# US 8,464,820 B2 · Air cushion platform for carrying a manipulator arm and movable robot > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 8,464,820 B2 - Document ID: US8464820B2 - Status: Granted - Kind: B2 - Application number: 13/055,404 - Filed: 2009-07-22 - Published: 2011-07-21 - Granted: 2013-06-18 - Earliest claimed: 2008-07-22 - Assignees: Robotics Technology Leaders GmbH - Applicants: Stefan Riesner - Inventors: Stefan Riesner - Web page: https://patentgrep.com/patent/US8464820B2 ## CPC - B25J 5/007: {mounted on wheels} - 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}) ## Abstract An air cushion platform for carrying a manipulator arm, having a base, on the bottom side of which an air cushion system is attached for lifting the base from a standing position into a moving position above a bottom. At least one actuator device is mounted on the base, which actuator device is optionally in constant contact with the bottom in order to move the base at the bottom. A controller is connected to the air cushion system and the at least one actuator device in order to actuate the actuator device only if the air cushion platform is located in a moving position. A moveable robot is provided, particularly for the controlled guiding of a tool. The moveable robot has an air cushion platform, a foundation mounted on the air cushion platform and moveably supported thereby, and a manipulator arm having one end section that is attached to the foundation and another end that carries a tool. ## Claims ### Claim 1 An air cushion platform for carrying a manipulator arm having: a base; an air cushion system attached on a bottom side of the base for lifting the base above a floor, at least one actuator device fastened on the base, the at least one actuator device being selectively in constant contact with the floor in order to move the base on the floor, and a controller which is connected to the air cushion system and the at least one actuator device, in order to actuate the at least one actuator device only when the air cushion platform is located in a moving position, wherein the at least one actuator device comprises a motor device which is mounted on the base so that the motor device can be displaced vertically by means of a sliding guide. ### Claim 2 (depends on 1) The air cushion platform as claimed in claim 1, wherein the air cushion system comprises a pallet with a single air cushion or an air cushion system with a plurality of air cushions connected to one another. ### Claim 3 (depends on 1) The air cushion platform as claimed in claim 1, wherein the sliding guide comprises: a fastening bracket with a first arm and a second arm which is being perpendicular to the first arm and the first arm being suited for fastening the sliding guide to the base, a rail element which is connected to the second arm of the fastening bracket, and a carriage which is mounted in sliding fashion on the rail element and which is connected to the motor device. ### Claim 4 (depends on 1) The air cushion platform as claimed in claim 1, wherein the motor device comprises: a direct-current geared motor which is designed as a servo motor and has an encoder, and at least one driving wheel which is connected to a motor shaft of the direct-current geared motor and is in constant contact with the floor via an actuator device fastened to the base. ### Claim 5 (depends on 4) The air cushion platform as claimed in claim 4, wherein the motor device has a wheel housing and a motor protecting bracket to protect the at least one driving wheel and the motor. ### Claim 6 (depends on 4) The air cushion platform as claimed in claim 4, wherein the at least one driving wheel corresponds to a pair of omni wheels. ### Claim 7 (depends on 6) The air cushion platform as claimed claim 6, wherein the at least one actuator device includes three actuator devices arranged on the base in a circle and being provided at an angle of 120° to one another, a common point of intersection of the three motor shafts of the motor devices being an approximate center of gravity of the entire system. ### Claim 8 (depends on 1) The air cushion platform as claimed in claim 1, further comprising sensors for position detection. ### Claim 9 (depends on 1) The air cushion platform as claimed in claim 1, wherein the motor device is mounted rotatbly or pivotably on the sliding guide.