Patent ID: 11919155
Assignee: TRACTONOMY ROBOTICS BV
Field: Handling (Mechanical engineering)
Classification: CPC B  G | IPC B  G

Claim 14:
15. A method for docking an autonomous mobile robot (AMR) with a wheeled cart; the wheeled cart being provided with a coupling structure comprising:
a frame hitch;
at least two elongated grips, which are disposed equidistant from a center of the frame hitch;, the AMR comprising:
a robot body comprising at least one optical unit, a driving system configured for moving said robot body, and a mobile drive unit configured for automated navigation of said robot body;
a cart coupling system comprising at least two robot arms extending from said robot body, each robot arm comprising at least one gripper hand configured for gripping of at least one gripping element;, wherein each gripper hand comprises
at least two pivotable grippers, which are arranged to pivot between an open and a closed position of said gripper hand;
a gripper bias for biasing said grippers towards the open position of said gripper hand;
a moveably arranged latch, which is arranged to lock said grippers in the closed position of said gripper hand; and,
a latch bias for biasing said latch towards said grippers,, wherein the method comprises the steps of:
(i) pushing the grip against at least two pivotable grippers of the gripper hand, which are biased by a the gripper bias towards an open position of said gripper hand, such that said grippers pivots around said grip into a closed position of said gripper hand, thereby tensioning said gripper bias; and, (ii) pushing the moveably arranged latch, which is biased by latch bias towards the grippers, against said grippers, thereby locking said gripper bias in the closed position of said gripper hand.