US 12,280,953 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 Symbotic LLC, Wilmington, MA (US)
Filed on Oct. 17, 2023, as Appl. No. 18/488,606.
Application 18/488,606 is a continuation of application No. 17/204,107, filed on Mar. 17, 2021, granted, now 11,787,634.
Application 17/204,107 is a continuation of application No. 16/284,930, filed on Feb. 25, 2019, granted, now 10,954,066, issued on Mar. 23, 2021.
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 2024/0051754 A1, Feb. 15, 2024
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 for an automated storage and retrieval system, the automated storage and retrieval system lift comprising:
at least one payload carriage movably connected to a frame of storage levels of the automated storage and retrieval system, the carriage having
a carriage frame with a drive axis and forming a payload section configured to hold one or more pickfaces, wherein the drive axis is configured to raise and lower the at least one payload carriage from one of the storage levels to another, 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; and
a controller operably connected to, the drive axis, the at least one independent degree of freedom transfer arm and the payload section, and being configured to effect sorting of the one or more pickfaces carried in the payload section by exchanging at least one of the one or more pickfaces carried by the payload section between storage levels.