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US 11,691,470 B2Granted
System and method for an autonomous robot drivetrain with an actuated bogie
AssigneeCartken Inc.
InventorsJake Stelman, Marc Thomas, Jonas Witt, Christian Bersch, Jason Hardy
Life of this patent
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Abstract
The present invention relates to a novel robot drive train that is robust, and low cost. The drive train is capable of ascending obstacles greater than the height of its wheels, protects the robot against shocks/vibration, and is highly maneuverable, such as able to execute a zero-point turn. To control the bogie in a variety of scenarios, a novel mechanism is used to selectively limit the articulation range of the bogie and/or programmatically apply a preload to the bogie axle.
Claims20
A system to actuate wheels on a vehicle, comprising:
- a bogie having a first end and a second end, the bogie rotatable about a pivot location between the first end and the second end;
- a first wheel mounted to the first end of the bogie;
- a second wheel mounted to the second end of the bogie;
- a first linear actuator coupled to a first endstop, the first linear actuator capable of deploying and retracting the first endstop, the first endstop configured to apply pressure to the bogie at a first location when deployed by the first linear actuator;
- a second linear actuator coupled to a second endstop, the second linear actuator capable of deploying and retracting the second endstop, the second endstop configured to apply pressure to the bogie at a second location when deployed by the second linear actuator, and
- a locking mechanism configured to hold the first endstop or the second endstop in a deployed position,
- wherein the first endstop and the second endstop are independently deployed and retracted,
- wherein the first end is prevented from moving in an upward direction when the first endstop is deployed, and
- wherein the second end is prevented from moving in an upward direction when the second endstop is deployed.
6 more elements
A system to actuate wheels on a vehicle, comprising:
- a bogie having a first end and a second end, the bogie rotatable about a pivot location between the first end and the second end;
- a first wheel mounted to the first end of the bogie;
- a second wheel mounted to the second end of the bogie;
- a first linear actuator coupled to a first endstop, the first endstop configured to apply pressure to the bogie at a first location when deployed by the first linear actuator;
- a second linear actuator coupled to a second endstop, the second endstop configured to apply pressure to the bogie at a second location when deployed by the second linear actuator, and
- a locking mechanism configured to hold the first endstop or the second endstop in a deployed position,
- wherein the first linear actuator is configured to partially retract the first endstop and fully retract the first endstop, and
- wherein the second linear actuator is configured to partially retract the second endstop and fully retract the second endstop.
5 more elements
A system to actuate wheels on a vehicle, comprising:
- a bogie having a first end and a second end, the bogie rotatable about a pivot location between the first end and the second end;
- a first wheel mounted to the first end of the bogie;
- a second wheel mounted to the second end of the bogie;
- a first linear actuator coupled to a first endstop, the first linear actuator capable of deploying and retracting the first endstop, the first endstop configured to apply pressure to the bogie at a first location when deployed by the first linear actuator;
- a second linear actuator coupled to a second endstop, the second linear actuator capable of deploying and retracting the second endstop, the second endstop configured to apply pressure to the bogie at a second location when deployed by the second linear actuator, and
- a locking mechanism configured to hold the first endstop or the second endstop in a deployed position,
- wherein the first linear actuator and second linear actuator are configured to independently operate.
4 more elements
Dependencies are inferred from the claim text.