Patent ID: 11951620
Assignee: WALMART APOLLO, LLC
Field: Handling (Mechanical engineering)
Classification: CPC B | IPC B

Claim 12:
13. 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 a first plurality of spline sets, each spline set in the first plurality of spline sets comprising two diametrically opposed spines;
a shaft comprising a second plurality of spline sets,

each spline set in the second plurality of spline sets comprising two diametrically opposed spines, the shaft configured to be rotated about an axis of rotation, 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 shaft is configured to exert torque on the hub by engagement between the first and second pluralities of spline sets, there being rotational play between first and second pluralities of spline sets, 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.