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 |
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.
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