Load-Centering Apparatus Including Force Regulated Drive Assembly

A load-centering apparatus comprising:

• a frame;
• a first load-engagement-arm assembly supported by the frame and comprising a first load engager;
• a second load-engagement-arm assembly supported by the frame and comprising a second load engager;
• and
• a drive assembly operably connected to the first and second load-engagement arm assemblies and configured to move the first and second load engagers toward and away from one another, the drive assembly comprising:
• a first drive shaft:
• a second drive shaft operably coupled to the first and second load-engagement-arm assemblies;
• a torque-absorbing coupler coupling the second drive shaft to the first drive shaft and comprising a torque absorber;
• and
• a motor operably connected to the first drive shaft to apply a drive torque to the first drive shaft;
• a first position sensor operable to monitor rotation of the first drive shaft;
• a second position sensor operable to monitor rotation of the second drive shaft;
• and
• a controller communicatively connectable to the motor, the first position sensor, and the second position sensor, and configured to:
• determine an offset in a rotational position of the second drive shaft relative to a rotational position of the first drive shaft based on first data received from the first position sensor and second data received from the second position sensor, and
• responsive to determining that the offset exceeds a threshold offset, control the drive assembly to move the first and second load engagers away from one another.