| CPC G05D 1/0297 (2013.01) [B25J 5/007 (2013.01); B25J 9/162 (2013.01); B60L 15/20 (2013.01); B60L 50/66 (2019.02); B60L 53/22 (2019.02)] | 23 Claims |
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1. An autonomous mobile vehicle comprising:
an automatic guided vehicle (AGV) having a base, a motor coupled to the base, a wheel driven by the motor for moving the AGV, a battery coupled to the motor to power the motor, and an AGV controller for controlling movement of the AGV; and
a platform assembly coupled to the base of the AGV and moved with the AGV, the platform assembly including a frame having walls enclosing and defining a cavity, the platform assembly including a support plate supported by the frame configured to support a collaborative manipulator, the platform assembly including a collaborative manipulator controller received in the cavity configured to be operably coupled to the collaborative manipulator to actuate the collaborative manipulator in accordance with a control scheme, the platform assembly including a safety controller received in the cavity, the safety controller being electrically coupled to the battery of the AGV to control a power supply to the collaborative manipulator controller, wherein the safety controller includes a safety controller box separate and discrete from the walls of the frame, the safety controller box having a chamber, the safety controller box being located in the cavity and surrounded by the walls of the frame such that the safety controller box is enclosed by the frame and inaccessible in the cavity through the walls, the safety controller including a safety relay in the chamber enclosed by the safety controller box and coupled to the power supply and configured to open and close a circuit, the safety controller including a circuit breaker in the chamber enclosed by the safety controller box and coupled to the power supply, the safety controller including a wireless communication module in the chamber enclosed by the safety controller box and coupled to the safety relay and communicatively coupled to a system control module, the system control module having a controller to control operation of the collaborative manipulator controller, and
wherein the platform assembly includes a tray slidably coupled to the frame to move the tray into and out of the cavity in a linear sliding direction, the safety controller being mounted to the tray to slide into and out of the cavity with the tray, the tray moving the safety controller into and out of the cavity with the tray to access the components of the safety controller when the tray is slid out of the cavity, the platform assembly including a door closing the cavity to enclose the tray in the cavity when the door is closed to restrict access to the components of the safety controller when the door is closed, wherein the tray is movable out of the cavity when the door is open.
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