US 11,872,685 B2
Autonomous traverse tire changing bot, autonomous tire changing system, and method therefor
Andy Chalofsky, Cleveland, OH (US); Josh Chalofsky, Cleveland, OH (US); Stephen Toebes, Cleveland, OH (US); Kenny Pratt, Cleveland, OH (US); and Seth Allen, Cleveland, OH (US)
Assigned to AUTOMATED TIRE, INC., Cleveland, OH (US)
Filed by AUTOMATED TIRE, INC., Cleveland, OH (US)
Filed on Sep. 20, 2022, as Appl. No. 17/933,719.
Application 17/933,719 is a continuation of application No. 17/371,942, filed on Jul. 9, 2021, granted, now 11,446,826.
Application 17/371,942 is a continuation of application No. 17/313,072, filed on May 6, 2021.
Claims priority of provisional application 63/022,983, filed on May 11, 2020.
Prior Publication US 2023/0007948 A1, Jan. 12, 2023
This patent is subject to a terminal disclaimer.
Int. Cl. B25J 13/08 (2006.01); B25J 11/00 (2006.01); B25J 5/02 (2006.01); B25J 9/16 (2006.01); B25J 15/00 (2006.01); B60C 25/05 (2006.01)
CPC B25J 11/00 (2013.01) [B25J 5/02 (2013.01); B25J 9/162 (2013.01); B25J 13/08 (2013.01); B25J 15/0019 (2013.01); B25J 15/0052 (2013.01); B60C 25/0512 (2013.01); B60C 25/0515 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A method of changing a tire with an autonomous traverse tire changing bot, the method comprising:
providing a carriage having a carriage frame, wheels supporting the carriage frame, and a carriage drive section with at least one motor defining at least one degree of freedom powering at least one of the wheels for effecting autonomous traverse of the carriage, along a traverse path, relative to a traverse surface or a floor on which the autonomous traverse tire changing bot rests;
providing a bot frame including at least one robotic articulated arm mounted to the carriage so that the bot frame traverses with the carriage as a unit along the traverse path, and a bot drive section with a motor defining a bot arm degree of freedom, separate and distinct from the at least one degree of freedom, wherein the at least one robotic articulated arm has an end effector having a wheel or tire engagement tool disposed for effecting engagement contact of the wheel or tire engagement tool and a wheel or a tire mounted on a vehicle via articulation of the at least one robotic articulated arm with the bot arm degree of freedom; and
effecting, with a controller communicably connected to the carriage drive section and the bot drive section, traverse of the autonomous traverse tire changing bot along the traverse path effecting dynamic positioning of the at least one robotic articulated arm relative to a variable position of the vehicle with the wheel or tire mounted thereon.