US 11,691,470 B2
System and method for an autonomous robot drivetrain with an actuated bogie
Jake Stelman, Oakland, CA (US); Marc Thomas, Oakland, CA (US); Jonas Witt, Oakland, CA (US); Christian Bersch, Oakland, CA (US); and Jason Hardy, Oakland, CA (US)
Assigned to Cartken Inc., Oakland, CA (US)
Filed by CARTKEN, INC., Oakland, CA (US)
Filed on Mar. 31, 2021, as Appl. No. 17/218,431.
Claims priority of provisional application 63/003,712, filed on Apr. 1, 2020.
Prior Publication US 2021/0309060 A1, Oct. 7, 2021
Int. Cl. B60G 1/00 (2006.01); B62D 63/04 (2006.01)
CPC B60G 1/00 (2013.01) [B62D 63/04 (2013.01); B60G 2200/32 (2013.01); B60G 2200/446 (2013.01); B60G 2204/45 (2013.01); B60G 2204/4604 (2013.01); B60G 2300/26 (2013.01)] 20 Claims
OG exemplary drawing
 
1. 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.