Mobile Robot

• US 20130226340A1
• Filed: 02/22/2013
• Published: 08/29/2013
• Est. Priority Date: 02/23/2012
• Status: Active Grant

• Current Assignee: KUKA Roboter GmbH (Midea Group Co., Ltd)
• Original Assignee: KUKA Roboter GmbH (Midea Group Co., Ltd)
• Inventors: Buchstab, Alois
• Granted Patent: US 9,254,878 B2
• Time in Patent Office: Days
• US Class Current: 700/245
• CPC Class Codes: B25J 5/007 mounted on wheels
• CPC Class Codes: B25J 5/02 travelling along a guideway
• CPC Class Codes: B25J 5/04 wherein the guideway is also moved, e.g. travelling crane bridge type
• CPC Class Codes: B25J 9/026 Gantry-type
• CPC Class Codes: B62D 57/00 Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track sledges B62B; motor sledges B62M

Abstract

The invention relates to a mobile robot, exhibiting

• • an omnidirectional wheeled support vehicle (1) having numerous omnidirectional wheels (13) and drives for driving the omnidirectional wheels (13),
  • a robot arm (2), exhibiting numerous, successively disposed links (3-7) and drives for moving the links (3-7), and
  • a positioning device (17), designed to position the robot arm (2), which can be automatically moved on the support vehicle (1), in relation to the support vehicle (1), and a drive dedicated to the positioning device (17) for moving the robot arm (2) in relation to the support vehicle (1).

Claims

1. A mobile robot, exhibiting:

an omnidirectional wheeled support vehicle having numerous omnidirectional wheels and drives for driving the omnidirectional wheels,

a robot arm, exhibiting numerous, successively disposed links and drives for moving the links, and

a positioning device, designed to position the robot arm, which can be automatically moved on the support vehicle, in relation to the support vehicle, and a drive dedicated to the positioning device for moving the robot arm in relation to the support vehicle.

2. The mobile robot according to claim 1, in which the positioning device is designed to move the robot arm in a vertical and/or horizontal plane.

3. The mobile robot according to claim 1, in which the positioning device exhibits at least one longitudinal rail attached to the support vehicle, on which the robot arm is mounted such that it can be moved linearly.

4. The mobile robot according to claim 1, in which the omnidirectional wheels are Mecanum wheels.

5. The mobile robot according to claim 1, exhibiting a lifting device, which is designed to lift the support vehicle such that the omnidirectional wheels are relieved of the net weight of the mobile robot, at least to a large extent, or entirely, and drives for moving the lifting device.

6. The mobile robot according to claim 5, in which the lifting device exhibits at least three, in particular, four automatically adjustable support legs and drives for raising and lowering the support legs.

7. The mobile robot according to claim 5, in which the robot arm exhibits a frame connected to the positioning device, and the mobile robot exhibits a lift-control device, which is configured to control the drive for the lifting device, in particular the drive for the support legs in such a manner that the support vehicle is oriented such that the frame of the robot arm assumes a predetermined orientation in space.

8. The mobile robot according to claim 1, exhibiting:

at least one omnidirectional wheeled support vehicle having omnidirectional wheels and drives for driving the omnidirectional wheels,

at least one additional omnidirectional wheeled support vehicle having numerous omnidirectional wheels and drives for driving the omnidirectional wheels, and

one support bridge rigidly connecting the support vehicle to the additional support vehicle, which carries the positioning device and/or the robot arm.

9. The mobile robot according to claim 8, in which the positioning device is attached to the support bridge, and an additional positioning device is provided, supported on the positioning device such that it can be automatically moved, wherein the additional positioning device is designed to support the robot arm in relation to the support device such that it can be moved automatically.

10. The mobile robot according to claim 9, in which the positioning device is designed to move the additional positioning device in a horizontal plane, in particular, in a linear manner.

11. The mobile robot according to claim 9, in which the additional positioning device is designed to move the robot arm in a vertical plane, in particular, in a linear manner.

12. The mobile robot according to claim 1, exhibiting at least one lithium-ion battery, which is configured to supply the drives for the support vehicle, the robot arm, the positioning devices, the lifting device, the control device, the additional control device, and/or the lift-control device with electric energy.