Self-propelled robot and article delivery system provided with the self-propelled robot

Patent metadata

Field	Value
Publication number	US-12508970-B2
Application number	US-202118033894-A
Country	US
Kind code	B2
Filing date	Oct 29, 2021
Priority date	Oct 30, 2020
Publication date	Dec 30, 2025
Grant date	Dec 30, 2025

Abstract

A self-propelled robot includes a travel cart, a base part provided to an upper part of the travel cart and swivelable on a first rotation axis extending vertically, and a pair of robotic arms coupled to the base part at base-end parts, respectively. Each of the pair of robotic arms has a first link and a second link coupled at a base-end part to a tip-end part of the first link via a joint part. Base-end parts of the pair of first links are coupled to the base part so that the base-end parts are coaxially pivotable on a second rotation axis extending horizontally, and the base-end parts oppose to each other via the base part. The base-end parts of the pair of second links are coupled to side parts of the tip-end parts of the corresponding first links, on the opposing sides of the pair of first links.

First claim

The invention claimed is:

1 . A self-propelled robot, comprising:
a travel cart; a base part provided to an upper part of the travel cart and swivelable on a first rotation axis extending vertically; and a pair of robotic arms coupled to the base part at base-end parts, respectively, wherein each of the pair of robotic arms has a first link and a second link coupled at a base-end part to a tip-end part of the first link via a joint part, wherein base-end parts of the pair of first links are coupled to the base part so that the base-end parts are coaxially pivotable on a second rotation axis extending horizontally, and the base-end parts oppose to each other via the base part, the base-end parts of the pair of second links are coupled to side parts of the tip-end parts of the corresponding first links on opposing sides of the pair of first links, the pair of robotic arms are configured to collaboratively convey an article, the self-propelled robot further comprises a storing container provided to the travel cart and configured to store the article, an opening is formed in at least an upper part of the storing container, the self-propelled robot is configured to switch between an article conveying state in which the pair of robotic arms collaboratively convey the article, and a retracted state in which the pair of robotic arms are located on the travel cart to reduce the size of the self-propelled robot, and the entire center of gravity of the self-propelled robot and the article is located in a center part of the self-propelled robot by changing a posture of the pair of robotic arms in the retracted state according to a weight of the article stored in the storing container.

2 . The self-propelled robot of claim 1 , wherein the joint part intervening between the first link and the second link rotates the second link with respect to the first link on a third rotation axis extending horizontally, and rotates the second link with respect to the first link on a fourth rotation axis perpendicular to the third rotation axis.

3 . The self-propelled robot of claim 1 , further comprising robot hands provided to tip ends of the pair of robotic arms, respectively,
wherein the storing container is provided in front of or behind the travel cart, and wherein, by the pair of first links rotating on the second rotation axis, the pair of robot hands are movable between a position inside the storing container, and a position located on the opposite side from the storing container with respect to the travel cart and located beyond the travel cart.

4 . The self-propelled robot of claim 1 , further comprising outriggers provided to the travel cart and configured to be extendable and contractible in a direction projecting from the travel cart when seen from above.

5 . The self-propelled robot of claim 1 , further comprising:
a rechargeable battery configured to store electric power for driving at least one of the travel cart, the base part, and the pair of robotic arms; and a receiving part of a wireless charging apparatus configured to charge the rechargeable battery, the receiving part being provided to an upper part of the base part.

6 . An article delivery system, comprising:
a self-propelled robot, comprising:
a travel cart;
a base part provided to an upper part of the travel cart and swivelable on a first rotation axis extending vertically; and
a pair of robotic arms coupled to the base part at base-end parts, respectively,
wherein each of the pair of robotic arms has a first link and a second link coupled at a base-end part to a tip-end part of the first link via a joint part, wherein
base-end parts of the pair of first links are coupled to the base part so that the base-end parts are coaxially pivotable on a second rotation axis extending horizontally, and the base-end parts oppose to each other via the base part, and
the base-end parts of the pair of second links are coupled to side parts of the tip-end parts of the corresponding first links on opposing sides of the pair of first links; and
an unmanned aerial vehicle configured to attach the self-propelled robot underneath thereof, or store the self-propelled robot therein.

Assignees

• Kawasaki Heavy Ind Ltd

Inventors

• Hashimoto Yasuhiko

Classifications

• B64U2101/64

  for parcel delivery or retrieval · CPC title

• B64U10/20

  Vertical take-off and landing [VTOL] aircraft (flying platforms B64U10/13; helicopters B64U10/17) · CPC title

• B60P3/007

  for delivery of small articles, e.g. milk, frozen articles · CPC title

• B64U10/14

  with four distinct rotor axes, e.g. quadcopters · CPC title

• B64U2101/60

  for transporting passengers; for transporting goods other than weapons · CPC title