# US 12,110,178 B2 · High density storage and retrieval system > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 12,110,178 B2 - Document ID: US12110178B2 - Status: Granted - Kind: B2 - Application number: 17/374,436 - Filed: 2021-07-13 - Published: 2022-01-20 - Granted: 2024-10-08 - Earliest claimed: 2020-07-17 - Assignees: Intelligrated Headquarters, LLC - Applicants: Intelligrated Headquarters, LLC - Inventors: Justin J. Zimmer; William Munnerlyn; Philip Ammar - Web page: https://patentgrep.com/patent/US12110178B2 ## CPC - B65G 1/04: mechanical - B65G 1/0492: {with cars adapted to travel in storage aisles} - B61B 10/001: {Arrangements for routing vehicles} - B61B 13/00: Other railway systems - B65G 1/0435: {with pulling or pushing means on either stacking crane or stacking area} - B65G 1/0464: {with access from above} - B66F 9/063: {Automatically guided} - B65G: TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS (packaging B65B; handling thin or filamentary materials, e.g. paper sheets or thread, B65H; cranes B66C; portable mobile or lifting or hauling appliances, e.g. hoists, B66D; devices for lifting or lowering goods for loading or unloading purposes, e.g. fork-lift trucks, B66F9/00; emptying bottles, jars, casks, barrels or similar containers, not otherwise provided for, B67C9/00; delivering or transferring liquids B67D; filling or discharging vessels for liquefied, solidified or compressed gases F17C; pipe-line systems for fluids F17D) - B61B: RAILWAY SYSTEMS; EQUIPMENT THEREFOR NOT OTHERWISE PROVIDED FOR (lifts or hoists, elevators, escalators, moving walkways B66B) - B66F: HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD ({invalid lifting devices A61G7/10; } mounting artificial islands on piles or like supports E02B17/00; scaffolding combined with lifting devices E04G1/22; lifting devices for sliding forms E04G11/24; lifting of buildings E04G23/06; shores or struts E04G25/00; lifts or other hoisting devices on ladders E06C7/12; props for mining E21D15/00) ## Abstract Various embodiments disclosed herein provide for a storage and retrieval systems, and more specifically to a three dimensional storage and retrieval system in which storage cells featuring multiple storage locations disposed around a central void are stacked in alignment with one another such that the central voids in each stack form a central shaft by which storage/retrieval vehicles can access every storage location from upper and lower track grids above and below the stacked array of storage locations. ## Claims ### Claim 1 A robotic retrieval vehicle comprising: a first portion comprising: a first mechanism that facilitates vertical movement of the robotic retrieval vehicle along a vertical shaft of a high density storage system, wherein the first mechanism comprises a drive mechanism configured to raise or lower the robotic retrieval vehicle in the vertical shaft, wherein the drive mechanism is positioned at a location other than a corner of the first portion; and a second drive mechanism that facilitates lateral movement in the high density storage system, wherein the second drive mechanism comprises a set of four wheels that can maneuver the robotic retrieval vehicle on a rail network in the high density storage system and can maneuver the robotic retrieval vehicle in a first direction and a second direction orthogonal to the first direction; and a second portion that is rotatable relative to the first portion. ### Claim 2 (depends on 1) The robotic retrieval vehicle of claim 1, wherein the second drive mechanism rotates a portion of the robotic retrieval vehicle comprising a set of wheels when changing movement from the first direction to the second direction. ### Claim 3 (depends on 2) The robotic retrieval vehicle of claim 2, wherein in response to the second drive mechanism rotating the portion of the robotic retrieval vehicle, the set of four wheels disengage from a first pair of rails and engage a second pair of rails. ### Claim 4 (depends on 1) The robotic retrieval vehicle of claim 1, wherein the drive mechanism of the first mechanism engages a drive system associated with the vertical shaft. ### Claim 5 (depends on 4) The robotic retrieval vehicle of claim 4, wherein the drive system is at least one of a chain or belt drive system. ### Claim 6 (depends on 1) The robotic retrieval vehicle of claim 1, further comprising a motor driven roller configured to offload or onload a tote into a storage cell of the high density storage system. ### Claim 7 (depends on 1) The robotic retrieval vehicle of claim 1, wherein the second portion comprises a conveyor. ### Claim 8 (depends on 1) The robotic retrieval vehicle of claim 1, wherein the drive mechanism of the first mechanism is positioned at a corner of the first portion. ### Claim 9 (depends on 1) The robotic retrieval vehicle of claim 1, wherein the second drive mechanism comprises only the set of four wheels, the set of four wheels comprising only four wheels. ### Claim 10 (depends on 1) The robotic retrieval vehicle of claim 1, wherein each wheel of the set of four wheels is rotatable on a vertical axis relative to a main body of the first portion. ### Claim 11 (depends on 10) The robotic retrieval vehicle of claim 10, wherein the first portion is configured to retract each wheel of the set of four wheels to facilitate rotating each wheel on the vertical axis relative to the main body of the first portion. ### Claim 12 (depends on 10) The robotic retrieval vehicle of claim 10, wherein the first portion is configured to raise the robotic retrieval vehicle in the vertical shaft while rotating each wheel on the vertical axis relative to the main body of the first portion. ### Claim 13 (depends on 1) The robotic retrieval vehicle of claim 1, wherein each wheel of the set of four wheels is operated by a swerve drive that allows the respective wheel to operate in multiple directions. ### Claim 14 (depends on 1) The robotic retrieval vehicle of claim 1, wherein the drive mechanism is powered.