US 11,738,447 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 Mar. 27, 2020, as Appl. No. 16/831,963.
Application 16/831,963 is a continuation of application No. 16/804,251, filed on Feb. 28, 2020.
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 2021/0032032 A1, Feb. 4, 2021
Int. Cl. B25J 5/00 (2006.01); B25J 5/02 (2006.01); B25J 9/04 (2006.01); B25J 9/14 (2006.01); B25J 9/16 (2006.01); B65G 1/137 (2006.01); B65G 1/04 (2006.01); B65G 1/06 (2006.01); B25J 13/08 (2006.01); B25J 19/04 (2006.01); B25J 15/06 (2006.01); B25J 15/04 (2006.01); B25J 15/02 (2006.01); B25J 19/00 (2006.01); B65G 47/91 (2006.01); B25J 13/00 (2006.01); B25J 15/00 (2006.01); B25J 19/02 (2006.01); B25J 17/02 (2006.01); B60M 1/30 (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)] 20 Claims
OG exemplary drawing
 
1. A mobile, manipulator robot for picking inventory items from a container stored within a storage structure including a grid formed of a first set of rails extending in a first direction and a second set of rails extending in a second direction perpendicular to the first direction, the robot comprising:
a body including a picking arm and an interface configured to send processor readable data to a remote processor and receive processor executable instructions from the remote processor;
a wheel assembly coupled to the body, the wheel assembly including a plurality of wheels and an actuator to move the body along the first and second sets of rails;
an imaging sensor to capture images of the inventory items;
a tool holder provided on the body, the tool holder being elevated above the wheel assembly and having a first retainer and a second retainer;
a first tool positionable within the first retainer;
a second tool positionable within the second retainer; and
an onboard processor in communication with at least one of the wheel assembly, the imaging sensor or the picking arm, wherein the picking arm is configured to interchangeably couple to the first tool and the second tool upon receiving instructions from one of the remote processor or the onboard processor.
 
13. A mobile, manipulator robot for picking inventory items from a container having a height, the container being stored underneath a grid including a first set of rails extending in a first direction and a second set of rails extending in a second direction perpendicular to the first set of rails, the robot comprising:
a body including a picking arm and an interface configured to send processor readable data to a remote processor and receive processor executable instructions from the remote processor;
a wheel assembly including a plurality of wheels coupled to the body and an actuator configured to move the body along the first and second set of rails;
an imaging sensor to capture images of the inventory items;
a gripping tool connectable and disconnectable from the picking arm; and
a tool holder provided on the body and being elevated above the wheel assembly, the tool holder having a retainer that is arranged for receiving and securing the gripping tool when the gripping tool is disconnected from the picking arm.