US 11,787,634 B2
Storage and retrieval system
Kirill K. Pankratov, Acton, MA (US); Juergen D. Conrad, York, PA (US); Robert Hsiung, Cambridge, MA (US); William Johnson, Jr., Wilmington, MA (US); Edward A. Macdonald, Somerville, MA (US); and Larry M. Sweet, Atlanta, GA (US)
Assigned to SYMBOTIC LLC, Wilmington, MA (US)
Filed by Symbolic LLC, Wilmington, MA (US)
Filed on Mar. 17, 2021, as Appl. No. 17/204,107.
Application 17/204,107 is a continuation of application No. 16/284,930, filed on Feb. 25, 2019, granted, now 10,954,066.
Application 16/284,930 is a continuation of application No. 14/997,902, filed on Jan. 18, 2016, granted, now 10,214,355, issued on Feb. 26, 2019.
Claims priority of provisional application 62/104,552, filed on Jan. 16, 2015.
Prior Publication US 2021/0292092 A1, Sep. 23, 2021
This patent is subject to a terminal disclaimer.
Int. Cl. B65G 1/137 (2006.01); B65G 1/04 (2006.01)
CPC B65G 1/1373 (2013.01) [B65G 1/04 (2013.01)] 21 Claims
OG exemplary drawing
 
1. An automated storage and retrieval system lift comprising:
a frame; and
at least one payload carriage having
a carriage frame with drive axis and forming a payload section configured to hold one or more pickfaces, and
at least one independent degree of freedom transfer arm arranged on a first payload axis so as to move along a first payload axis transverse to the drive axis, the at least one independent degree of freedom transfer arm being disposed at least partly within the payload section;
wherein the at least one independent degree of freedom transfer arm and the payload section are configured to effect an on-the-fly sorting of the one or more pickfaces carried in the payload section.