Robotic storage and retrieval systems
AssigneeNimble Robotics, Inc.
InventorsSimon Kalouche, Yeolim Jo, Matthew Shekels, Mike Stevens, Christopher McQuin
Life of this patent
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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 system, comprising:
- a frame including vertical members, 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 defining grid spaces;
- containers arranged in stacks;
- and
- an interface arranged to engage at least a portion of a bottommost container in a respective one of the stacks to maintain a position of the bottommost container within a footprint of a respective grid space such that a gap exists between at least one of the vertical members of the respective grid space and the respective one of the stacks.
A container for use in a grid-based storage system, comprising:
- a bottom and sidewalls collectively defining an interior for housing inventory items, the sidewalls of the container having an upper surface;
- and
- a nesting feature provided at the bottom of the container.
A system, comprising:
- a frame including vertical members, 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 defining grid spaces;
- containers arranged in stacks;
- an interface arranged to engage at least a portion of a bottommost container in a respective one of the stacks to maintain a position of the bottommost container within a footprint of a respective grid space such that a gap exists between at least one of the vertical members of the respective grid space and the respective one of the stacks;
- and
- a robot configured to traverse the first rails and the second rails, the robot including a grapple extendable in a vertical direction into the gap to engage an engagement feature.
Dependencies are inferred from the claim text.