Patent ID: 8161887

Claim:
A system for moving and stabilizing a mobile base, which mobile base is part of a robotic handling unit ( 100 ) for moving objects in an automated shop or an automated warehouse ( 200 ) containing a plurality of storage units ( 201 ) for storing the objects, the mobile base having a platform ( 11 ) which supports devices for recognizing and handling the objects, the system comprising: at least one modular linear guide element ( 5 ), which is mounted on a support surface ( 202 ) of the automated shop or the automated warehouse ( 200 ), and which guides the mobile base ( 10 ) along an operating trajectory which tracks with the plurality of storage units ( 201 ); at least one rotatable shunting element ( 6 ), arranged on the support surface ( 202 ) at an end of the at least one modular linear guide element ( 5 ) and designed to reciprocally connect the at least one modular linear guide element with two or more additional linear guide elements ( 5 ), each additional linear guide element arranged at a predetermined angle relative to one another, the at least one rotatable shunting element receiving the mobile base thereon and being rotatably alignable with a selected linear guide element in order to shunt the mobile base ( 10 ) between the at least one modular linear guide element and the selected one of the two or more additional linear guide elements ( 5 ), or to enable the mobile base ( 10 ) to newly engage the at least one modular linear guide element at a different orientation thereto; traction and positional control organs ( 20 ), arranged in a lower part of the mobile base ( 10 ), which convey the mobile base ( 10 ) along the linear guide elements ( 5 ) and the shunting element ( 6 ), for positioning the mobile base ( 10 ); stabilizer devices ( 30 ), arranged peripherally in a lower part of the mobile base ( 10 ), which stabilize the position thereof during handling of the object by the robotic handling unit ( 100 ); the mobile base ( 10 ) and shunting element ( 6 ) being controlled by a computerized control unit, which controls the positioning and stabilization of the mobile base according to operating requirements of the automated shop or the automated warehouse; and, wherein each linear guide element ( 5 ) has a structural plane ( 51 ) which is mounted on the support surface ( 202 ), providing the mobile base ( 10 ) with a substantially level surface on which to move, the structural plate providing a support surface for the stabilizer devices ( 30 ), each linear guide element having a monorail profile ( 55 ), which is longitudinally mounted on the structural plane ( 51 ), the monorail profile guiding the mobile base ( 10 ) in a movement direction thereof.