Mims was on the active roster for Kansas City for five games as a rookie last season.
The 6-foot-8, 335-pounder played collegiately at Virginia Union.
He visited the Ravens' training complex prior to going undrafted two years ago.
The Ravens also signed linebacker
Gurley is a big receiver at 6-foot-4, 232 pounds.
All of those players are now on the Ravens' offseason roster and not eligible for the playoffs. They can begin working out with the team during the offseason program, minicamps and organized team activities.