# US 11,027,921 B2 · Product manipulation tool > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 11,027,921 B2 - Document ID: US11027921B2 - Status: Granted - Kind: B2 - Application number: 16/380,351 - Filed: 2019-04-10 - Published: 2020-10-15 - Granted: 2021-06-08 - Earliest claimed: 2019-04-10 - Assignees: ABB Schweiz AG - Applicants: ABB Schweiz AG - Inventors: Gregory A. Cole; Harald Staab; Thomas A. Fuhlbrigge; Carlos Martinez; Sangeun Choi; Gregory F. Rossano; Jianjun Wang - Web page: https://patentgrep.com/patent/US11027921B2 ## CPC - B65G 1/1373: {for fulfilling orders in warehouses} - B25J 15/0014: {having fork, comb or plate shaped means for engaging the lower surface on a object to be transported} - B25J 15/0023: {Gripper surfaces directly activated by a fluid (flexible fingers B25J15/12)} - B25J 15/0047: {for internally gripping hollow or recessed objects} - B25J 15/0052: {multiple gripper units or multiple end effectors} - B65G: TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS (packaging B65B; handling thin or filamentary materials, e.g. paper sheets or thread, B65H; cranes B66C; portable mobile or lifting or hauling appliances, e.g. hoists, B66D; devices for lifting or lowering goods for loading or unloading purposes, e.g. fork-lift trucks, B66F9/00; emptying bottles, jars, casks, barrels or similar containers, not otherwise provided for, B67C9/00; delivering or transferring liquids B67D; filling or discharging vessels for liquefied, solidified or compressed gases F17C; pipe-line systems for fluids F17D) - B25J: MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES ({manipulators specially adapted for use in surgery A61B34/70; manipulators used in cleaning hollow articles B08B9/04}; manipulators associated with rolling mills B21B39/20; manipulators associated with forging machines B21J13/10; {manipulators associated with picking-up and placing mechanisms B23P19/007}; means for holding wheels or parts thereof B60B30/00; {vehicles with ground-engaging propulsion means, e.g. walking members B62D57/02, B62D57/032; devices for picking-up and depositing articles or materials between conveyors B65G47/90, B65G47/91; manipulators with gripping or holding means for transferring packages B65H67/065}; cranes B66C; {manipulators used in the protection or supervision of pipe-line installations F17D5/00; walking equipment adapted for nuclear steam-generators F22B37/006}; manipulators specially adapted for, or associated with, nuclear reactors G21C; {apparatus used for handling wafers during manufacture or treatment of semiconductor H10P72/50}) ## Abstract A product manipulation tool for interacting with products and containers at, for example, a retail facility can include a securing mechanism to secure an exposed portion of the container with respect to a horizontal surface such as a shelf. The product manipulation tool can also include a stabilizing device to stabilize the container with respect to the horizontal surface prior to securing the container. The product manipulation tool can also include a support structure for insertion underneath the container to support the load. The stabilizing mechanism may lift or tilt the container prior to insertion of the support structure. In an example, the product manipulation tool may be disposed on a mobile unit configured for locomotion about the retail facility. ## Claims ### Claim 1 A product manipulation tool for an automated storage and retrieval machine comprising: a securing mechanism for securing an exposed portion of a container disposed on a horizontal surface; an upper stabilizing device in the form of an inflatable bag positionable above the container for stabilizing the container with respect to the horizontal surface from above; and and lower support structure for insertion underneath the container to support the load of the container. ### Claim 2 (depends on 1) The product manipulation tool of claim 1, wherein the securing mechanism is selected from the group comprising a gripper with bifurcated fingers, pincher clamp, a fluid pressure device with a suction cup, and a mating connector. ### Claim 3 (depends on 2) The product manipulation tool of claim 2, wherein the mating connector is a male connector configured to mate with an aperture in the exposed portion of the container. ### Claim 4 (depends on 3) The product manipulation tool of claim 3, wherein the male connector includes an inflatable tip to inflate within the aperture. ### Claim 5 (depends on 1) The product manipulation tool of claim 1, wherein the upper stabilizing device includes a compliant feature conformable to the container. ### Claim 6 (depends on 5) The product manipulation tool of claim 5, wherein the compliant feature is selected from the group comprising resilient foam, deformable plastic, a granular filled bag, and an inflatable bag. ### Claim 7 (depends on 1) The product manipulation tool of claim 1, wherein the lower support structure is longitudinally extendable and retractable from a lower base of the product manipulation tool. ### Claim 8 (depends on 7) The product manipulation tool of claim 7, wherein the lower support structure is selected from the group comprising a flat plate, a spatula, and a multi-tined fork. ### Claim 9 (depends on 1) The product manipulation tool of claim 1, wherein the securing mechanism and the stabilizing mechanism are vertically adjustable with respect to each other. ### Claim 10 (depends on 1) The product manipulation tool of claim 1, wherein the securing mechanism is longitudinally extendable with respect to the rest of the product manipulation tool. ### Claim 11 (depends on 1) The product manipulation tool of claim 1, wherein the product manipulation tool is configured to be fixedly attached to a distal end of a robotic arm. ### Claim 12 A method of retrieving a container from a horizontal surface comprising: stabilizing the container with respect to the horizontal surface from above with an upper stabilizing device by inflating an inflatable bag extended over the container; securing an exposed portion of the container with a securing mechanism; tilting the container on the horizontal surface by raising the securing mechanism; inserting a support structure between the container and the horizontal surface; and supporting the load of the container with the support structure contacting the underside of the container. ### Claim 13 (depends on 12) The method of claim 12, wherein the step of securing the container includes grasping a front panel of the container. ### Claim 14 (depends on 13) The method of claim 13, wherein the step grasping the front panel includes closing opposing first and second jaws of a gripper. ### Claim 15 (depends on 12) The method of claim 12, wherein the step of securing the container includes mating a mating connector of the securing mechanism with an aperture disposed in the front panel. ### Claim 16 (depends on 15) The method of claim 15, wherein the step of mating includes inflating an inflatable tip of the mating connector within the aperture. ### Claim 17 An automated storage and retrieval machine for stocking and retrieving containers in a retail facility comprising: a mobile unit configured for locomotion about the retail facility; a product manipulation tool disposed on the mobile unit, wherein the product manipulation tool includes: a stabilizing device in the form of an inflatable bag positionable above the container for stabilizing the container with respect to a horizontal surface prior to securing the container; a securing mechanism for securing the container and tilting the container with respect to the horizontal surface; and a support structure for insertion underneath the container to support the load of the container. ### Claim 18 (depends on 17) The automated storage and retrieval machine of claim 17, wherein: the stabilizing device is selected from the group comprising resilient foam, deformable plastic, a granular filled bag, and an inflatable tip; and and the securing mechanism is selected from the group comprising a gripper with bifurcated fingers; and pincher clamp, a fluid pressure device with a suction cup, and a mating connector. ### Claim 19 (depends on 17) The automated storage and retrieval machine of claim 17, wherein the mobile unit includes a robotic arm and the product manipulation tool is disposed at the distal end of the robotic arm. ### Claim 20 A product manipulation tool for an automated storage and retrieval machine comprising: a male connector adapted to be received in an aperture disposed into a front panel of a container, the male connector including an inflatable tip; a pressure source in fluid communication with the inflatable tip for expanding the inflatable tip within the aperture and a stabilizing device in the form of an inflatable bag positionable above the container for stabilizing the container with respect to a horizontal surface.