Abstract: A method for turning a pinion-driven lift-robot in an intersection of rails. Moving the pinion-driven lift-robot in a first motion mode to position the pinion-driven lift-robot in a first position at the intersection. The pinion-driven lift-robot is turned over a corner of the intersection that is accessible from the first position and that includes continuous rails connecting a vertical track and a horizontal track, whereby positioning the pinion-driven lift-robot in a second position at the intersection. The pinion-driven lift-robot is moved in a second motion mode towards a designated direction.

Abstract: A direction switching module for lift robots using a pair of pinions coupled to a rack for propelling vertically and horizontally according to the track's orientation, is disclosed. In a linear motion mode both pinions rotate in the same velocity. In a direction switching mode, when changing from vertical to horizontal motion mode and vise versa, the module is capable of propelling one pinion on a vertical track and its counterpart on a horizontal track, simultaneously, each pinion in a different velocity. A bogie propelled by two pairs of said module is also disclosed, and a controller configured to drive both pinions in same velocity during linear motion and each pinion in a separate appropriate velocity during the direction switching mode. A method for turning a pinion-driven lift-robot in an intersection of rails and a controller for controlling the linear motion modes and the direction switching modes of the lift robot are also disclosed.

Abstract: A method for turning a pinion-driven lift-robot in an intersection of rails. Moving the pinion-driven lift-robot in a first motion mode to position the pinion-driven lift-robot in a first position at the intersection. The pinion-driven lift-robot is turned over a corner of the intersection that is accessible from the first position and that includes continuous rails connecting a vertical track and a horizontal track, whereby positioning the pinion-driven lift-robot in a second position at the intersection. The pinion-driven lift-robot is moved in a second motion mode towards a designated direction.

Abstract: A direction switching module for lift robots using a pair of pinions coupled to a rack for propelling vertically and horizontally according to the track's orientation, is disclosed. In a linear motion mode both pinions rotate in the same velocity. In a direction switching mode, when changing from vertical to horizontal motion mode and vise versa, the module is capable of propelling one pinion on a vertical track and its counterpart on a horizontal track, simultaneously, each pinion in a different velocity. A bogie propelled by two pairs of said module is also disclosed, and a controller configured to drive both pinions in same velocity during linear motion and each pinion in a separate appropriate velocity during the direction switching mode. A method for turning a pinion-driven lift-robot in an intersection of rails and a controller for controlling the linear motion modes and the direction switching modes of the lift robot are also disclosed.