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Automated storage and retrieval system

  • US 9,988,213 B2
  • Filed: 10/30/2017
  • Issued: 06/05/2018
  • Est. Priority Date: 03/15/2013
  • Status: Active Grant
First Claim
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1. An autonomous rover comprising:

  • a frame having a first end and a second end longitudinally spaced from the first end and forming a payload bay, the payload bay being sized to support a pickface;

    at least a first common registration surface, a second common registration surface, and a third common registration surface, each of the at least the first common registration surface, the second common registration surface, and the third common registration surface beingconfigured to engage the pickface supported on payload supports in the payload bay, anddistinct and decoupled from the payload supports; and

    a drive section beingconnected to the at least the first common registration surface, the second common registration surface, and the third common registration surface, andconfigured to variably position the at least the first common registration surface, the second common registration surface, and the third common registration surface relative to each other and at least one storage shelf of an automated storage and retrieval system so as to justify the pickface in three degrees of freedom to effect placement of the pickface on the at least one storage shelf;

    wherein the autonomous rover is configured to pick one or more items from one or more storage locations of the at least one storage shelf to build the pickface.

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