US 12,151,922 B2
Autonomous transport vehicle with synergistic vehicle dynamic response
Akram Zahdeh, Wilmington, MA (US); Todd Kepple, Wilmington, MA (US); and Edward MacDonald, Wilmington, MA (US)
Assigned to Symbotic LLC, Wilmington, MA (US)
Filed by Symbotic LLC, Wilmington, MA (US)
Filed on May 25, 2022, as Appl. No. 17/664,948.
Claims priority of provisional application 63/213,589, filed on Jun. 22, 2021.
Prior Publication US 2022/0402736 A1, Dec. 22, 2022
Int. Cl. B66F 9/075 (2006.01); B25J 5/00 (2006.01); B25J 19/00 (2006.01); B62D 21/11 (2006.01); B62D 21/18 (2006.01); B66F 9/06 (2006.01)
CPC B66F 9/07586 (2013.01) [B25J 5/007 (2013.01); B25J 19/0091 (2013.01); B62D 21/11 (2013.01); B62D 21/18 (2013.01); B66F 9/063 (2013.01); B66F 9/07559 (2013.01)] 20 Claims
OG exemplary drawing
 
1. An autonomous transport robot for transporting a payload, the autonomous transport robot comprising:
a frame with an integral payload support;
a transfer arm connected to the frame and configured for autonomous transfer of payload to and from the frame; and
a drive section with at least a pair of traction drive wheels astride the drive section, the drive section being connected to the frame;
wherein the at least the pair of traction drive wheels have a fully independent suspension coupling each traction drive wheel of the at least the pair of traction drive wheels to the frame, with at least one intervening pivot link between at least one traction drive wheel and the frame configured to maintain a substantially steady state traction contact patch between the at least one traction drive wheel and a rolling surface over rolling surface transients throughout traverse of the at least one traction drive wheel over the rolling surface.