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.

Abstract: A robotic system that includes a storage structure, a container handling robot, and a manipulator robot is provided herein. The storage structure includes vertical members supporting a grid having a first set of rails and a second set of rails that collectively define grid spaces, and a plurality of storage containers arranged in vertical stacks within a respective one of the grid spaces. The container handling robot is arranged to move along the first and second set of rails and includes a lifting device to extract one or more storage containers from the vertical stacks and to transport the one or more storage containers about the grid. The manipulator robot is installed within a footprint of a single grid space and includes one or more vacuum generators, and a picking arm provided with a pneumatic gripping tool for picking an inventory item from the one or more storage containers.

Abstract: A mobile robot provided with a drop guard. The robot includes a body coupled to a wheel assembly having a plurality of wheels and a drive mechanism arranged to move the body about a top of a storage frame along a first set of parallel rails extending in a first direction and a second set of parallel rails extending in a second direction perpendicular to the first direction. The robot includes a picking arm equipped with an end effector for picking items from a storage container and a drop guard secured to the body. The guard is movable from a stowed condition to an expanded condition to prevent items from falling within the storage frame.

Abstract: An order fulfillment and delivery system for autonomously fulfilling orders while en route to a delivery location. The system includes a delivery vehicle having a storage area, a robotic system at least partially disposed within the storage area and one or more processors. The one or more processors being configured to receive an order of one or more inventory items, generate container retrieval instructions for the robotic system to perform based on the received order and transmit to the robotic system the container retrieval instructions to perform. The robot system includes a container retrieval device movable in at least two dimensions to engage and move a container, based upon the container retrieval instructions, from a first location within the delivery vehicle to a second location within the delivery vehicle.

Abstract: A robotic system including a storage structure provided with vertical members supporting a grid collectively defining grid spaces and a plurality of storage containers arranged in vertical stacks for storing inventory items, each one of the vertical stacks configured to be arranged within a respective one of the grid spaces. One or more load handling robots are installed upon the grid and include a lifting device extendable in a vertical direction to extract one or more storage containers from the vertical stacks and transport the extracted storage container to a station. The robotic system further includes one or more manipulator robots installed at the station and within a single grid space. The one or more manipulator robots include a picking arm provided with a pneumatic gripping tool arranged to pick an inventory item from the transported storage container and place the picked item into an order container.

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 in at least a two-dimensional horizontal plane 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.

Abstract: A robotic system that includes a storage structure, a container handling robot, and a manipulator robot is provided herein. The storage structure includes vertical members supporting a grid having a first set of rails and a second set of rails that collectively define grid spaces, and a plurality of storage containers arranged in vertical stacks within a respective one of the grid spaces. The container handling robot is arranged to move along the first and second set of rails and includes a lifting device to extract one or more storage containers from the vertical stacks and to transport the one or more storage containers about the grid. The manipulator robot is installed within a footprint of a single grid space and includes one or more vacuum generators, and a picking arm provided with a pneumatic gripping tool for picking an inventory item from the one or more storage containers.

Abstract: A robotic order fulfilment system for picking inventory. The system includes a piece picking robot configured to pick inventory from a plurality of containers arranged on shelving. The robot includes a base moveable relative to the shelving in a horizontal direction, a vertical post extending from the base, a platform linearly moveable along the vertical post, a suction system arranged to secure and move a select one of the containers from the shelving to expose an open top of the select one of the containers, and a picking arm configured to pick an item from the select one of the containers after the open top has been exposed. An order fulfilment method using the piece picking robot is also provided.

Abstract: The technology is directed to providing pick and place instructions to a robot. Sensor data including an image feed of a picking container in which at least one product is located may be output. An input indicating a selected product including at least one of the products located in the picking container may be received. A representation of the selected product and at least one image of the order container may be output for display. The representation of the product may be scaled relative to the at least one image of the order container. A place input corresponding to the position of the representation of the product at a packing location within the at least one image of the order container may be received and transmitted to a robot control system.

Abstract: A warehouse equipped with systems for automated order fulfilment includes a storage and retrieval system and a sealing machine. The storage and retrieval system includes a storage structure designed to house storage bins in stacks and one or more robots. The storage structure having pillars supporting a first set of rails and a second set of rails collectively forming a grid defining a plurality of grid spaces such that each of the stacks are housed within a footprint of a respective grid space. The one or more robots being operational on the grid and including a body coupled to a wheel assembly, the wheel assembly including a plurality of wheels and a drive mechanism arranged to move the body along the first and/or second sets of rails and a picking arm for placing the inventory items directly into a vessel for outbound shipment to an end user.

Abstract: A robotic system including a storage structure provided with vertical members supporting a grid collectively defining grid spaces and a plurality of storage containers arranged in vertical stacks for storing inventory items, each one of the vertical stacks configured to be arranged within a respective one of the grid spaces. One or more load handling robots are installed upon the grid and include a lifting device extendable in a vertical direction to extract one or more storage containers from the vertical stacks and transport the extracted storage container to a station. The robotic system further includes one or more manipulator robots installed at the station and within a single grid space. The one or more manipulator robots include a picking arm provided with a pneumatic gripping tool arranged to pick an inventory item from the transported storage container and place the picked item into an order container.

Abstract: A pillar for supporting a grid formed of a first set of a parallel rails extending in an x-direction and a second set of parallel rails extending in a y-direction. The pillar extending along an axis in a z-direction and including a constraining feature arranged to prevent a grapple from moving away from the axis in the x-direction and in the y-direction as the grapple is lowered in the z-direction to secure a container. A grid-based storage structure formed of pillars including the constraining feature can thus be assembled using less pillars than a storage structure formed of conventional pillars and, therefore, can also be constructed with significantly lower costs.

Abstract: An order fulfillment and delivery system for autonomously fulfilling orders while en route to a delivery location. The system includes a delivery vehicle having a storage area, a robotic system at least partially disposed within the storage area and one or more processors. The one or more processors being configured to receive an order of one or more inventory items, generate container retrieval instructions for the robotic system to perform based on the received order and transmit to the robotic system the container retrieval instructions to perform. The robot system includes a container retrieval device movable in at least two dimensions to engage and move a container, based upon the container retrieval instructions, from a first location within the delivery vehicle to a second location within the delivery vehicle.

Abstract: A robotic end effector tool having multiple manipulator elements. The end effector includes a body, a suction cup movable relative to the body between a retracted position and an extended position, a plurality of fingers spaced around the suction cup and being actuatable between an open condition and a clamped condition, and a roller coupled to at least one of the fingers such that the roller is arranged to rotate about a first axis. The combination of the suction cup, the fingers and the rollers are arranged to pick an item and adjust the orientation of an object without setting the object down.

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 in at least a two-dimensional horizontal plane 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.

Abstract: A gantry for loading or unloading containers into a cargo area of a vehicle. The gantry includes a pair of substantially parallel beams extending in a first horizontal direction, a rail mounted between the beams to be moveable in the first horizontal direction, and a trolley coupled to and moveable along the rail in a second horizontal direction perpendicular to the first horizontal direction. The trolley supports a hoist including a plate having an actuatable gripping device for selectively engaging and releasing the containers, and the plate is moveable in a vertical direction relative to the trolley between a retracted position and an extended position to lift and lower the containers. The gantry is thus arranged to load/unload containers into the cargo area in horizontal levels.

Abstract: A method of arranging inventory within a storage system. The method includes picking an SKU from a first container located underneath a grid of a grid-based storage system; placing the picked SKU into a dumping tray; transporting the dumping tray to a position located above a second container different than the first container, the second container being located underneath the grid; and depositing the picked SKU into the second container.

Abstract: A mobile manipulator robot for retrieving inventory items from a storage system. The robot includes a body, a wheel assembly, a sensor to locate a position of the robot within the storage system, an interface configured to send processor readable data to a remote processor and to an operator interface, and receive processor executable instructions from the remote processor and from the operator interface, an imaging device to capture images of the inventory items, a picking manipulator, first and second pneumatic gripping elements for grasping the inventory items, and a coupler configured to mate with a valve to access a pneumatic supply for operating at least one of the first or second pneumatic gripping elements. The robot is configured to transition the valve from a closed condition to an open condition and selectively place one of the first or the second pneumatic gripping elements in communication with the pneumatic supply.

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 in at least a two-dimensional horizontal plane 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.

Abstract: A robotic order fulfilment system for picking inventory. The system includes a piece picking robot configured to pick inventory from a plurality of containers arranged on shelving. The robot includes a base moveable relative to the shelving in a horizontal direction, a vertical post extending from the base, a platform linearly moveable along the vertical post, a suction system arranged to secure and move a select one of the containers from the shelving to expose an open top of the select one of the containers, and a picking arm configured to pick an item from the select one of the containers after the open top has been exposed. An order fulfilment method using the piece picking robot is also provided.