Stack containment structure

A stack containment fixture, comprising:

• an insertion zone structure comprising a pair of substantially vertically oriented deflecting arms, each having one or more funnels configured to guide a stack into a position between the deflecting arms as the stack is lowered into the insertion zone structure from above;
• and
• a kitting area structure that is configured to support the stack during kitting operations for items being placed in the stack or for items being picked from the stack,
• wherein the insertion zone structure comprises (i) at least two insertion zone support structures that are deformable and configured to hold a stack of predefined size, and (ii) a bump stop structure that restricts an amount of deflection of at least one insertion zone support structure.

A stack containment fixture, comprising:

• an insertion zone structure comprising a pair of substantially vertically oriented deflecting arms, each having one or more funnels configured to guide a stack into a position between the deflecting arms as the stack is lowered into the insertion zone structure from above;
• and
• a kitting area structure that is configured to support the stack during kitting operations for items being placed in the stack or for items being picked from the stack,
• wherein:
• the insertion zone comprises at least two insertion zone support structures configured to hold a stack of predefined size;
• the kitting area comprises at least two kitting area support structures configured to hold a stack of predefined size;
• and
• the at least two insertion zone support structures are more flexible than the at least two kitting area support structures.

A stack containment fixture, comprising:

• an insertion zone structure comprising a pair of substantially vertically oriented deflecting arms, each having one or more funnels configured to guide a stack into a position between the deflecting arms as the stack is lowered into the insertion zone structure from above;
• a kitting area structure that is configured to support the stack during kitting operations for items being placed in the stack or for items being picked from the stack;
• and
• one or more mounting mechanisms to mount the stack containment fixture to a surface in a warehouse.

An autonomous tray handling robotic system comprising:

• a stack containment fixture, comprising:
• an insertion zone structure comprising a pair of substantially vertically oriented deflecting arms, each having one or more funnels configured to guide a stack into a position between the deflecting arms as the stack is lowered into the insertion zone structure from above;
• and
• a kitting area structure that is configured to support the stack during kitting operations for items being placed in the stack or for items being picked from the stack;
• a memory configured to store data indicating a set of kits to be assembled, at least one kit is defined to include an item picked from the stack;
• and
• a processor coupled to the memory and configured to control operation of one or more robots, each of the one or more robots being configured to grasp, move, and iteratively pick one or more first items from the stack and assemble the set of kits according to a plan.