Disclosed is a mobile robot adapted to traverse vertical obstacles. The robot comprises a frame and at least one wheel positioned in a front section of the robot, at least one middle wheel positioned in a middle section of the robot, at least one back wheel positioned in a back section of the robot, and at least one further wheel in the front, middle or back of the robot. The robot also comprises at least one motor-driven device for exerting a downward and/or upward force on the middle wheel and at least two motors for driving the wheels and the motor-driven device. Also disclosed is a method of climbing using a mobile robot as disclosed.

Disclosed is a mobile robot adapted to traverse vertical obstacles. The robot comprises a frame and at least one wheel positioned in a front section of the robot, at least one middle wheel positioned in a middle section of the robot, at least one back wheel positioned in a back section of the robot, and at least one further wheel in the front, middle or back of the robot. The robot also comprises at least one motor-driven device for exerting a downward and/or upward force on the middle wheel and at least two motors for driving the wheels and the motor-driven device. Also disclosed is a method of climbing using a mobile robot as disclosed.

A charging system for autonomous transport vehicles including at least one charging contact disposed on each pick floor level of a storage and retrieval system, each of the at least one charging contact being located at a transfer station, at least one power supply configured to supply power to the at least one charging contact, and a controller in communication with the transfer station and being configured to communicate information relating to a transfer of items between the transfer station and a predetermined one of the autonomous transport vehicles and to apply power from the power supply to the at least one charging contact for charging the predetermined autonomous transport vehicle corresponding to the transfer and located at the transfer station, wherein the controller is configured to supply power to the charging contacts simultaneously with the predetermined autonomous transport vehicle exchanging items related to the transfer at the transfer station.

Brackets for mounting auxiliary suspension systems, such as lift axle systems, to vehicles are disclosed herein. For example, brackets are disclosed for attaching lift axle hanger brackets and lift axle load springs to corresponding frame members. In some embodiments, the frame brackets can include physical features (e.g., a series of graduated steps in an edge portion thereof) to facilitate visual alignment of the lift axle with the vehicle frame members during installation. In other embodiments, the frame brackets can be two-piece brackets that enable the load springs to be removed and replaced without having to detach the frame bracket from the frame rail.

A charging system for autonomous transport vehicles including at least one charging contact disposed on each pick floor level of a storage and retrieval system, each of the at least one charging contact being located at a transfer station, at least one power supply configured to supply power to the at least one charging contact, and a controller in communication with the transfer station and being configured to communicate information relating to a transfer of items between the transfer station and a predetermined one of the autonomous transport vehicles and to apply power from the power supply to the at least one charging contact for charging the predetermined autonomous transport vehicle corresponding to the transfer and located at the transfer station, wherein the controller is configured to supply power to the charging contacts simultaneously with the predetermined autonomous transport vehicle exchanging items related to the transfer at the transfer station.

A charging system for autonomous transport vehicles including at least one charging contact disposed on each pick floor level of a storage and retrieval system, each of the at least one charging contact being located at a transfer station, at least one power supply configured to supply power to the at least one charging contact, and a controller in communication with the transfer station and being configured to communicate information relating to a transfer of items between the transfer station and a predetermined one of the autonomous transport vehicles and to apply power from the power supply to the at least one charging contact for charging the predetermined autonomous transport vehicle corresponding to the transfer and located at the transfer station, wherein the controller is configured to supply power to the charging contacts simultaneously with the predetermined autonomous transport vehicle exchanging items related to the transfer at the transfer station.

The present invention relates to a novel robot drive train that is robust, and low cost. The drive train is capable of ascending obstacles greater than the height of its wheels, protects the robot against shocks/vibration, and is highly maneuverable, such as able to execute a zero-point turn. To control the bogie in a variety of scenarios, a novel mechanism is used to selectively limit the articulation range of the bogie and/or programmatically apply a preload to the bogie axle.

A method and system for operating pneumatic suspension system including a plurality of air springs changing a ride height of the motor vehicle by the supply and extraction of compressed air, at least two first axle air springs, and two second axle air springs, an air spring valve, a first and further changeover valve are arranged in a compressed air path, an additional accumulator valve, the second compressed air path is connected to the first compressed air path via a third compressed air path in which a connecting valve is provided, for simultaneous adjustment of the ride height of the vehicle on both axles, the air spring valves, and the first and the further changeover valves and the additional accumulator valve are opened at the same time while the connecting valve remains closed.

A method and system for operating pneumatic suspension system including a plurality of air springs changing a ride height of the motor vehicle by the supply and extraction of compressed air, at least two first axle air springs, and two second axle air springs, an air spring valve, a first and further changeover valve are arranged in a compressed air path, an additional accumulator valve, the second compressed air path is connected to the first compressed air path via a third compressed air path in which a connecting valve is provided, for simultaneous adjustment of the ride height of the vehicle on both axles, the air spring valves, and the first and the further changeover valves and the additional accumulator valve are opened at the same time while the connecting valve remains closed.

A work vehicle including: a first link having one end portion supported by a vehicle body so as to be pivotable; a second link having one end portion pivotally coupled to the other end portion of the first link so as to be pivotable, and another end portion that supports a travel wheel; a first hydraulic cylinder capable of changing a swing posture of the first link; and a second hydraulic cylinder capable of changing a swing posture of the second link relative to the first link. The action of the first hydraulic cylinder is controlled such that a swing position of the first link is located at a target position, based on the result of detection performed by a position detection sensor, and the action of the second hydraulic cylinder is controlled such that thrust has a target value, based on the results of detection performed by pressure sensors.