Mobile picking robot with coupled arm joint axes of rotation of the robot arm

摘要

The invention relates to a mobile picking robot (1) for automatic picking of objects with a vertically oriented lifting mast (3) and a vertically movably mounted, horizontally oriented robot arm (R) with a plurality of arm elements (a1, a2, a3) arranged next to each other, which are provided by arm joints with vertical arm pivot axes (A1, A2), wherein the last arranged at the outer end of the arm element (a3) is connected via a wrist with vertical wrist pivot axis (A3) with a receiving tool (G) for receiving the objects. It is proposed that the arm pivot axes (A1, A2) have a coupled arm drive with individual rotary drive ratios and directions of rotation chosen so that, when rotated about the arm pivot axes (A1, A2), a horizontal linear motion of the wrist is achieved Ejection / insertion movement of the robot arm (R) is generated.