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Robot arrangement

  • US 9,149,927 B2
  • Filed: 02/26/2013
  • Issued: 10/06/2015
  • Est. Priority Date: 02/27/2012
  • Status: Expired due to Fees
First Claim
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1. A robot system comprising:

  • a movable, programmable robot comprising a plurality of links and a plurality of axes of motion and including a robot drive for movement of the links relative to each other;

    a movable, steerable and drivable carrying device supporting the robot for movement of the robot multidirectionally relative to a support or foundation, the carrying device comprising a plurality of freely rotatable wheels and at least one freely swivelable and freely rotatable wheel allowing the carrying device to move multidirectionally;

    a robot arrangement drive comprising the robot drive, a support device, that can be gripped by the robot, and one or more of the plurality of links whereby the robot arrangement is self propelling and the robot arrangement is driven by a motion of the robot including by a displacing motion of an end link of the robot;

    an external counterforce support at the support or foundation or reference site, wherein the robot causes the support device to mesh with the external counterforce support at the support or foundation or reference site to move or position the carrying device; and

    a robot control configured to control the movement of the links relative to each other to actuate the robot arrangement drive for moving the carrying device and the robot, wherein the counterforce support has a plurality of stationary openings or pins disposed in a two dimensional pattern over a region of the counterforce support, corresponding to positioned reference points, whereby the support device meshes with the openings or pins of the external counterforce support by at least a portion of the support device extending into one of the openings, or engaging one of the pins.

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