US 11,865,707 B2
Storage systems and methods for robotic picking
Simon Kalouche, San Francisco, CA (US)
Assigned to Nimble Robotics, Inc., San Francisco, CA (US)
Filed by Nimble Robotics, Inc., San Francisco, CA (US)
Filed on Jul. 28, 2020, as Appl. No. 16/940,554.
Claims priority of provisional application 62/961,390, filed on Jan. 15, 2020.
Claims priority of provisional application 62/879,843, filed on Jul. 29, 2019.
Prior Publication US 2021/0032034 A1, Feb. 4, 2021
Int. Cl. B65G 1/137 (2006.01); B65G 1/04 (2006.01); B65G 1/06 (2006.01); B25J 5/02 (2006.01); B25J 15/06 (2006.01); B25J 19/00 (2006.01); B25J 9/04 (2006.01); B25J 17/02 (2006.01); B25J 13/08 (2006.01); B25J 9/16 (2006.01); B60M 1/30 (2006.01); B25J 5/00 (2006.01); B25J 9/14 (2006.01); B25J 19/04 (2006.01); B25J 15/04 (2006.01); B25J 15/02 (2006.01); B65G 47/91 (2006.01); B25J 13/00 (2006.01); B25J 15/00 (2006.01); B25J 19/02 (2006.01)
CPC B25J 5/007 (2013.01) [B25J 5/02 (2013.01); B25J 9/042 (2013.01); B25J 9/14 (2013.01); B25J 9/161 (2013.01); B25J 9/162 (2013.01); B25J 9/163 (2013.01); B25J 9/1612 (2013.01); B25J 9/1689 (2013.01); B25J 9/1697 (2013.01); B25J 13/00 (2013.01); B25J 13/006 (2013.01); B25J 13/08 (2013.01); B25J 13/089 (2013.01); B25J 15/0061 (2013.01); B25J 15/02 (2013.01); B25J 15/0441 (2013.01); B25J 15/0616 (2013.01); B25J 15/0625 (2013.01); B25J 17/02 (2013.01); B25J 19/005 (2013.01); B25J 19/0025 (2013.01); B25J 19/02 (2013.01); B25J 19/021 (2013.01); B25J 19/04 (2013.01); B60M 1/30 (2013.01); B65G 1/0464 (2013.01); B65G 1/0478 (2013.01); B65G 1/065 (2013.01); B65G 1/1373 (2013.01); B65G 1/1375 (2013.01); B65G 47/917 (2013.01); B65G 47/918 (2013.01); B65G 2203/041 (2013.01); B65G 2203/042 (2013.01); B65G 2209/04 (2013.01)] 18 Claims
OG exemplary drawing
 
1. A mobile manipulator robot for picking inventory items, comprising:
a body;
a wheel assembly including a plurality of wheels and an actuator, the wheel assembly configured to move the body along a first set of parallel rails and a second set of parallel rails arranged perpendicular to the first set of parallel rails;
an interface configured to send processor readable data to a remote processor and receive processor executable instructions from the remote processor;
an imaging device to capture images of the inventory items;
a picking manipulator coupled to the body, the picking manipulator having at least three degrees of freedom;
a first gripping tool moveable by the picking manipulator for grasping the inventory items; and
a container retrieval device including a hoist provided with a securement device, the hoist having a top surface, a bottom surface, three lateral sides, an open lateral side, and an aperture extending through the top surface and the bottom surface such that the hoist is extendable in a vertical direction relative to the body and arranged to be lowered at least partially around at least one first container before the securement device engages a second container located underneath the at least one first container to lift the second container and the at least one first container in a single lift.