METHOD OF MOVEMENT OF TARNO-PIECE GOODS IN THE STORAGE Russian patent published in 2019 - IPC B65G1/00 B65G63/00 

FIELD: robotics.

SUBSTANCE: invention relates to the field of robotics and to warehouses of enterprises and shops. Method of movement of packaged goods in a warehouse includes intra-warehouse movements of goods placed in containers containing handles, loading a container loaded onto a mobile robot, moving a container loaded onto a mobile robot, unloading the container loaded onto a mobile robot. In implementing the method, two mobile robots are used, each of which contains a mobile platform, an omnidirectional mobile wheel-type mechanism and a transport suspension with independent suspension for each wheel. According to the invention, a double-arm lever and a ratchet mechanism are installed on the mobile platform of the first mobile robot. When loading a container with a load on the first mobile robot, mobile robots are positioned so that the bottom of the mobile platform of the second mobile robot is located above the long arm of the two shoulders, and a hook located at the end of the short arm of the two shoulders lever is placed in the space between the upper part of the container with the load and the handle of this container. Loading of the container with the load on the first mobile robot is carried out by actuating a two-arm lever, which is carried out through the impact of the bottom of the mobile platform of the second mobile robot on the long arm of the two shoulders by lowering the mobile platform of the second mobile robot due to the operation of the transport suspension of the mobile platform of the second mobile robot. Moving the container with the cargo is carried out on the first mobile robot.

EFFECT: technical result, the achievement of which the claimed invention is directed, is to ensure the loading of packaged cargoes on a mobile robot and their movement on a mobile robot, as well as unloading of package cargoes from a mobile robot.

1 cl, 5 dwg