# US 11,318,499 B2 · Robotic system having shuttle > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 11,318,499 B2 - Document ID: US11318499B2 - Status: Granted - Kind: B2 - Application number: 16/720,466 - Filed: 2019-12-19 - Published: 2021-06-24 - Granted: 2022-05-03 - Earliest claimed: 2019-12-19 - Assignees: Nimble Robotics, Inc. - Applicants: Nimble Robotics, Inc. - Inventors: Simon Kalouche; Kevin Kruempelstaedter - Web page: https://patentgrep.com/patent/US11318499B2 ## CPC - B07C 3/008: {Means for collecting objects, e.g. containers for sorted mail items (pile receivers in general B65H31/00)} - B07C 3/08: using arrangements of conveyors {(transport of sheets B65H; transport in general B65G)} - B07C 5/36: Sorting apparatus characterised by the means used for distribution {(sorting according to destination B07C3/003, B07C3/02)} - B25J 9/0093: {co-operating with conveyor means} - B25J 9/023: {Cartesian coordinate type} - B25J 9/1612: {characterised by the hand, wrist, grip control} - B25J 9/1679: {characterised by the tasks executed} - B25J 9/1697: {Vision controlled systems} - B25J 15/0014: {having fork, comb or plate shaped means for engaging the lower surface on a object to be transported} - B25J 15/0616: {with vacuum} - B65G 1/0492: {with cars adapted to travel in storage aisles} - B65G 1/1376: {the orders being assembled on a commissioning conveyor} - B65G 1/1378: {the orders being assembled on fixed commissioning areas remote from the storage areas} - B65G 47/904: {provided with rotary movements only} - B65G 47/915: {provided with drive systems with rotary movements only} - B65G 2203/0233: Position of the article - B65G 2203/044: Optical - G05B 2219/40153: Teleassistance, operator assists, controls autonomous robot - G05B 2219/40155: Purpose is grasping objects - G05B 2219/40174: Robot teleoperation through internet - G05B 2219/40195: Tele-operation, computer assisted manual operation - G05B 2219/40391: Human to robot skill transfer - G05B 2219/45063: Pick and place manipulator - B07C: POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING (specially adapted for a specific purpose covered by another class, see the relevant place, e.g. A43D33/06, B23Q7/12) - 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}) - 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) - G05B: CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS (systems for controlling or regulating non-electric variables G05D; systems for regulating electric or magnetic variables G05F; control devices or systems insofar as characterised by mechanical features only G05G) ## Abstract A robotic system includes a robot having a picking arm to grasp an inventory item and a shuttle. The shuttle includes a platform adapted to receive the inventory item from the picking arm of the robot. The platform is moveable between a pick-up location located substantially adjacent to the robot and an end location spaced a distance apart from the pick-up location. The system improves efficiency as transportation of the item from the pick-up location to the end location is divided between the robot and the shuttle. ## Claims ### Claim 1 A robotic system for sorting items, comprising: a put wall having cubbies; and a shuttle including: a track extending along a first side of the put wall in a first horizontal direction; a carriage moveable along the track; a vertical post extending from the carriage; and a platform moveable along the vertical post and relative to the carriage such that the platform is arranged to receive an item at a pick-up location and deposit the item into a select one of the cubbies. ### Claim 2 (depends on 1) The system of claim 1, wherein cubbies are arranged in a first horizontal row and a second horizontal row stacked on top of the first horizontal row. ### Claim 3 (depends on 1) The system of claim 1, further comprising a scanner for identifying the item and/or determining the select one of the cubbies. ### Claim 4 (depends on 1) The system of claim 1, wherein the platform includes a dispenser to displace the item from the platform in a second horizontal direction and deposit the item into the select one of the cubbies, the second horizontal direction being substantially orthogonal to the first horizontal direction. ### Claim 5 (depends on 4) The system of claim 4, wherein the dispenser includes a cross-belt or a push tray. ### Claim 6 (depends on 1) The system of claim 1, wherein the select one of the cubbies has a ledge provided at a second side of the put wall opposite of the first side of the put wall and a bottom angled toward a ground surface from the first side of the put wall toward the second side of the put wall such that when the item is deposited into the select one of the cubbies the item will slide along the bottom toward the ledge. ### Claim 7 (depends on 6) The system of claim 6, wherein the select one of the cubbies defines an interior space for temporarily storing the item and the interior space is accessible from the first and second sides of the put wall. ### Claim 8 A robotic system for sorting items, comprising: containers defining an open top, the containers being arranged in a first horizontal row and a second horizontal row; and a shuttle including: a track extending in a first horizontal direction; a carriage translatable along the track; and a platform coupled to the carriage and translatable relative to the carriage in a second horizontal direction transverse to the first horizontal direction, the platform being arranged to receive an item at a pick-up location, carry the item to a select one of the containers, and deposit the item into the select one of the containers. ### Claim 9 (depends on 8) The system of claim 8, wherein the track includes a set of parallel tracks and the carriage extends between the set of parallel tracks such that the platform is elevated above the first and second horizontal rows of containers. ### Claim 10 (depends on 8) The system of claim 8, wherein the second horizontal direction is orthogonal to the first horizontal direction. ### Claim 11 (depends on 8) The system of claim 8, wherein at least part of the platform is pivotable from a transport position arranged to support the item to a delivery position arranged to deposit the item into the select one of the containers. ### Claim 12 (depends on 8) The system of claim 8, further comprising a robot located adjacent to the pick-up location, the robot including a picking arm arranged to pick the item from a picking location and place the item on the platform. ### Claim 13 A method of sorting items, comprising: picking a first item to singulate the first item; placing the singulated first item on a shuttle, the shuttle including a track, a carriage moveable along the track, and a platform; moving the carriage along the track in a first direction and moving the platform relative to the carriage in a second direction transverse to the first direction; and actuating at least a portion of the platform in a third direction to deposit the singulated first item into a first sorting location after the moving step. ### Claim 14 (depends on 13) The method of claim 13, further comprising scanning the first item to determine the first sorting location from other sorting locations. ### Claim 15 (depends on 13) The method of claim 13, wherein the picking step is performed by a warehouse worker or a robot with a picking arm. ### Claim 16 (depends on 13) The method of claim 13, further comprising: picking a second item to singulate the second item; placing the singulated second item on the platform; moving the carriage along the track in the first direction and moving the platform relative to the carriage in the second direction; and actuating the at least a portion of the platform in the third direction to deposit the singulated second item into a second sorting location. ### Claim 17 (depends on 16) The method of claim 16, wherein the first sorting location corresponds to a first order and the second sorting location corresponds to a second order different than the first order. ### Claim 18 (depends on 16) The method of claim 16, further comprising batch picking inventory including the first item and the second item from a storage location and transporting the inventory to a picking location. ### Claim 19 (depends on 18) The method of claim 18, wherein the transporting step is performed at least in part by a conveyer.