US 12,391,480 B2
Robotic order fulfilment system
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 Nov. 13, 2023, as Appl. No. 18/389,068.
Application 18/389,068 is a continuation of application No. 17/708,223, filed on Mar. 30, 2022, granted, now 11,834,271.
Application 17/708,223 is a continuation of application No. 17/343,894, filed on Jun. 10, 2021, granted, now 12,258,216.
Claims priority of provisional application 63/037,741, filed on Jun. 11, 2020.
Prior Publication US 2024/0092582 A1, Mar. 21, 2024
This patent is subject to a terminal disclaimer.
Int. Cl. B25J 9/02 (2006.01); B25J 15/00 (2006.01); B60P 1/36 (2006.01); B60P 1/43 (2006.01); B60P 3/00 (2006.01); B60W 60/00 (2020.01); B65G 1/137 (2006.01); B65G 67/24 (2006.01)
CPC B65G 1/1376 (2013.01) [B25J 9/026 (2013.01); B60P 3/007 (2013.01); B65G 67/24 (2013.01); B25J 15/00 (2013.01); B60P 1/36 (2013.01); B60P 1/43 (2013.01); B60W 60/00256 (2020.02)] 18 Claims
OG exemplary drawing
 
1. A system, comprising:
shelving and a plurality of containers arranged on the shelving, each of the containers having an open top; and
a piece picking robot, including:
a base moveable relative to the shelving in a horizontal direction;
a vertical post extending from the base;
a platform linearly moveable along the vertical post;
a suction system arranged to secure and move a select one of the containers from the shelving to expose the open top of the select one of the containers; and
a picking arm configured to pick an item from the select one of the containers after the open top has been exposed.