US 12,275,142 B2
Climbing robot with compliant pinion drive
William J. Fosnight, Windham, NH (US); John G. Lert, Jr., Wakefield, MA (US); Michael Duquette, Candia, NH (US); Martin R. Elliott, Bedford, NH (US); Julian D. Warhurst, Portsmouth, RI (US); Charles W. Su, Stratham, NH (US); and Alan J. Grant, Nashua, NH (US)
Assigned to Symbotic LLC, Wilmington, MA (US)
Filed by Symbotic LLC, Wilmington, MA (US)
Filed on Mar. 4, 2024, as Appl. No. 18/595,128.
Application 18/595,128 is a continuation of application No. 17/158,890, filed on Jan. 26, 2021, granted, now 11,951,620.
Claims priority of provisional application 62/966,350, filed on Jan. 27, 2020.
Prior Publication US 2024/0253209 A1, Aug. 1, 2024
Int. Cl. B25J 9/10 (2006.01); B25J 5/00 (2006.01)
CPC B25J 9/1035 (2013.01) [B25J 5/007 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A mobile robot configured to travel in a vertical or inclined passage within an automated retrieval and storage system, the passage comprising a linear drive mount, the mobile robot comprising:
a compliant drive assembly for moving the mobile robot in the passage, the compliant drive assembly comprising:
a hub comprising at least one set of recirculating balls;
a shaft comprising a grooved portion including at least one race portion configured to mate with the at least one set of recirculating balls of the hub, the shaft configured to be rotated about an axis of rotation and the hub configured to engage the shaft by the at least one set of recirculating balls of the hub engaging the at least one pair of race portions of the shaft, the shaft further configured to be extended axially along the axis of rotation;
a drive gear mounted on an end of the shaft, the drive gear configured to move into engagement with the linear drive mount;
wherein the at least one set of recirculating balls is configured to engage the at least one pair of race portions of the shaft such that rotational play between the hub and the shaft is permitted, the rotational play allowing a degree of free rotation of the drive gear relative to the linear drive mount to prevent jamming of the drive gear against the linear drive mount when the drive gear moves into engagement with the linear drive mount upon extension of the shaft.