US 12,440,989 B2
Automated storage and retrieval system
Gajamohan Mohanarajah, Tokyo (JP); and Arudchelvan Krishnamoorthy, Tokyo (JP)
Assigned to Rapyuta Robotics Co., Ltd., Tokyo (JP)
Filed by Rapyuta Robotics Co., Ltd., Tokyo (JP)
Filed on Feb. 7, 2023, as Appl. No. 18/165,353.
Claims priority of provisional application 63/482,805, filed on Feb. 2, 2023.
Claims priority of provisional application 63/315,563, filed on Mar. 2, 2022.
Prior Publication US 2023/0278800 A1, Sep. 7, 2023
Int. Cl. B65G 1/04 (2006.01); B25J 9/16 (2006.01); B25J 13/00 (2006.01); B65G 1/06 (2006.01); B65G 1/10 (2006.01); B65G 1/127 (2006.01); B65G 1/137 (2006.01); B25J 5/00 (2006.01)
CPC B65G 1/0492 (2013.01) [B25J 9/161 (2013.01); B25J 9/1676 (2013.01); B25J 13/006 (2013.01); B65G 1/0471 (2013.01); B65G 1/0478 (2013.01); B65G 1/06 (2013.01); B65G 1/065 (2013.01); B65G 1/10 (2013.01); B65G 1/127 (2013.01); B65G 1/1371 (2013.01); B65G 1/1373 (2013.01); B25J 5/007 (2013.01); B65G 2201/0235 (2013.01); B65G 2201/0258 (2013.01); B65G 2203/0233 (2013.01); B65G 2203/0283 (2013.01); B65G 2811/0678 (2013.01)] 20 Claims
OG exemplary drawing
 
1. An automated storage and retrieval system comprising:
a rack storing a plurality of bins for containing items;
a picking station for picking the item from the bin; and
a transportation robot for transporting the bin between the rack and the picking station,
wherein the rack comprising:
a plurality of floors each of which stores the plurality of bins and allows the transportation robot to run along a surface thereof, wherein the plurality of bins is received on the floors by a plurality of support legs extending from a bottom surfaces of the plurality of bins, and the transportation robot is configured to be able to enter a space below the bin between the bottom surface of the bin and the floor, and supports the bin so as to enable transportation of the bin by lifting the bottom surface of the bin in the space below; and
wherein the picking station defines
one or more picking positions at which the transportation robot transporting the bin is arranged to enable picking work of the item from the bin, and
one or more retracted positions at which the transportation robot temporarily retracts the bin from the picking position.