Patent ID: 9254878
Filing Date: 2016-02-09
CPC Classification: B25J,B62D

Claim Text:
1. A mobile robot comprising: an omnidirectional wheeled support vehicle having a plurality of driven omnidirectional wheels configured to move the support vehicle over a surface; a robot arm assembly including a plurality of successively disposed links and controlled drives for moving the links, at least a portion of the robot arm assembly being rotatable about a vertical axis and at least one of the links being rotatable about a horizontal axis; and a positioning device supported on the support vehicle and configured to be controlled to automatically move the entire robot arm assembly in at least one or both of a vertical direction and a horizontal direction relative to the support vehicle, wherein the positioning device includes at least a vertically-movable device configured to be movable in the vertical direction and a horizontally-movable device configured to be movable in the horizontal direction, the horizontally-movable device including at least one horizontal rail supported on the vertically-movable device, and wherein the robot arm assembly is mounted on the at least one horizontal rail and is configured to move along the horizontal rail in at least the horizontal direction.