US 12,358,412 B2
Robots for three-dimensional sortation
Lior Elazary, Agoura Hills, CA (US); Joseph Traverso, Simi Valley, CA (US); James Anderson, Oak Park, CA (US); Randolph Charles Voorhies, Newbury Park, CA (US); and Daniel Frank Parks, II, Los Angeles, CA (US)
Assigned to inVia Robotics, Inc., Westlake Village, CA (US)
Filed by InVia Robotics, Inc., Westlake Village, CA (US)
Filed on Apr. 15, 2022, as Appl. No. 17/721,598.
Prior Publication US 2023/0331484 A1, Oct. 19, 2023
Int. Cl. B60P 1/04 (2006.01); B25J 5/00 (2006.01); B60P 1/02 (2006.01); B60P 1/28 (2006.01); B60P 1/34 (2006.01); B60P 1/44 (2006.01); B65G 1/04 (2006.01); B65G 1/137 (2006.01); B65G 47/96 (2006.01); B66F 7/06 (2006.01); B66F 9/06 (2006.01); B66F 9/075 (2006.01)
CPC B60P 1/04 (2013.01) [B25J 5/007 (2013.01); B60P 1/02 (2013.01); B60P 1/283 (2013.01); B60P 1/34 (2013.01); B60P 1/4414 (2013.01); B65G 1/0492 (2013.01); B65G 1/1371 (2013.01); B65G 1/1375 (2013.01); B65G 47/965 (2013.01); B66F 7/0666 (2013.01); B66F 9/063 (2013.01); B66F 9/0755 (2013.01)] 19 Claims
OG exemplary drawing
 
1. A robot comprising:
a motorized base that moves the robot along a first plane;
a dispensing receptacle attached to a lift, wherein the lift moves the dispensing receptacle to a plurality of heights about a second plane; and
one or more actuators controlling a dispensing of one or more items from the dispensing receptacle to a right side and a left side of the robot.
 
13. A method comprising:
receiving one or more items in a dispensing receptacle of a robot at a first position;
selecting a destination location for an order comprising the one or more items from a three-dimensional arrangement of a plurality of order fulfillment locations that are distributed across different rows at different heights;
controlling movements of the robot to move the robot from the first position to a second position in a first plane that matches a position of the destination location in the first plane;
aligning the dispensing receptacle with a height of the destination location in a second plane by activating a lift of the robot; and
dispensing the one or more items from the dispensing receptacle to the destination location at one side of the robot.
 
19. A method comprising:
receiving one or more items in a dispensing receptacle of a robot at a first position;
receiving a first notification from the robot in response to the robot receiving the one or more items;
controlling movements of the robot to move the robot from the first position to a second position in a first plane that matches a position of an assigned destination location in the first plane in response to receiving the first notification;
aligning the dispensing receptacle with a height of the assigned destination location in a second plane by activating a lift of the robot; and
dispensing the one or more items from the dispensing receptacle to the assigned destination location at one side of the robot.