiment, the article handling apparatus (100) may be integrated onto an armoured vehicle. In one implementation, the armoured vehicle may include an ultra-light howitzer. In another implementation, the article handling apparatus (100) may be equipped on the gun mounted armoured vehicle. The guide rail structure (102) may be mounted on structure of the howitzer (or gun), implying it is stationary. The mounting structure (108) may be mounted on saddle of the howitzer. The saddle of the howitzer may be a rotary part and the article may be an ammunition shell. Irrespective of change in position (or rotation) of the saddle, the support structure (106) may maintain a constant angle with respect to the guide rail structure (102) even if the mounting structure (108) is rotating. The first end (106a) of the support structure (106) may be always positioned above an ammunition depot (or tray). Military personnel may place article(s) on the first end (106a) of the support structure (106) manually or by any external help. Also, in home position of the article handling apparatus (100), the article gripping device (122) may be positioned near to a loading point of the howitzer. In working state, the article gripping device (122) may be able to pick up the ammunition and place it in the loading point of the howitzer. Such integration, of the article handling apparatus (100) on the armoured vehicle, may provide enhanced capabilities for ammunition handling and loading, potentially streamlining the artillery firing process and improving operational efficiency on the battlefield. Also, the article handling apparatus (100) may be responsible for tasks such as the precise placement of artillery rounds into the firing chamber, potentially reducing loading times and increasing the rate of fire. This innovative deployment of the apparatus may contribute to improved artillery support in various military scenarios, offering potential advantages in terms of firepower and rapid response capabilities.
[0074] In one implementation, the armoured vehicle may be ground-based artillery vehicle, self-propelled howitzer, multiple launch rocket system (MLRS), artillery gun truck, mobile artillery command post, armoured howitzer carrier and the like.
[0075] In one implementation, the saddle refers to a framework or support structure that allows the artillery gun to be properly attached and positioned on a carriage, enabling it to be maneuverer and fired effectively. The saddle plays a crucial role in maintaining the stability and alignment of the artillery gun during transportation and firing. It helps distribute the weight and recoil forces generated by the artillery gun's firing, ensuring that the carriage remains steady, and the gun crew can operate it safely and accurately.
[0076] The article handling apparatus (100) may prove its versatility and adaptability in diverse applications across industries. Its precision, automation capabilities, and ability to handle a wide range of tasks may make it a valuable asset in modern industrial and technological landscapes.
[0077] The invention is further defined by at least the examples provided in the following items:
Item 1 An article handling apparatus (100), comprising:
a guide rail structure (102), wherein the guide rail structure (102) comprises a slider (104);
a support structure (106), wherein the support structure (106) is configured to slide on the slider (104), wherein first end (106a) of the support structure (106) is adapted to securely hold an article;
a mounting structure (108) is configured for rotation around an axis, wherein second end (106b) of the support structure (106) is pivoted to the mounting structure (108);
a first actuator (110) attached on the mounting structure (108);
a first encoder (112) mounted on the second end (106b) of the support structure (106);
a first arm (114) coupled to the first actuator (110);
a second arm (116) pivotally attached to the first arm (114);
a second actuator (118) pivotably affixed to the first arm (114) and to the second arm (116); and
a second encoder (120) positioned at point of contact of the first arm (114) and the second arm (116).
Item 2 The article handling apparatus (100) of item 1, wherein a pin-slot joint enables sliding between the slider (104) and the support apparatus (106).
Item 3 The article handling apparatus (100) of item 1, wherein the first end (106a) of the support structure (106) is detachable, wherein the first end (106a) of the support structure (106) comprises at least one sensor for article detection, wherein the first end (106a) comprises at least one clamp for holding the article.
Item 4 The article handling apparatus (100) of item 1, wherein the first actuator (110) comprises a gearbox and motor, wherein the first actuator (110) is configured to rotate the first arm (114), wherein the first encoder (112) comprises a transverse encoder.
Item 5 The article handling apparatus (100) of item 1, wherein the second actuator (118) comprises an electric actuator, wherein the second actuator (118) is configured for rotation of the second arm (116), wherein the second encoder (120) comprises an elevation encoder.
Item 6 The article handling apparatus (100) of item 1-5, wherein for change in position of the mounting structure (108), the first encoder (112) is configured for,
aligning the support structure (106) at a constant angle with respect to the guide rail structure (102); and
aligning the first end (106a) of the support structure (106) in proximity to an article depot, wherein the article depot is adapted to store a plurality of articles.
Item 7 The article handling apparatus (100) of item 1, wherein the second arm (116) comprises an article gripping device (122) configured to grip and release the article.
Item 8 The article handling apparatus (100) of item 1-7, wherein the second encoder (120) is configured for determining the elevation of the second arm (116).
Item 9 The article handling apparatus (100) of item 8, wherein article handling apparatus (100) comprises a home position, wherein the home position is an idle position of the article handling apparatus (100).
Item 10 The home position of the article handling apparatus (100) of item 9, wherein the first end (106a) of the support structure (106) is in proximity to the article depot, wherein the article gripping device (122) of the second arm (116) is in proximity to an article delivery location.
Item 11 The article handling apparatus (100) of item 1-10, wherein the article handling apparatus (100) comprises a control system configured for automated operation of the article handling apparatus (100), wherein the control system operates the first actuator (110), the first encoder (112), the second actuator (118), the second encoder (120), and the article gripping device (122).
Item 12 The article handling apparatus (100) of item 1-11, wherein the control system is configured for,
actuating the first actuator (110) and the second actuator (118), to position the article gripping device (122) in proximity to the second end (106b) of the support structure (106);
actuating the article gripping device (122) for gripping the article;
actuating the first actuator (110) and the second actuator (118), to position the article gripping device (122) in proximity to the delivery location;
actuating the article gripping device (122) for releasing the article at the delivery location; and
aligning the article handling apparatus (100) to the home position.
Item 13 The article handling apparatus (100) of item 1-12, wherein the control system is configured for simultaneously,
detecting change in position of the mounting structure (108);
aligning the support structure (106) at a constant angle with respect to the guide rail structure (102); and
aligning the first end (106a) of the support structure (106) in proximity to the article depot.
Item 14 The article handling apparatus (100) of item 1, wherein the first actuator (110), the second actuator (118) and the article gripping device (122) are equipped with a lever arrangement adapted for manual operation.
Item 15 The article handling apparatus (100) of item 1, wherein the guide rail structure (102) is mounted on a vehicle.
[0078] The presently disclosed the article handling apparatus (100) may have the following advantages:
• improved stability.
• adaptability.
• enhanced safety.
• consistency and accuracy in the positioning of articles.
• reduced costs.
• minimized human intervention.
• minimum maintenance requirements.
• improved efficiency.
[0079] The foregoing description shall be interpreted as illustrative and not in any limiting sense. A person of ordinary skill in the art would understand that certain modifications could come within the scope of this disclosure.
[0080] The embodiments, examples, and alternatives of the preceding paragraphs or the description, including any of their various aspects or respective individual feature(s), may be taken independently or in any combination. Features described in connection with one embodiment are applicable to all embodiments unless such features are incompatible.
, Claims:WE CLAIM:
1. An article handling apparatus (100), comprising:
a guide rail structure (102), wherein the guide rail structure (102) comprises a slider (104);
a support structure (106), wherein the support structure (106) is configured to slide on the slider (104), wherein first end (106a) of the support structure (106) is adapted to securely hold an article;
a mounting structure (108) is configured for rotation around an axis, wherein second end (106b) of the support structure (106) is pivoted to the mounting structure (108);
a first actuator (110) attached on the mounting structure (108);
a first encoder (112) mounted on the second end (106b) of the support structure (106);
a first arm (114) coupled to the first actuator (110);
a second arm (116) pivotally attached to the first arm (114);
a second actuator (118) pivotably affixed to the first arm (114) and to the second arm (116); and
a second encoder (120) positioned at point of contact of the first arm (114) and the second arm (116).
2. The article handling apparatus (100) as claimed in claim 1, wherein a pin-slot joint enables sliding between the slider (104) and the support apparatus (106).
3. The article handling apparatus (100) as claimed in claim 1, wherein the first end (106a) of the support structure (106) is detachable, wherein the first end (106a) of the support structure (106) comprises at least one sensor for article detection, wherein the first end (106a) comprises at least one clamp for holding the article.
4. The article handling apparatus (100) as claimed in claim 1, wherein the first actuator (110) comprises a gearbox and motor, wherein the first actuator (110) is configured to rotate the first arm (114), wherein the first encoder (112) comprises a transverse encoder.
5. The article handling apparatus (100) as claimed in claim 1, wherein the second actuator (118) comprises an electric actuator, wherein the second actuator (118) is configured for rotation of the second arm (116), wherein the second encoder (120) comprises an elevation encoder.
6. The article handling apparatus (100) as claimed in claim 1-5, wherein for change in position of the mounting structure (108), the first encoder (112) is configured for,
aligning the support structure (106) at a constant angle with respect to the guide rail structure (102); and
aligning the first end (106a) of the support structure (106) in proximity to an article depot, wherein the article depot is adapted to store a plurality of articles.
7. The article handling apparatus (100) as claimed in claim 1, wherein the second arm (116) comprises an article gripping device (122) configured to grip and release the article.
8. The article handling apparatus (100) as claimed in claim 1-7, wherein the second encoder (120) is configured for determining the elevation of the second arm (116).
9. The article handling apparatus (100) as claimed in claim 8, wherein article handling apparatus (100) comprises a home position, wherein the home position is an idle position of the article handling apparatus (100).
10. The home position of the article handling apparatus (100) as claimed in claim 9, wherein the first end (106a) of the support structure (106) is in proximity to the article depot, wherein the article gripping device (122) of the second arm (116) is in proximity to an article delivery location.
11. The article handling apparatus (100) as claimed in claims 1-10, wherein the article handling apparatus (100) comprises a control system configured for automated operation of the article handling apparatus (100), wherein the control system operates the first actuator (110), the first encoder (112), the second actuator (118), the second encoder (120), and the article gripping device (122).
12. The article handling apparatus (100) as claimed in claim 1-11, wherein the control system is configured for,
actuating the first actuator (110) and the second actuator (118), to position the article gripping device (122) in proximity to the second end (106b) of the support structure (106);
actuating the article gripping device (122) for gripping the article;
actuating the first actuator (110) and the second actuator (118), to position the article gripping device (122) in proximity to the delivery location;
actuating the article gripping device (122) for releasing the article at the delivery location; and
aligning the article handling apparatus (100) to the home position.
13. The article handling apparatus (100) as claimed in claim 1-12, wherein the control system is configured for simultaneously,
detecting change in position of the mounting structure (108);
aligning the support structure (106) at a constant angle with respect to the guide rail structure (102); and
aligning the first end (106a) of the support structure (106) in proximity to the article depot.
14. The article handling apparatus (100) as claimed in claim 1, wherein the first actuator (110), the second actuator (118) and the article gripping device (122) are equipped with a lever arrangement adapted for manual operation.
15. The article handling apparatus (100) as claimed in claim 1, wherein the guide rail structure (102) is mounted on a vehicle.
Dated this 13th day of February 2024

Priyank Gupta
Agent for the Applicant
IN/PA-1454