Patent ID: 11897693
Assignee: CROWN EQUIPMENT CORPORATION
Field: Handling (Mechanical engineering)
Classification: CPC B | IPC B  G

Claim 9:
10. The goods storage and retrieval system as claimed in claim 7 wherein the X-Y-Z-Ψ positioner comprises an X-positioner configured to move the picking attachment in a first degree of freedom along a first lateral axis in a lateral plane, a Y-positioner configured to move the picking attachment in a second degree of freedom along a second lateral axis perpendicular to the first lateral axis in the lateral plane, a Z-positioner configured to move the picking attachment in a third degree of freedom along a Z-axis perpendicular to the first lateral axis and the second lateral axis, and a rotational Ψ-positioner configured to rotate the picking attachment in a fourth degree of freedom about the Z-axis.