# US 12,759,795 B2 · Storage systems and methods for robotic picking > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 12,759,795 B2 - Document ID: US12759795B2 - Status: Granted - Kind: B2 - Application number: 19/635,150 - Filed: 2026-03-31 - Published: 2026-07-30 - Granted: 2026-10-13 - Earliest claimed: 2019-07-29 - Assignees: Nimble Robotics, Inc. - Applicants: Nimble Robotics, Inc. - Inventors: Simon Kalouche - Web page: https://patentgrep.com/patent/US12759795B2 ## CPC - B65G 1/1373: {for fulfilling orders in warehouses} - B25J 5/007: {mounted on wheels} - B25J 5/02: travelling along a guideway - B25J 9/042: {comprising an articulated arm} - B25J 9/14: fluid - B25J 9/161: {Hardware, e.g. neural networks, fuzzy logic, interfaces, processor} - B25J 9/1612: {characterised by the hand, wrist, grip control} - B25J 9/162: {Mobile manipulator, movable base with manipulator arm mounted on it} - B25J 9/163: {learning, adaptive, model based, rule based expert control} - B25J 9/1689: {Teleoperation} - B25J 9/1697: {Vision controlled systems} - B25J 13/00: Controls for manipulators (program controls B25J9/16) - B25J 13/006: {by means of a wireless system for controlling one or several manipulators} - B25J 13/08: by means of sensing devices, e.g. viewing or touching devices - B25J 13/089: {Determining the position of the robot with reference to its environment} - B25J 15/0061: {mounted on a modular gripping structure} - B25J 15/02: servo-actuated - B25J 15/0441: {having vacuum or magnetic means} - B25J 15/0616: {with vacuum} - B25J 15/0625: {provided with a valve} - B25J 17/02: Wrist joints - B25J 19/0025: {Means for supplying energy to the end effector} - B25J 19/005: {using batteries, e.g. as a back-up power source} - B25J 19/02: Sensing devices - B25J 19/021: {Optical sensing devices} - B25J 19/04: Viewing devices - B65G 1/0464: {with access from above} - B65G 1/0478: {for matrix-arrangements} - B65G 1/065: {with self propelled cars} - B65G 1/1375: {the orders being assembled on a commissioning stacker-crane or truck} - B65G 47/91: incorporating pneumatic, e.g. suction, grippers - B65G 47/917: {control arrangements} - B65G 47/918: {with at least two picking-up heads} - B60M 1/30: Power rails - B65G 2203/041: Camera - B65G 2203/042: Sensors - B65G 2209/04: Indication location means - 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}) - B60M: POWER SUPPLY LINES, AND DEVICES ALONG RAILS, FOR ELECTRICALLY- PROPELLED VEHICLES (control of points and safety arrangements along railway lines B61L; construction of rails and points in general E01B) ## Abstract A fulfillment system includes a storage structure arranged to house storage bins. The storage structure including first rails extending in a first direction and second rails extending in a second direction perpendicular that collectively forming a grid having a plurality of grid spaces. The system further includes a robot having a body including a plurality of sidewalls, a wheel assembly including a plurality of wheels arranged to move the body along the first rails and along the second rails, at least one bin holding device for holding order bins coupled to an interior surface of the body, a picking manipulator coupled to the body, and a first gripping tool coupled to the picking manipulator and moveable by the picking manipulator around an exterior of the body to pick inventory items from the storage bins. ## Claims ### Claim 1 A fulfillment system, comprising: a storage structure arranged to house storage bins, the storage structure including first rails extending in a first direction and second rails extending in a second direction perpendicular to the first direction, the first rails and the second rails collectively forming a grid having a plurality of grid spaces; and a robot, comprising: a body; a wheel assembly coupled to the body, the wheel assembly including a plurality of wheels arranged to move the body along the first rails and along the second rails of the storage structure; at least one bin holding device for holding an order bin, the at least one bin holding device being arranged to hold at least a portion of the order bin within an interior of the body; a picking manipulator coupled to the body, the picking manipulator having at least three degrees of freedom; and a first gripping tool coupled to the picking manipulator and moveable by the picking manipulator around an exterior of the body to pick inventory items from the storage bins. ### Claim 2 (depends on 1) The fulfillment system of claim 1, wherein the storage structure comprises shelving. ### Claim 3 (depends on 1) The fulfillment system of claim 1, wherein the body has a footprint that is substantially equal in size to a single grid space. ### Claim 4 (depends on 1) The fulfillment system of claim 1, wherein the at least one bin holding device is moveable between a stowed position and a laterally extended position. ### Claim 5 (depends on 4) The fulfillment system of claim 4, wherein the at least one bin holding device further comprises a hoist supported by cables coupled to a winding mechanism such that unwinding the cables lowers the hoist in a vertical direction and winding the cables raises the hoist in the vertical direction. ### Claim 6 (depends on 1) The fulfillment system of claim 1, wherein the robot further comprises an imaging sensor to capture images of the inventory items stored within the storage bins, and wherein the imaging sensor is disposed on the picking manipulator. ### Claim 7 (depends on 6) The fulfillment system of claim 6, wherein at least a portion of the picking manipulator is coupled to a vertical extension and moveable along a linear pathway of the vertical extension. ### Claim 8 (depends on 1) The fulfillment system of claim 1, wherein the first gripping tool is removably connectable to the picking manipulator. ### Claim 9 (depends on 8) The fulfillment system of claim 8, further comprising a second gripping tool removably connectable to the picking manipulator. ### Claim 10 (depends on 9) The fulfillment system of claim 9, wherein the robot further comprises a tool holder coupled to the body, the tool holder having a first retainer and a second retainer, and wherein the first gripping tool is configured to stored within the first retainer and the second gripping tool is configured to be stored within the second retainer. ### Claim 11 A robot operable on a grid-based storage structure, comprising: a body; a wheel assembly coupled to the body, the wheel assembly including a plurality of wheels to move the body about a grid including first rails extending in a first direction and second rails extending in a second direction perpendicular to the first direction; at least one bin holding device for holding an order bin, the at least one bin holding device being arranged to hold at least a portion of the order bin within an interior of the body; a picking manipulator coupled to the body, the picking manipulator having at least three degrees of freedom; and a first gripping tool coupled to the picking manipulator and moveable by the picking manipulator around an exterior of the body to pick inventory items from storage bins. ### Claim 12 (depends on 11) The robot of claim 11, further comprising an interface configured to send processor readable data to a remote processor and receive processor executable instructions from the remote processor. ### Claim 13 (depends on 11) The robot of claim 11, wherein the robot further comprises an imaging sensor to capture images of the inventory items, and wherein the imaging sensor is disposed on the picking manipulator. ### Claim 14 (depends on 11) The robot of claim 11, wherein a portion of the picking manipulator is coupled to a vertical extension and moveable along a linear pathway of the vertical extension. ### Claim 15 (depends on 11) The robot of claim 11, wherein the at least one bin holding device is moveable between a stowed position and a laterally extended position. ### Claim 16 (depends on 15) The robot of claim 15, wherein the at least one bin holding device further comprises a hoist supported by cables coupled to a winding mechanism such that unwinding the cables lowers the hoist in a vertical direction and winding the cables raises the hoist in the vertical direction. ### Claim 17 (depends on 11) The robot of claim 11, wherein the first gripping tool removably connectable to the picking manipulator. ### Claim 18 (depends on 17) The robot of claim 17, wherein the first gripping tool comprises a suction cup. ### Claim 19 (depends on 17) The robot of claim 17, further comprising a second gripping tool removably connectable to the picking manipulator. ### Claim 20 (depends on 19) The robot of claim 19, wherein the robot further comprises a tool holder coupled to the body, the tool holder having a first retainer and a second retainer, and wherein the first gripping tool is configured to stored within the first retainer and the second gripping tool is configured to be stored within the second retainer.