# US 2024/0198536 A1 · Robot and automated guided vehicle combination for aluminum furnace operations > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 2024/0198536 A1 - Document ID: US20240198536A1 - Status: Published application - Kind: A1 - Application number: 18/595,145 - Filed: 2024-03-04 - Published: 2024-06-20 - Earliest claimed: 2018-04-23 - Applicants: Dynamic Concept - Inventors: Patrice COTE; Jean-Francois DESMEULES; Jean-Benoit NERON - Web page: https://patentgrep.com/patent/US20240198536A1 ## CPC - B25J 9/1697: {Vision controlled systems} - B25J 5/007: {mounted on wheels} - B25J 9/0009: {Constructional details, e.g. manipulator supports, bases} - B25J 9/04: by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type - B25J 13/087: {for sensing other physical parameters, e.g. electrical or chemical properties} - B25J 13/089: {Determining the position of the robot with reference to its environment} - B25J 15/0019: {End effectors other than grippers} - B25J 18/025: {telescopic} - B25J 19/0045: {Contactless power transmission, e.g. by magnetic induction} - B25J 19/005: {using batteries, e.g. as a back-up power source} - B25J 19/0054: {Cooling means} - B25J 19/023: {including video camera means} - B66F 9/063: {Automatically guided} - G05D 1/0214: {in accordance with safety or protection criteria, e.g. avoiding hazardous areas (monitoring the location of vehicles within a certain area, e.g. forbidden or allowed areas, in traffic control systems for road vehicles G08G1/13)} - H02J 50/10: using inductive coupling - 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 - H02J: ELECTRIC POWER NETWORKS; CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY ## Abstract A displaceable robot for performing operations using a tool near a high temperature furnace containing molten metal, wherein the robot is displaceable using a vehicle. The robot comprising: a frame having a ground interface for coming into contact with a ground surface while defining a clearance under a portion of the frame for engaging with the vehicle to displace the robot about the furnace when the ground interface is off the ground; an arm mounted to the frame, the arm comprising an end effector which is adapted for mounting the tool; a sensor for collecting at least one of exteroceptive data in a vicinity of the robot and proprioceptive data from the robot; and a controller receiving the collected data from the sensor and controlling a movement of at least the arm based on the collected data. ## Claims ### Claim 1 A displaceable robot for performing operations using a tool near a high temperature furnace containing molten metal, wherein the robot is displaceable using a vehicle, the robot comprising: a frame having a ground interface for coming into contact with a ground surface while defining a clearance under a portion of the frame for engaging with the vehicle to displace the robot about the furnace when the ground interface is off the ground; an arm mounted to the frame, the arm comprising an end effector which is adapted for mounting the tool; a sensor for collecting at least one of exteroceptive data in a vicinity of the robot and proprioceptive data from the robot; and a controller receiving the collected data from the sensor and controlling a movement of at least the arm based on the collected data. ### Claim 2 (depends on 1) The robot of claim 1, wherein the sensor comprises an image-capturing sensor mounted on the frame distant from the end effector, wherein the image-capturing sensor collects data regarding at least one of a position of the end effector and a content of the furnace. ### Claim 3 (depends on 1, 2) The robot of claim 1 or 2, wherein the robot operates according to temperature conditions, wherein the sensor is mounted to the arm about the end effector, and wherein the sensor collects temperature data to determine whether temperature conditions remain within operating parameters of the robot. ### Claim 4 (depends on 1, 2, 3) The robot of any one of claims 1 to 3, further comprising a cooling system, wherein the cooling system cools down components of the robot. ### Claim 5 (depends on 4) The robot of claim 4, wherein the cooling system comprises: an air inlet away from the end effector; a compressor connected to the air inlet and compressing air collected through the air inlet and an outlet connected to the compressor and exhausting compressed air about a component of the robot to be cooled down. ### Claim 6 (depends on 1, 2, 3, 4, 5) The robot of any one of claims 1 to 5, further comprising a driving assembly driving the arm and hence the end effector along a trajectory; and wherein the outlet exhausts compressed air about at least one of the controller, the sensor, the tool, the end effector and the driving assembly. ### Claim 7 (depends on 1, 2, 3, 4, 5, 6) The robot of any one of claims 1 to 6, wherein the ground interface comprises feet supporting the frame above ground and wherein the robot comprises feet driving means for vertically extending and contracting the feet thereby respectively raising and lowering the frame, wherein the controller, by controlling the feet driving means, controls a height of the clearance. ### Claim 8 (depends on 1, 2, 3, 4, 5, 6, 7) The robot of any one of claims 1 to 7, wherein the frame comprises an underface facing the clearance and adapted for contacting the vehicle when displacing the robot. ### Claim 9 (depends on 8) The robot of claim 8, further comprising an induction charger about the underface. ### Claim 10 (depends on 1, 2, 3, 4, 5, 6, 7, 8, 9) The robot of any one of claims 1 to 9, wherein the ground interface comprises feet supporting the frame above ground, wherein the feet are distant from each other relative to a first orientation, with the clearance extending between the feet. ### Claim 11 (depends on 10) The robot of claim 10, further comprising battery cells powering at least one of the arm, the controller and the sensor, wherein the robot comprises a cabinet extending at least below a center of gravity of the frame about at least one of the feet and housing at least one of the battery cells and the controller. ### Claim 12 (depends on 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11) The robot of any one of claims 1 to 11, wherein the arm comprises at least two segments longitudinally extendable relative to each other, whereby the end effector is able to extend toward the furnace along a straight path. ### Claim 13 A system for performing operations using a tool near a high temperature furnace containing molten metal, the system comprising: an Automated Guided Vehicle (AGV) comprising a navigation system controlling displacement of the AGV; and a robot comprising: a frame defining a clearance about which the AGV engages with the robot for displacing the robot along with the AGV; an arm mounted to the frame, the arm comprising an end effector which is adapted for mounting the tool; a controller determining displacement of the end effector along a trajectory, thereby displacing the tool during operations near the high temperature furnace; wherein the AGV and the robot perform their respective operations independently from each other. ### Claim 14 (depends on 13) The system of claim 13, wherein the robot comprises an underface facing the clearance and the AGV comprises a platform contacting the underface for displacing the robot. ### Claim 15 (depends on 13, 14) The system of claim 13 or 14, wherein the robot and the AGV comprise electrical charge exchange components for exchanging electrical power without contacting each other when the AGV is engaged in the clearance. ### Claim 16 (depends on 13, 14, 15) The system of any one of claims 13 to 15, wherein at least one of the robot and the AGV comprises a lifting means for controllably engaging contact between the robot and the AGV. ### Claim 17 (depends on 13, 14, 15, 16) The system of any one of claims 13 to 16, wherein the robot comprises a thermo-sensor mounted to the arm about the end effector, wherein the thermo-sensor collects temperature data. ### Claim 18 (depends on 13, 14, 15, 16, 17) The system of any one of claims 13 to 17, wherein the robot comprises an image-capturing sensor mounted on the frame distant from the end effector, wherein the image-capturing sensor collects data regarding at least one of a position of the end effector and a content of the furnace. ### Claim 19 (depends on 13, 14, 15, 16, 17, 18) The system of any one of claims 13 to 18, wherein the robot comprises feet that are distant from each other relative to a first orientation, with the clearance extending between the feet. ### Claim 20 (depends on 19) The system of claim 19, wherein the robot comprises a sensor for collecting data from at least an area surrounding the arm and the system further comprises battery cells powering at least one of the arm, the controller and the sensor, wherein the robot comprises a cabinet extending at least below a center of gravity of the frame about at least one of the feet and housing at least one of the battery cells and the controller. ### Claim 21 (depends on 13, 14, 15) The system of any one of claims 13 to 15, wherein the arm of the robot comprises at least two segments longitudinally extendable relative each other, whereby the end effector is able to extend toward the furnace along a straight path.