# US 11,897,126 B2 · System for connecting an autonomous mobile robot > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 11,897,126 B2 - Document ID: US11897126B2 - Status: Granted - Kind: B2 - Application number: 16/649,718 - Filed: 2018-09-28 - Published: 2020-08-13 - Granted: 2024-02-13 - Earliest claimed: 2017-09-29 - Assignees: Roeq ApS - Applicants: Roeq Aps - Inventors: Michael Ejstrup Hansen; Benedikt Snævar Sigurgeirsson Lund; Carsten Sørensen - Web page: https://patentgrep.com/patent/US11897126B2 ## CPC - B25J 9/0009: {Constructional details, e.g. manipulator supports, bases} - B66F 9/063: {Automatically guided} - B25J 9/12: electric - B25J 11/008: {Manipulators for service tasks} - G05D 1/661: Docking at a base station (delivering or retrieving payloads G05D1/667) - B25J 5/007: {mounted on wheels} - G05D 2105/28: of freight - G05D 2107/70: Industrial sites, e.g. warehouses or factories - G05D 2109/10: Land vehicles - B25J: MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES ({manipulators specially adapted for use in surgery A61B34/70; manipulators used in cleaning hollow articles B08B9/04}; manipulators associated with rolling mills B21B39/20; manipulators associated with forging machines B21J13/10; {manipulators associated with picking-up and placing mechanisms B23P19/007}; means for holding wheels or parts thereof B60B30/00; {vehicles with ground-engaging propulsion means, e.g. walking members B62D57/02, B62D57/032; devices for picking-up and depositing articles or materials between conveyors B65G47/90, B65G47/91; manipulators with gripping or holding means for transferring packages B65H67/065}; cranes B66C; {manipulators used in the protection or supervision of pipe-line installations F17D5/00; walking equipment adapted for nuclear steam-generators F22B37/006}; manipulators specially adapted for, or associated with, nuclear reactors G21C; {apparatus used for handling wafers during manufacture or treatment of semiconductor H10P72/50}) - B66F: HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD ({invalid lifting devices A61G7/10; } mounting artificial islands on piles or like supports E02B17/00; scaffolding combined with lifting devices E04G1/22; lifting devices for sliding forms E04G11/24; lifting of buildings E04G23/06; shores or struts E04G25/00; lifts or other hoisting devices on ladders E06C7/12; props for mining E21D15/00) - G05D: SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES ## Abstract A module (200) for connecting a mobile robot (110) to associated equipment (400) is provided, as well as to a device (700, 800) for connecting equipment to a docking station (900, 1000). The module (200) has a housing (210) defining the exterior of said module (200). The module (200) comprises a plurality of locking members (220a, 220b, 220c, 220d) each being moveable between an idle position, in which the locking member (220a, 220b, 220c, 220d) is arranged fully within said housing (210), and a projecting position, in which at least a part of the locking member (220a, 220b, 220c, 220d) is extending outside the housing (210). ## Claims ### Claim 1 A top module for connecting a mobile robot to associated equipment for transport of goods, said top module having a housing defining the exterior of said module, wherein the top module is configured to be securely attached to an upper end of the mobile robot, and wherein the top module comprises a plurality of locking members each being moveable between an idle position, in which the locking member is arranged fully within said housing, and a projecting position, in which at least a part of the locking member extends outside the housing, wherein at least one locking member forms an actuator for a locking device of an associated equipment. ### Claim 2 (depends on 1) The top module according to claim 1, wherein each locking member is movable in a horizontal plane. ### Claim 3 (depends on 1) The top module according to claim 1, comprising a first pair of locking members being arranged to project out from a first side (s1) of the housing, and a second pair of locking members being arranged to project out from a second, opposite, side (s2) of the housing. ### Claim 4 (depends on 1) The top module according to claim 1, comprising a bottom part (mb) and an upper part (mu), said bottom part (mb) being configured to be securely attached to an upper end of the mobile robot, and wherein said locking members are arranged in the upper part of said top module, wherein the upper part includes a portion including or attachable to an upper support surface configured to support said goods. ### Claim 5 (depends on 4) The top module according to claim 4, wherein the bottom part of said module further comprises a lifting device being configured to move the upper part (mu) relative the bottom part (mb) in the vertical direction. ### Claim 6 (depends on 5) The top module according to claim 5, wherein the lifting device comprises at least one wedge-shaped member in cooperation with a moving member, such that vertical motion is accomplished by relative horizontal movement between the wedge-shaped member and the moving member. ### Claim 7 (depends on 5) The top module according to claim 5, wherein the housing has a rectangular shape, and wherein a lifting device is positioned in each corner of the housing. ### Claim 8 (depends on 1) The top module according to claim 1, further comprising a drive configured to move the respective locking member between the idle position and the projecting position. ### Claim 9 (depends on 8) The top module according to claim 8, wherein the top module is provided as a stand-alone unit to be mounted to the mobile robot. ### Claim 10 (depends on 1) An autonomous mobile robot, comprising the top module according to claim 1. ### Claim 11 (depends on 10) The mobile robot according to claim 10, wherein the top module is integrated with said robot. ### Claim 12 (depends on 10) A system, comprising the mobile robot according to claim 10, a docking station, and a cart or a rack. ### Claim 13 A top module for connecting a mobile robot to associated equipment for transport of goods, said top module having a housing defining the exterior of said module, wherein the top module is configured to be securely attached to an upper end of the mobile robot, and wherein the top module comprises a plurality of locking members each being moveable between an idle position, in which the locking member is arranged fully within said housing, and a projecting position, in which at least a part of the locking member extends outside the housing, wherein the top module further comprises a bottom part and an upper part, said bottom part being configured to be securely attached to an upper end of the mobile robot, wherein said locking members are arranged in the upper part of said top module, and wherein the upper part includes a portion including or attachable to an upper support surface configured to support said goods, and wherein the bottom part of said module further comprises a lifting device configured to move the upper part relative the bottom part in the vertical direction. ### Claim 14 A top module for connecting a mobile robot to associated equipment for transport of goods, said top module having a housing defining the exterior of said module, wherein: the top module is configured to be securely attached to an upper end of the mobile robot, and wherein the top module comprises a plurality of locking members each being moveable between an idle position, in which the locking member is arranged fully within said housing, and a projecting position, in which at least a part of the locking member extends outside the housing, wherein the top module further comprises a drive configured to move the respective locking member between the idle position and the projecting position. ### Claim 15 (depends on 14) The top module according to claim 14, wherein the top module is provided as a stand-alone unit to be mounted to the mobile robot.