Robotic storage and retrieval systems
AssigneeNimble Robotics, Inc.
InventorsSimon Kalouche, Yeolim Jo, Matthew Shekels, Mike Stevens, Christopher McQuin
Life of this patent
Estimating the term…
Abstract
A robot includes a body coupled to a wheel assembly and a container retrieval device. The wheel assembly has a plurality of wheels and a drive mechanism arranged to move the body along a first set of parallel rails and along a second set of parallel rails. The container retrieval device includes an extendable and retractable grapple arranged to selectively secure an engagement feature positioned between a rim and a bottom surface of a container. The grapple thus allows the robot to lift multiple containers in a single lift.
Claims20
A robot, comprising:
- a body coupled to a wheel assembly, the wheel assembly including a plurality of wheels arranged to move the body along a first set of rails and a second set of rails extending perpendicular to the first set of rails to define a plurality of grid spaces;
- and
- a container retrieval device including a grapple having at least three sides, the grapple being extendable and retractable in a vertical direction and arranged to selectively secure an engagement feature positioned between a rim and a bottom surface of a container.
A robot, comprising:
- a body coupled to a wheel assembly, the wheel assembly including a plurality of wheels arranged to move the body along a first set of rails and a second set of rails extending perpendicular to the first set of rails to define a plurality of a grid spaces;
- and
- a first container retrieval device including a first grapple that is extendable and retractable in a vertical direction, the first grapple comprising two grapple arms and a bar connecting the two grapple arms,
- wherein the first grapple defines a first open lateral side and a first receiving space through lower and upper surfaces such that the first grapple is arranged to selectively secure an engagement feature positioned between a rim and a bottom surface of a container.
A system, comprising:
- a frame including vertical members supporting 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 first and second set of rails collectively defining a plurality of grid spaces;
- containers arranged in stacks, each of the stacks being housed within a respective one of the grid spaces such that a gap exists around an entire perimeter of the containers in the stack and between the stack and the vertical members, each container including a bottom and sidewalls collectively defining an interior, the sidewalls having an upper surface forming a rim and an engagement feature positioned between the rim and the bottom;
- and
- a robot, comprising:
- a body coupled to a wheel assembly, the wheel assembly including a plurality of wheels arranged to move the body along the first set of rails and along the second set of rails;
- and
- a container retrieval device including a grapple having at least three-sides, the grapple being extendable and retractable in a vertical direction, sized to be lowered into the gap and around the stacks, and arranged to selectively secure the engagement feature and lift the container.
Dependencies are inferred from the claim text.