Field of the invention

The present invention refers to a docking system for the hydraulic connection between an operating unit and one or more mobile service units. In particular, the invention relates to a docking system including a first operating unit carrying one or more hydraulic connectors and at least one second mobile service unit, carrying one or more hydraulic connectors which can be coupled, directly or indirectly, with the hydraulic connectors of the first unit. In one example, the invention relates to a system for docking between a first operating unit equipped with a fluid accumulator and at least one second mobile service unit equipped with a reservoir for refilling the fluid accumulator carried by the first operating unit.

Prior art

In his international patent application WO 2019/097372 A1 , the Applicant proposed an operating unit for dispensing an adhesive or sealant fluid, configured to be carried by a robot, and including one or more fluid accumulators, which are refillable without the need to remove them from the operating unit. This known solution envisages the possibility of refilling the fluid accumulator arranged on board the operating unit carried by a robot with a refilling reservoir carried on board an autonomous vehicle (for example an AGV or an AMR). In an industrial plant equipped with a plurality of robots provided with respective operating units of the type described above, one or more autonomous vehicles are used as service vehicles to bring one or more refilling reservoirs adjacent to a robot whose operating unit has an empty fluid accumulator that needs to be refilled.

In the present description, and in the following claims, the term “AGV” intends to indicate self-driving vehicles that require the provision of an infrastructure, for example, in the form of magnetic strips on the floor, or navigation beacons for driving the vehicle along a predetermined path. On the other hand, the term “AMR” refers to self-driving vehicles that instead move using a navigation system and a processor that are on board the robot. AMRs are able to perceive the environment in which they move and make decisions based on what they perceive and how they have been programmed, for example, stopping, departing again, and maneuvering around obstacles that they encounter along their path. For the purposes of the present invention, any type of autonomous vehicle can be used, being understood that the invention is applicable using a mobile unit of any type as a mobile service unit, for example, also a manually- operated carriage or a motorized vehicle equipped with a driver's seat, such as a lifting truck. Nor is the case excluded wherein the mobile service unit is moved by any handling device, for example, also by a manipulator robot.

According to the known solution previously proposed by the same Applicant, when an autonomous vehicle carrying a refilling reservoir arrives at an operating unit having a fluid accumulator to be refilled, it is necessary to proceed with a docking operation between the hydraulic connectors, respectively carried by the operating unit to be refilled and the autonomous vehicle carrying the refilling reservoir. In a fully automated system, however, difficulty is encountered in ensuring that the docking operation is performed correctly and successfully, despite any inaccuracies in positioning the autonomous vehicle with respect to the operating unit and, in particular, without the risk of losing time due to the need to reposition the autonomous vehicle correctly with respect to the operating unit to be refilled.

Object of the invention

The object of the present invention is to resolve the aforesaid problem in a simple and reliable way.

Summary of the invention

In order to achieve the aforesaid object, the invention relates to a docking system of a first operating unit carrying one or more hydraulic connectors and of at least one second mobile service unit, carrying one or more hydraulic connectors, which can be coupled directly or indirectly with the hydraulic connectors of the first operating unit, wherein at least one of said hydraulic connectors is carried by the respective unit by means of a floating support, which is mounted on the respective unit, so as to be free to move relative to this along first and second directions (x, y), which are orthogonal to each other and which are also orthogonal to an axial coupling direction of the hydraulic connectors, and wherein a respective centering member is associated with said floating support of one of said units, said centering member being configured to be coupled with a cooperating centering member directly or indirectly associated with the other of said units,

- in such a way that, in a docking condition between the first operating unit and the second service unit, coupling between said centering members causes a flotation of said floating support into a position that corresponds to the correct coupling position of said hydraulic connectors,

- wherein said floating support is movably mounted relative to a main support along said first and second directions (x, y),

- wherein said floating support is elastically biased towards a neutral position by means of a plurality of helical springs mutually angularly spaced apart, and arranged radially around said main support, each spring having a radially inner end associated with said main support, and a radially outer end associated with said floating support. Each of said helical springs is coaxially mounted around a guide rod, which has one end pivotally connected to either said main support or floating support, and the other end sliding in a pivotally connected cylinder to the other of said main support and floating support.

In one example, the floating support is movably mounted with respect to the main support along said first and second directions by means of two respective slides orthogonal to each other and mounted in succession on one another.

According to a further characteristic of the preferred embodiment, the docking system according to the invention further comprises a stationary intermediate structure for docking said first operating unit with said second service unit. The stationary intermediate structure carries at least one hydraulic connector on its first side, which can be coupled with a hydraulic connector of the first operating unit, and at least one hydraulic connector on its second side, which can be coupled with a hydraulic connector of the second service unit. The hydraulic connectors provided on the two sides of said stationary intermediate structure are also in hydraulic communication with each other.

In the case of this embodiment, therefore, the coupling between the hydraulic connectors of the first operating unit and the second service unit is carried out indirectly, by coupling the hydraulic connectors of the first operating unit with the hydraulic connectors carried on the first side of the stationary intermediate structure, and coupling the hydraulic connectors of the second service unit with the hydraulic connectors carried on the second side of the stationary intermediate structure.

In an embodiment example, wherein the first operating unit is carried by a manipulator robot and the second service units are autonomous vehicles carrying a reservoir for refilling the fluid accumulators with which the first operating unit is equipped, the docking maneuver is carried out at the aforesaid stationary intermediate structure. The manipulator robot carries its operating unit close to said stationary intermediate structure in such a way as to obtain the coupling of the hydraulic connectors of the first operating unit with the hydraulic connectors arranged on the first side of the stationary intermediate structure. At the same time, the autonomous vehicles stop adjacent to the second side of the stationary intermediate structure, in such a way as to obtain the coupling of the hydraulic connectors carried by the autonomous vehicles, with the hydraulic connectors arranged on the second side of the stationary intermediate structure. Each of the aforesaid coupling maneuvers takes place by exploiting the mutual engagement of centering members, which consequently determine a correct positioning of the hydraulic connectors, made possible by the respective floating supports.

Each floating support may be of the type described above, configured to be free to move in the two aforesaid x and y directions. However, in some cases, the hydraulic connector carried by the floating support is also slidably mounted with respect to the floating support in the aforesaid coupling axial direction (z) by means of a plurality of guide rods distributed angularly around the coupling axis (z). Springs are also provided to counteract an axial movement of the hydraulic connector with respect to the floating support, in the form of helical springs each associated with a respective guide rod. In this way, the hydraulic connector is also free to have a small oscillation movement with respect to its floating support around said first and second directions (x, y), corresponding to a different degree of compression of the aforesaid axial helical springs.

Furthermore, in some cases the main support on which the floating support is mounted is - in turn - mounted on the respective unit with the possibility of rotation around a vertical axis, against the action of at least two contrast springs.

In the case of the preferred embodiment, on the first side of the stationary intermediate structure, two first hydraulic connectors are provided, for independently supplying two different fluids; these connectors are carried by two first floating support devices on a common plate, which is - in turn - mounted on said stationary intermediate structure by means of a further floating support. Each of said first floating supports is configured to be free to move both in said first and second direction, and in said axial coupling direction. The aforesaid further floating support is also configured to be free to only move in said first and second directions (x. Y)·

Still in the case of the aforesaid embodiment, the aforesaid common plate, on which the first two hydraulic connectors are mounted by means of said first floating support devices, also carries at least two centering pins with conical heads protruding from said first side of the stationary intermediate structure and configured to be received within cooperating centering bushings carried by said first operating unit, in a docking condition, wherein said first hydraulic connectors carried by the stationary intermediate structure are coupled with two third hydraulic connectors carried by the first operating unit.

Again in the case of the aforesaid preferred embodiment, on the aforesaid second side of the stationary intermediate structure there are two second hydraulic connectors, hydraulically communicating with said first hydraulic connectors arranged on the first side of the stationary intermediate structure. Said second hydraulic connectors are carried on the stationary intermediate structure by means of respective floating supports configured to be free to move only in said axial coupling direction.

Still in the aforesaid preferred embodiment, two second mobile units carrying respective hydraulic connectors configured to couple with said second hydraulic connectors arranged on the second side of the stationary intermediate structure can be provided. Each of the hydraulic connectors of the mobile units is carried by a floating support mounted on the respective unit and configured to be free to move both in said first and second direction (x, y), and in said axial coupling direction (z) with respect to a main support, which is - in turn - mounted on the respective service unit with the possibility of rotation around a vertical axis, against the action of at least two contrast springs. The floating support device carried by each of said mobile service units also carries at least one centering pin with a tapered head protruding from the respective service unit and configured to be received within a cooperating centering bushing carried by said stationary intermediate structure on the second side thereof.

Of course, the invention is achievable in a variety of alternative embodiments. The first operating unit may be not carried by a manipulator robot, but by any other type of machine for moving the first operating unit. The example with pairs of hydraulic connectors for independently supplying two different fluids refers - in particular - to the case of an operating unit designed to dispense a two-component adhesive, which is therefore equipped with at least two hydraulic accumulators for the two components of the adhesive, which therefore require the intervention of two autonomous vehicles carrying two respective refilling reservoirs. In principle, the floating support provided according to the disclosures of the present invention can be arranged for any or both of the hydraulic connectors, which must be coupled together. Again in principle, the aforesaid stationary intermediate structure can be omitted and a docking maneuver with direct coupling between the hydraulic connectors carried by the first operating unit and the second service unit can be provided.

Detailed description of a preferred embodiment

Further characteristics and advantages of the invention will become apparent from the description that follows with reference to the attached drawings, provided purely by way of non-limiting example, wherein: - Figure 1 is a schematic perspective view illustrating an industrial cell wherein a manipulator robot carrying an operating unit for dispensing a two-component adhesive is arranged, and a pair of autonomous vehicles carrying fluid reservoirs for refilling the fluid carried by the aforesaid operating unit, by mean of the docking system of the present invention,

- Figure 2 is a perspective view showing the stationary structure arranged in the filling station and the two autonomous vehicles, illustrated in schematic form and in a position close to the stationary structure,

- Figure 3 illustrates the same components of Figure 2 in a coupling condition of the hydraulic connectors carried by autonomous vehicles with hydraulic connectors carried on one side of the stationary structure of the filling station,

- Figure 4 is a perspective view corresponding to that of Figure 1 , which illustrates the two autonomous vehicles with their hydraulic connectors connected to the hydraulic connectors on one side of the stationary structure of the filling station, and the robot positioned in such a way as to couple the hydraulic connectors carried by the operating unit on board the robot, with the hydraulic connectors carried on one side of the stationary structure, opposite to that to which the autonomous vehicles are coupled,

- Figure 5 is another perspective view of the stationary structure of the filling station that - on one side - carries the hydraulic connectors intended to be coupled with the hydraulic connectors of the operating unit carried by the robot (which is not illustrated in Figure 5), and that carries - on the opposite side -hydraulic connectors that are shown in the condition of coupling with the hydraulic connectors carried by the autonomous vehicles,

- Figure 6 is a perspective view on an enlarged scale of the detail of the coupling between the hydraulic connectors of the operating unit carried by the robot and the hydraulic connectors arranged on one side of the stationary structure of the filling station,

- Figure 7 is a perspective view of a component of the assembly illustrated in the Figure 6,

- Figures 8A, 8B show a front view, in two different operating conditions, of a floating support forming part of the docking system according to the invention,

- Figures 9A, 9B illustrate two perspective views of a hydraulic connector and floating support assembly forming part of the docking system according to the invention,

- Figure 10 is a side view of the assembly of Figures 9A, 9B,

- Figures 11 A, 11 B illustrate two perspective views of another hydraulic connector and floating support assembly forming part of the docking system according to the invention,

- Figure 12 is a perspective view of the frame of the stationary structure forming part of the docking system according to the invention,

- Figure 13 is a perspective view on an enlarged scale showing the coupling of a hydraulic connector assembly and centering element carried by an autonomous vehicle, with the stationary structure forming part of the docking system according to the invention,

- Figure 14 is a further perspective view on an enlarged scale of the stationary structure with the hydraulic connectors associated therewith and of the two autonomous vehicles with their respective hydraulic connectors in the coupled condition with the hydraulic connectors arranged on one side of the stationary structure,

- Figures 15A, 15B are two perspective views of a detail of a hydraulic connector and floating support assembly carried by each of the autonomous vehicles.

In Figure 1 , the reference number 1 indicates - in its entirety - a cell of an industrial plant wherein a multi-axis manipulator robot 2, of any known type, is provided, carrying an operating unit 3 for dispensing a two- component adhesive, and for its application on components (not shown) of a structure to be assembled in cell 1. For example, the cell 1 may be a cell for assembling motor-vehicle structures. In an industrial plant, several cells of the type illustrated here can be provided, each with one or more robots 2 carrying respective operating units 3.

In the case of the specific application of the invention illustrated here, the operating unit 3 is made in accordance with the disclosures of the international patent application WO 2019/097372 A1 by the same Applicant. In accordance with this solution, the operating unit 3 carries one or more adhesive accumulators, so that it can operate autonomously, without a permanent connection, with a stationary double-sided adhesive reservoir, as instead occurs in the case of traditional solutions.

In the case of the example illustrated here, which refers to the application of a two-component adhesive, on the operating unit 3, there are two adhesive accumulators which, when finished, must be refilled with the fluids constituting the two required components.

For this purpose, a refilling station 4 including a stationary structure 5 is arranged in a peripheral area of the cell 1.

The stationary structure 5, which in the illustrated example includes an upright 6 fixed to the floor of the cell, carries hydraulic connectors 5A on one of its sides (which will be illustrated in detail below), configured to couple with hydraulic connectors 3A carried by the operating unit 3, and communicating with the adhesive accumulators arranged on board the operating unit 3.

On its opposite side, the stationary structure 5 carries hydraulic connectors 5B communicating with the hydraulic connectors 5A, and configured to couple with the hydraulic connectors 7B carried on board two autonomous vehicles 7.

Each of the autonomous vehicles 7 may be an AGV or AMR vehicle of any known type. In the preferred embodiment, the autonomous vehicles 7 are vehicles of the AMR type configured to move around the industrial plant according to any predetermined program, in response to predetermined commands, without the need to provide infrastructures in the plant for guiding the movement of vehicles 7.

With reference to the example illustrated in Figure 1 , each vehicle 7 comprises, in a per se known manner, a vehicle body 700 movable on wheels, which are at least partly motorized wheels, and steering or pivoting wheels with motorized control of the steering angle. On the body 700 of each vehicle 7 there is a reservoir 701 containing the respective component fluid, as well as a man-machine interface 702, which can be used by an operator to control the refilling operation. On the body 700 of each vehicle 7 there is an upright 703 carrying the respective hydraulic connector 7B, which communicates with the reservoir 701 through a duct 704.

Of course, the aforesaid description of the autonomous vehicles 7 and of the components carried thereon is provided purely by way of non limiting example.

When it is necessary to refill the adhesive accumulators carried by the operating unit 3, the robot 2 is commanded to bring the operating unit 3 near the side of the filling station 4 facing the inside of the cell, while the autonomous vehicles 7 are commanded to position themselves near the side of the refilling station 5 facing outwards. The docking operation involves the coupling of the hydraulic connectors 3A with the hydraulic connectors 5A, and the coupling of the hydraulic connectors 7B with the hydraulic connectors 5B. The coupling is obtained, in the example illustrated, by means of a movement of the operating unit 3, controlled by the robot 2, towards the inner side of the stationary structure 5, and by means of the movement of the autonomous vehicles 7, towards the outer side of the stationary structure. The coupling is guided by the engagement of centering pins with conical heads 8X protruding from the inner side of the stationary structure 5, within centering bushings 3X carried by the operating unit 3.

Similarly, the coupling of the hydraulic connectors 5B on the outer side of the stationary structure 5 with the hydraulic connectors 7B carried by the autonomous vehicles 7 is assisted by the engagement of centering pins with conical heads protruding from the assemblies of hydraulic connectors 7B (not visible in the Figure 1) within respective centering bushings 9X carried on the inner side of the stationary structure 5.

In a typical embodiment of the industrial cell 1 , the work area inside the cell 1 is protected by enclosures (not illustrated) arranged along the walls of the cell. The stationary structure 5 is arranged in such a way as to have its inner side carrying the hydraulic connectors 5A protruding inside an enclosure, and its outer side, carrying the connectors 5B, located outside the enclosure. In this way, the working environment of the robot 2 is totally protected, for the safety of the operators moving around the industrial plant.

Figures 2, 3 show a step wherein the two autonomous vehicles 7 are adjacent to the outer side of the filling station 4, and a step wherein the autonomous vehicles 7 have reached the final docking position, wherein the hydraulic connectors 7B carried by the autonomous vehicles 7 are coupled with the hydraulic connectors 5B carried on the outer side of the stationary structure 5.

Figure 4 is a perspective view illustrating the condition of complete docking, wherein, after the coupling of the hydraulic connectors 7B carried by the autonomous vehicles 7 with the hydraulic connectors 5B carried on the outer side of the stationary structure 5, the robot 2 has carried the operating unit 3 in the condition of coupling of the hydraulic connectors 3A carried by the operating unit 3 with the hydraulic connectors 5A carried on the outer side of the stationary structure 5. In the docking condition illustrated in Figure 4, once the hydraulic coupling between hydraulic connectors has been ensured (in the way that will be described in detail below), the operation of transferring fluid from the reservoirs carried by the vehicles 7 to the fluid accumulators arranged on the operating unit 3 can be activated. Once this operation is completed, the robot 2 can uncouple the operating unit 3 from the stationary structure 5 of the refilling station to return to perform its work cycle. At the same time, the vehicles 7 can be decoupled from the outer side of the stationary structure 5 of the filling station to move to other areas of the plant and serve other cells of the plant.

Figure 5 is another perspective and enlarged-scale view of the refilling station 4, with the stationary structure 5 carrying the two hydraulic connectors 5A on one side (on the robot side) and the two hydraulic connectors 5B on its opposite side for connection with hydraulic connectors carried by autonomous vehicles 7. Figure 6 illustrates the coupling condition of the hydraulic connectors 3A of the operating unit 3, with the hydraulic connectors 5A arranged on the inner side of the stationary structure 5.

With reference to Figures 5, 6, the two hydraulic connectors 5A arranged on the inner side of the stationary structure 5 are mounted by means of floating supports F1 (which will be described in detail below) on a common support plate 10, which - in turn - is mounted above the stationary structure 5 by means of a floating support F2 (which will also be described in detail below).

A support structure 11 is also anchored to the plate 10, which supports the two centering pins 8X with tapered heads 80X, with a conical shape, or with an ogive shape (see Figure 7).

With reference to Figure 7, by means of the floating support F2, the plate 10, which carries the two hydraulic connectors 5A, is mounted floating on a core 12 consisting of a cylindrical body having a disc flange 12A screwed to the stationary structure 5.

As can be seen in detail in Figures 8A, 8B, the floating support constituted by the plate 10 is mounted on the core 12 by means of a plurality of helical springs 13 angularly spaced apart and arranged radially around the core 12.

Each spring 13 is mounted coaxially to the outside of a guide rod 14, which has one end pivotally connected at 15 to the body of the core 12, and the opposite end slidably mounted within a first cylinder 16, which is - in turn - slidably mounted inside a second cylinder 17 pivotally connected at 18 (Figure 8B) to the structure of the support, which is thus pivotally mounted on the core 12. In the case of the pivoting support device F2, the pivoting support is the aforesaid plate 10, which - in turn - supports the two hydraulic connectors 5A.

The floating support device F1 has an identical structure. In this case, the pivoting support consists of a plate 18, which is thus supported in a pivoting manner on the common plate 10 (see also Figure 6).

In each of the two pivoting supports F1 , F2, the pivoting element (plate 19 or plate 10) is constrained to only move in a first direction x and in a second direction y orthogonal to each other and also orthogonal to a third direction z, which is the axial coupling direction of the hydraulic connectors (see Figure 6). This result is obtained in that the pivoting plate (10 and 19, respectively) is mounted on the main support including the core 12 by means of a pair of slides 20, 21 orthogonal to each other and arranged in succession on each other (see in particular Figure 7).

As can be seen, due to the effect of the structure described above, each of the floating support devices F1 , F2 leaves the respective floating element 19 and 10 free to move in the two directions x and y moving parallel to itself. The function of the springs 13 (in the example three springs are provided) is to tend to bring the pivoting element back to a neutral central position.

Figure 8A shows the floating support device F1 in the rest condition, wherein the pivoting plate 19 is in its neutral position with respect to the central core 12 fixed to the stationary structure 5. Figure 8B shows the floating support device F1 in a condition wherein a relative movement of the pivoting plate 19 with respect to the core 12 has occurred, both in the x direction and in the y direction, which causes an oscillation of the guide rods 14 and a compression of the springs 13, which thus tend to return the device to the neutral position.

Thanks to the floating support device F2, the plate 10 carrying the two hydraulic connectors 5A arranged on the inner side of the stationary structure 5 is able to float moving both in the x direction and in the y direction. In this way, this plate is able to accommodate any adjustment movements that occur following the engagement of the two centering pins 8X, which are carried by the plate 10, within the centering bushings 3X. When the robot carries the operating unit 3 into the position predisposed for refilling, which is strictly predetermined, the electronic controller of the robot is, therefore, able to ensure that the centering bushings 3X are arranged in a required position in a precise manner. Once this position has been reached, the robot commands a forward movement of the operating unit 3 in the z direction, so as to engage the bushings 3X around the centering pins 8X. If the centering pins are not precisely in the required position, the engagement of their conical heads 80X within the centering bushings causes a flotation of the entire equipment carried by the plate 10 along the x and y directions, thanks to the floating support device F2.

As indicated above, each of the two hydraulic connectors 5A arranged on the inner side of the stationary structure is carried on the common support plate 10 by means of the floating support device F. Compared to the floating support device F2, the device F1 is designed to also allow a limited axial movement, in the z direction, to the respective hydraulic connector 5A with respect to the common support plate 10.

To this end, each of the hydraulic connectors 5A is carried by a disk 22 which is supported on the pivoting plate 19 so as to be able to perform limited movements in the axial coupling direction z of the hydraulic connectors. To this end, in the illustrated example (see Figures 6, 9A, 9B and 10), the disc 22 is mounted axially slidable with respect to the plate 19, facing it by means of a plurality of guide rods 23 distributed angularly around the central axis of the disc 22. Coaxially mounted helical springs 24 are mounted around said guide rods 23, tending to recall the disc 22 towards a neutral position. Thanks to the arrangement described above, each of the two hydraulic connectors 5A is free not only to have limited movements in the x and y directions (allowed by the springs 13), but also to have a limited backward movement in the axial direction z, or even small rotations around the x and y axes, corresponding to different degrees of compression of the springs 24 associated with the guide rods 23.

Thanks to the arrangement described above, when the robot 2 carries the operating unit 3 into the position of coupling with the filling station, it commands an advancement of the operating unit 3 in the z direction, which firstly causes an engagement of the centering bushings 3X above the centering pins 8X. Following this engagement, any positioning inaccuracies of the hydraulic connectors 5A are accounted for thanks to the possibility of the plate 10 of floating in the x and y directions. The further advancement of the operating unit 3 along the z direction controlled by the robot 2 causes engagement of the hydraulic connectors 3A of the operating unit 3 within the respective hydraulic connectors 5A on the inner side of the stationary structure. This engagement occurs following the application of a certain pressure in the axial direction by the robot, which is supported by the floating support devices F1 , thanks to the possibility of the discs 19 of yielding in the axial direction, compressing the springs 24.

The hydraulic connectors 3A, 5A are of any type configured to couple one inside the other in order to give rise to a hydraulic communication. These connectors may be made in any known way. In the case of the example illustrated here, in accordance with a conventional technique, two electric actuators A1 , A2 are associated with each of the hydraulic connectors 5A, which are activated to cause rotation about the main coupling axis of the hydraulic connectors of locking elements (not visible in the drawings), which ensure the sealing coupling of the hydraulic connectors. These constructive details are not illustrated here since, as said, they can be made in any known way, and since, furthermore, their elimination from the drawings makes them more readily and easily understood.

With reference now again to Figure 5, as well as to Figure 14, the hydraulic connectors 5B arranged on the inner side of the stationary structure 5 are carried on the stationary structure by means of floating support devices F3, which only allow a limited axial movement in the direction z and small oscillations around the directions x and y to the respective hydraulic connector 5B. This result is obtained with a structure entirely identical to that described with reference to the support of the disc 22 by means of the guide pins 23 and the springs 24 (Figures 9A, 9B). The floating support device F3 is illustrated in Figures 11 A, 11 B. In these Figures, the parts common to those of Figures 9A and 9B are indicated by the same reference numbers. Also in this case, the hydraulic connectors 5B are associated with electric actuators A1 , A2 to control the rotation of sealed locking elements of the coupling between the hydraulic connectors 5B carried on the outer side of the stationary structure 5 and the hydraulic connectors 7B carried by the autonomous vehicles 7.

Thanks to the floating support devices F3, the two hydraulic connectors 5B carried on the outer side of the stationary structure 5 are able to absorb the axial thrust exerted by the hydraulic connectors 7B carried by the autonomous vehicles 7 when they advance towards the coupling position of the aforesaid hydraulic connectors.

With reference now to Figures 14 and 15A, 15B, the two hydraulic connectors 7B carried by the two autonomous vehicles 7 are supported by supports 25 mounted on the upper ends of the uprights 703 carried by the bodies 700 of the two vehicles 7. Each of the hydraulic connectors 7B is carried by the respective support 25 by means of a floating support device F4, which is structurally and functionally identical to the floating support device F2. In particular, each hydraulic connector 7B is carried by a plate 26, which is free to have small displacements in the x direction and in the y direction with respect to the respective support 25. To this end, in a similar way to what has been described with reference to the device F2, the plate 26 is mounted by means of a succession of two orthogonal slides above the cylindrical core 12 projecting from the support 25. Furthermore, the plate is biased towards a neutral position by three angularly equidistant springs, also indicated by 14, in a completely identical way to that described with reference to Figures 8A, 8B.

With reference to Figure 15A, each hydraulic connector 7B is also provided with an actuator A3 configured to control a mobile element (not illustrated), which secures the connector 7B in the condition of sealed coupling with the respective hydraulic connector 5B.

Again with reference to Figures 15A, 15B, in the case of the floating support device F4, a further degree of freedom is provided, since each support 25 is - in turn - mounted on the top of the respective upright 704 in a rotatable way around a vertical axis 25A, parallel to the y direction. The support 25, and consequently the respective hydraulic connector 7B, is therefore capable of performing small oscillating movements around the vertical axis, which are opposed by two helical springs 27 interposed between the body of the support 25 and two brackets 28 fixed on a top plate 29 of the upright 703.

Figure 12 of the attached drawings shows the frame of the stationary structure 5 in the case of the embodiment illustrated here. This frame includes the upright 6 secured to the floor which - at its upper end - supports a cylindrical body 500 facing the inside of the stationary structure to which the floating support device F2 is connected (see Figure 14). On the opposite side, at a lower height than the cylindrical body 500, a frame 501 protrudes from the upright 6, said frame bearing two centering bushings 9X configured to each receive a centering pin 7X with a tapered front head, of conical or ogive conformation (clearly visible in Figure 13 and only partially in Figure 15A).

Thanks to the arrangement described above, the autonomous vehicles 7 are able to move to positions adjacent to the outer side of the stationary structure 5 and to advance until the centering pins 7X are engaged in the centering bushings 9X arranged on the outer side of the stationary structure 5.

While the electronic control of the robot 2 ensures that the operating unit 3 can precisely position itself in the coupling position with the inner side of the stationary structure 5, the control of the autonomous vehicles 7 does not allow a very high precision in the position of such vehicles. It is, therefore, possible that the hydraulic connectors 7B are in a slightly offset position, or even in inclined directions, with respect to the axes of the hydraulic connectors 5B arranged on the outer side of the stationary structure 5. When, following the advancement of the two vehicles 7 towards the stationary structure 5, the engagement of the centering pins 7X in the centering bushings 9X is obtained, this engagement causes an adjustment movement of the hydraulic connectors 7B arranged on the vehicles, which is allowed by the respective floating support device F4. The possibility of rotation of the support 25 around the vertical axis also allows accommodation of a possible small inclination of the axis of the hydraulic connector 7B with respect to the axis of the hydraulic connector 5B intended to be coupled therewith. The axial thrust exerted by the vehicles 7 against the hydraulic connectors 5B arranged on the outer side of the stationary structure, necessary to obtain the complete coupling between the hydraulic connectors 7B and 5B, is absorbed by the floating support devices F3 associated with the hydraulic connectors 5B (Figure 14).

Of course, without prejudice to the principle of the invention, the details of construction and the embodiments may vary widely with respect to those described and illustrated purely by way of example, without departing from the scope of the present invention.

In particular, it is evident that although the illustrated example refers to the case of an operating unit 3 designed to dispense a two-component adhesive, it is entirely possible to provide an operating unit equipped with a single fluid accumulator containing a single mono-component fluid, in which case a single hydraulic connector 3A is provided on the operating unit 3, a single hydraulic connector 5A is provided on the inner side of the stationary structure 5; a single hydraulic connector 5B is provided on the outer side of the stationary structure 5, and the cell is served by a single vehicle equipped with a single hydraulic connector 7B communicating with a single reservoir of fluid.

It is clear that although the illustrated example refers to the case of an operating unit carried by a robot, nothing excludes that the operating unit 3 may be carried by any different type of machine. Furthermore, the refilling reservoir could also not be carried by an autonomous vehicle, but by any other device or transport system, even manually operated.

Finally, the floating support device used in the docking system of the invention, in any of the embodiments represented by the devices F1 , F2, F3 and F4, can be applied in any other system wherein a coupling between connectors is provided, and wherein it is necessary to ensure a certain degree of freedom of movement of one hydraulic connector with respect to the other in order to ensure correct coupling even when the structures that carry the two hydraulic connectors are not in a suitable position to obtain a correct coupling. The structure and configuration of the floating support device therefore constitutes an invention in itself.

Finally it is clear that the aforesaid stationary intermediate structure could be omitted, and a docking maneuver with direct coupling between the hydraulic connectors carried by the first operating unit and the second service unit can be provided.