An opening-closing control device according to an embodiment of the present disclosure is an opening-closing control device of a door of an accommodating portion to and from which a robot loads and unloads an object, in which the opening-closing control device includes: a state acquisition unit that acquires a state of the robot; and a control unit that controls a drive unit of the door for opening and closing the door based on the state of the robot.

An opening-closing control device according to an embodiment of the present disclosure is a device that controls opening and closing of a plurality of doors of an accommodating portion when a robot executes a task of loading or unloading an object to and from the accommodating portion. The opening-closing control device includes a door opening information acquisition unit that acquires information indicating a door to be opened in order to execute the task; and a control unit that controls, based the on the information indicating the door to be opened in order to execute the task, a lock unit that is arranged corresponding to each of the plurality of doors and that is configured to restrict a door other than the door to be opened in order to execute the task in a closed state.

The present application discloses a vehicle. The vehicle comprises: a first support component and a second support component which may rotate relative to each other; a first drive wheel which is rotatable relative to the first support component; a second drive wheel which is rotatable relative to the second support component; a first universal wheel mounted on the first support component; and a second universal wheel mounted on the second support component. If the vehicle is placed on a horizontal floor and if both drive wheels touch the horizontal floor, then the axis of the first drive wheel and the axis of the second drive wheel may be contained or nearly contained in a vertical plane. The vehicle further comprises motors, sensors and a computer.

The present invention relates to a transport wagon consisting of a base frame, wherein the base frame comprises a rotatable bogie assembly on its front side for attachment to a powered tow or push truck and comprises one or more front steering wheels placed on the front side of the base frame and one or more rear steering wheels placed on the rear side of the base frame, wherein the one or more front steering wheels and the one or more rear steering wheels are coupled in such a way to the rotatable bogie assembly, that in operation the one or more front steering wheels rotate along with the rotatable bogie assembly and that the one or more rear steering wheels rotate in opposite direction with respect to the rotatable bogie assembly, wherein the base frame comprises at least one longitudinal beam to which a front cross beam, a rear cross beam and at least one intermediate cross beam are arranged with intermediate spaces, wherein at least one intermediate space is arranged for receiving goods, wherein an intermediate wheel suspension with two or more intermediate wheels is arranged under one or more of the intermediate cross beams. The present transport wagon provides a transport wagon that remains well steerable on uneven floors.

The present invention relates to a transport wagon consisting of a base frame, wherein the base frame comprises a rotatable bogie assembly on its front side for attachment to a powered tow or push truck and comprises one or more front steering wheels placed on the front side of the base frame and one or more rear steering wheels placed on the rear side of the base frame, wherein the one or more front steering wheels and the one or more rear steering wheels are coupled in such a way to the rotatable bogie assembly, that in operation the one or more front steering wheels rotate along with the rotatable bogie assembly and that the one or more rear steering wheels rotate in opposite direction with respect to the rotatable bogie assembly, wherein the base frame comprises at least one longitudinal beam to which a front cross beam, a rear cross beam and at least one intermediate cross beam are arranged with intermediate spaces, wherein at least one intermediate space is arranged for receiving goods, wherein an intermediate wheel suspension with two or more intermediate wheels is arranged under one or more of the intermediate cross beams. The present transport wagon provides a transport wagon that remains well steerable on uneven floors.

Disclosed is a chassis for an unmanned guided carrier, wherein the chassis comprises a chassis body (100), two driving wheel set modules (200) and a torsion shaft caster module (300) mounted on the chassis body (100), the torsion shaft caster module (300) comprises a torsion shaft (310) rotatably mounted on the chassis body (100) and two supports (320), one end of each of the two supports (320) is fixed to one of both ends of the torsion shaft (310) respectively, an universal wheel (330) is mounted at the other end of each of the two supports (320), an elastic member (340) is provided between said other end of each of the two supports (320) mounted with the universal wheel (330) and the chassis body (100), the elastic member (340) applies an elastic force to the universal wheel (330) to make it cling to a ground. The embodiment of the application also discloses an unmanned guided carrier. The above solutions can solve the problem that the chassis of the current unguided carrier is easy to shake when traveling.

The invention relates to a vehicle comprising a first vehicle part (16) and a second vehicle part, wherein the first vehicle part (16) comprises a first running wheel (37, 38) rotatable about a first axis of rotation (59) and the second vehicle part comprises a second running wheel rotatable about a second axis of rotation. The first running wheel (37, 38) and the second running wheel have the same miming-wheel diameter. A first bearing means for rotatably mounting the first running wheel and a second bearing means for rotatably mounting the second miming wheel are interconnected by means of a joint mechanism (17) in such a way that the orientation of the first axis of rotation (59) and of the second axis of rotation relative to each other can be varied. By means of the joint mechanism (17), the vehicle can be transferred continuously from a first driving configuration with the first and second axes of rotation inclined relative to each other into a second driving configuration with the first and second axes of rotation parallel, and in the second driving configuration a distance of a first contact surface of the first miming (37, 38) from a second contact surface of the second miming wheel is less than one tenth of the running-wheel diameter.

A mobile drive unit includes a pivot between the front chassis unit and the rear chassis unit, thereby diminishing the total height of the unit.

A mobile drive unit includes a pivot between the front chassis unit and the rear chassis unit, thereby diminishing the total height of the unit.

A material handling vehicle comprises an upper loading surface for loading of objects thereon, a control unit, a power source, a drive motor, at least one vehicle drive wheel powered by the drive motor, at least one vehicle support wheel, a first chassis and a second chassis, each of which comprises at least one wheel of the vehicle. The first and second chassis are pivotally coupled to each other by means of at least one coupling means, wherein said coupling means is arranged intermediate the first chassis and the second chassis at a position where the first chassis is arranged above the second chassis, wherein the coupling means extend at least partly vertically between the first and second chassis at said position. Further there are two drive wheels that are independently controllable. Further, a material handling system comprising at least one such material handling vehicle.