METHOD FOR TRANSFER OF CARGOES IN WAREHOUSE OF PACKED PIECES Russian patent published in 2019 - IPC B65G1/137 B65G63/00 B25J9/00 B25J5/00 

FIELD: transportation, packaging and storage.

SUBSTANCE: invention relates to the field of robotics and to warehouses of enterprises and shops, and can be used for mechanization and automation of displacements of packed-piece cargoes in a warehouse. Method for transfer of cargoes in a warehouse of packed-piece cargoes is carried out using two mobile robots, in mode of automatic operation of these robots. Each robot comprises a mobile platform, a robot arm, a robot wrist, a gripping device. According to the invention, movement of cargo from the storage area to another warehouse zone of packed-piece cargoes is performed by throwing cargo by the first mobile robot, which has phase of cargo free flight and cargo acceleration phase. Acceleration phase consists of forced movement of cargo with simultaneous holding of said load by gripping device of first mobile robot, by means of movement of robot arm, robot wrist, gripper, which holds this load, in automatic operation mode of the first mobile robot and by gripping on the fly of this load by the gripping device of the second mobile robot in the automatic operation mode of this mobile robot. When throwing cargo, said mobile robots are arranged such that minimum distance between orthogonal projection (on upper horizontal plane of floor of room of said storage) space swept by central point of robot wrist, on which gripping device of first mobile robot is installed, when it is moved into location when carrying out cargo throwing, and orthogonal projection (on upper horizontal plane of room floor of this warehouse) space swept by robot wrist centre point, on which the gripping device of the second mobile robot is installed, when it is moved into the position when performing the load grip on the fly, exceeds the diameter of the space swept by the robot wrist centre point, on which the first mobile robot gripping device is installed, with the first mobile robot fixed platform location.

EFFECT: technical result, achievement of which is claimed by the claimed invention, is reduction of total distance of mobile robots mobile platforms displacement together with cargo when cargoes are moved in stock of piece-by-piece loads.

1 cl, 6 dwg