公开(公告)号：US11279556B2

公开(公告)日：2022-03-22

申请号：US16640892

申请日：2018-08-24

申请人： MOVEBOT APS

发明人： Thomas Martin Klinge ,  Kristian Kassow

IPC分类号： B65G1/04 ,  B65G59/00 ,  B65G61/00 ,  B25J5/00 ,  B25J9/00 ,  B25J9/10 ,  B25J9/16 ,  B25J15/00 ,  B25J19/02 ,  B66F9/075

摘要： A method and an associated robot for retrieval of a target article from an article stack are disclosed. The article stack comprising the target article and a first non-target article being positioned on top of the target article, the target article being arranged in the article stack with a lower target article face being at a first vertical stack position. The method comprises: identifying the target article; positioning a platform having a platform surface in a first vertical platform position wherein the platform surface is at the first vertical stack position or below the first vertical stack position; repositioning the target article and the first non-target article in a first horizontal direction onto the platform; and repositioning the first non-target article opposite the first horizontal direction off the platform.