Patent Description:
An automated storage and retrieval system facilitates retrieval of an individual container from a plurality of containers. The system can include a storage and retrieval machine including a retrieval tool adapted to engage the container. A plurality of containers can be disposed adjacently on a shelf. The container, the retrieval tool, and/or the shelf are configured to advantageously facilitate access to an individual container among the plurality of containers to enable the retrieval tool to grasp and handle the container.

Now referring to the drawings, wherein like reference numbers refer to like elements, there is illustrated a material handling facility <NUM> which may be the physical location for the temporary storage and distribution of various materials including items and goods. More specifically, the material handling facility <NUM> can be a building or similar structural enclosure through which various materials are received and transported. In the illustrated example, the material handling facility <NUM> may be a retail facility where customers come to purchase any number of types of consumer items and merchandising goods for consumption such as, for example, groceries and convenience products, shopping products such as a clothes or books, specialty products, or any other suitable types of consumer items. In other examples, the material handling facility <NUM> may be a warehouse, distribution center, or manufacturing plant. A common operation at such material handling facilities <NUM> is the temporary storage and movement of physical items and goods through the facility. The material handling facility <NUM> may be organized in a plurality of different areas intended for different purposes and functions with respect to the material being handled.

In the example where the material handling facility <NUM> is a retail facility, the facility may include a receiving area <NUM>, a storage area <NUM>, and a point-of-sale area <NUM>. The receiving area <NUM> may be configured to accept items into the material handling facility <NUM> from suppliers and may include a loading dock or other freight equipment for loading or unloading items and goods. The storage area <NUM> may be configured for the temporary receipt and storage of the items and goods received by the receiving area <NUM>. To store the items and goods, the storage area <NUM> can include a plurality of storage units <NUM> which, in the illustrated example, may be a plurality of shelving units or industrial racks. The storage units <NUM> may be arranged in aisles or otherwise and may be affixed to the floor of the material handling facility <NUM>; however, in another example, the aisles may be reconfigurable with movable storage units. The storage units may also be pallets, flow racks, bins, cabinets, cases, floor locations, or other suitable storage configurations for storing items and goods.

To stock or retrieve the items and goods from the storage units <NUM>, the material handling facility <NUM> may be operatively associated with an automated storage and retrieval system (ASRS) <NUM>. The ASRS <NUM> can include one or more storage and retrieval machines <NUM> that can move among and with respect to the storage units <NUM> to replace or retrieve the items and goods. To retrieve items and goods from the storage units <NUM>, the storage and retrieval machines <NUM> can include a retrieval tool <NUM> configured to grasp or interact with containers <NUM> stored in the storage units in which the items may be contained. The point-of- sale area <NUM> may be where customers can interact with or inspect the items and goods and may select the items and goods for purchase. The point-of-sale area <NUM> can include tables, shelving, refrigerators, freezers, cooling cabinets, or the like and may include checkout lines or self-checkout machines.

To assist and facilitate operation of the material handling facility <NUM>, including the movement of items and goods through the facility, the facility may be operatively associated with a computer system <NUM>. The computer system <NUM> can include one or more computers <NUM> that may be configured as personal computers, laptops, notebooks, servers, mini-computers, or the like. Further, the functionality of the computer system <NUM> can be centralized on one computer or distributed among a plurality of computers <NUM> networked together and the computer system may be considered a computer network to communicate and exchange information and data between various nodes. The computer system <NUM> may be associated with an architecture that defines its hardware and software components and their arraignment and the data processing capabilities of the system. For example, to execute instructions and process data, the computer system <NUM> can include one or more central processing units or processors <NUM> that includes the electronic circuitry to perform software operations. To store the software instructions and data, the computer system <NUM> can also include memory <NUM>, which may be in the form of random access memory or other volatile memory, read only memory or other permanent memory, or another suitable form of memory. The processor <NUM> may be in direct or indirect digital or electronic communication with memory <NUM> to send and receive instructions and data. The computer system <NUM> may also include more permanent forms of memory <NUM> such as hard drives or backup disks having magnetic storage, optical storage, or other long term storage capabilities. The data that <NUM> processed and stored by processor <NUM> and the memory <NUM> may be associated with a data structure <NUM> that defines the organization and/or type of data. To interact with a user, the computer system <NUM> can also include one or more input/output interfaces <NUM> such as LCD or CRT displays, keyboards, mice, touchpads, etc..

The computer system <NUM> can be in operative communication with various controllers, terminals, scanners, sensors, and the like disposed about the material handling facility <NUM> including the ASRS <NUM>. In particular, the computer system <NUM> can send and receive electronic signals in digital or analog formats to communicate with the material handling facility <NUM>. The communication can occur via wires or buses, wirelessly such as by Bluetooth, fiber optical wave guides, or the like. The computer system <NUM> can be programmed or configured to assist in conducting operations at the material handling facility <NUM>. In an example, the computer system <NUM> can be part of an inventory management system that tracks, monitors, and manages the flow of the items and goods through the material handling facility. The computer system <NUM> can cooperate with the ASRS <NUM> in particular to transfer items and goods to and from the storage units <NUM> and the other areas of the material handling facility <NUM> such as the receiving area <NUM> and point-of-sale area <NUM>. For example, in a retail facility, items and goods are typically held in bulk in the storage area <NUM> until needed at the point-of-sale area <NUM>. Various components or functions of the computer system <NUM> can be on-location or optionally remote or off-location.

Referring to <FIG>, there is illustrated an example of how the storage units <NUM> and the ASRS <NUM> may interact to place and retrieve items and goods. The storage unit <NUM> can be configured as a plurality of horizontally disposed shelves <NUM> in a vertically spaced relation that are supported by a plurality of uprights <NUM> and horizontal beams <NUM>. The uprights <NUM> and the horizontal beams <NUM> can be interconnected to form the framework of the storage unit <NUM>. Moreover, the uprights <NUM> and horizontal beams <NUM> can segment or separate the storage unit <NUM> and the shelves <NUM> into a plurality of horizontal rows <NUM> and a plurality of vertical bays <NUM>. Because multiple rows <NUM> and bays <NUM> may be included, the storage unit <NUM> can be associated with a lateral dimension <NUM> in the horizontal orientation and an elevation dimension <NUM>, or height, in the vertical orientation. In addition, the storage unit <NUM> may be associated with a depth dimension <NUM>, or shelf depth, between the face <NUM> and back <NUM>. The empty space between adjacent shelves <NUM> within each bay <NUM> can be referred to as a receptacle <NUM> and the intersections of the plurality of vertical uprights <NUM> and horizontal beams <NUM> provides a plurality of receptacles <NUM> arranged in a grid-like pattern. The receptacles <NUM> can be accessed through a corresponding opening provided at the face <NUM> and/or back <NUM> of the storage unit <NUM>. In an example, the storage unit <NUM> can be an open type unit in which the receptacles <NUM> are accessible from both the face <NUM> and the back <NUM>. In another example, the storage unit <NUM> can be a closed type unit closed on the back, sides, and the top or canopy by panels. The storage unit <NUM> may be configured as racking or a rack system if the weight-bearing capacity is significantly high. The storage units <NUM> may also have other configurations such as cabinets, cases, bins, floor locations, or the like.

To access different receptacles <NUM> in the storage unit <NUM>, the storage and retrieval machine <NUM> of the ASRS <NUM> can be configured to travel through the material handling facility. In the example illustrated in <FIG>, the storage and retrieval machine <NUM> can travel along one or more rails <NUM> disposed over the floor of the material handling facility in predetermined routes or the storage and retrieval machine may be disposed on a conveyor system. In other examples, the storage and retrieval machine <NUM> can be disposed on wheels or continuous tracks for independent mobility. In other examples, the storage and retrieval machine <NUM> may be suspended from the ceiling or overhead rails similar to a gantry crane. In other examples, rather than a storage and retrieval machine <NUM>, the ASRS <NUM> can include a robotic arm disposed in a fixed location but having articulated or rotary joints movable in various degrees of freedom. The robotic arm is therefore able to move with respect to the stationary storage unit.

To allow the storage and retrieval machine <NUM> to further maneuver and movably manipulate the containers <NUM>, the storage and retrieval system can be configured as an articulated robot having movable joints, links, or sleeves that allow movement of the end effector or retrieval tool <NUM> in multiple degrees of freedom. For example, as illustrated in <FIG>, the storage and retrieval machine <NUM> can be configured as a Cartesian coordinate type robot capable of movement with respect to at least three axes. To move along the rails <NUM> disposed through the material handling facility, the storage and retrieval machine <NUM> can include a base <NUM> supported on and slidable with respect to the rails. The rails <NUM> can guide the base <NUM> along the linear direction or axis, indicated by X, similar to a linear slide. Moreover, the rails <NUM> can be generally parallel to the storage unit <NUM> so that the storage and retrieval machine <NUM> can move parallel with respect to the lateral dimension <NUM> of the storage unit. The base <NUM> can include bearings, dovetail channels, or other suitable features to engage the rails <NUM>. Projecting vertically upwards from and supported by the base <NUM>, in the vertical direction or axis indicated by Y, can be a column <NUM>. The column <NUM> can have any suitable height and may correspond in height to the storage unit <NUM>. Disposed around the column <NUM> can be a movable collar <NUM> that is configured to raise or lower itself with respect to the column in the vertical direction Y. Hence, the collar <NUM> can move with respect to the elevation dimension <NUM> of the storage unit <NUM> to move between and become vertically coextensive with the different rows <NUM> of the storage unit. To move perpendicularly toward or away from the storage unit <NUM> along the linear dimension or axis indicated by Z, the storage and retrieval machine <NUM> can include a slidable arm <NUM> supported by the collar <NUM>. The slidable arm <NUM> can therefore be inserted into and retracted from the receptacles <NUM> of the storage unit <NUM> by moving with respect to the depth dimension <NUM> of the shelves <NUM>.

To retrieve containers <NUM> from the shelf <NUM> of the shelving unit <NUM>, the storage and retrieval machine <NUM> can include the retrieval tool <NUM>, also referred to as an end effector, disposed at the distal end of the slidable arm <NUM>. As an example, the retrieval tool <NUM> may be a Jaw-like gripper <NUM> designed to grasp and firmly hold the container <NUM>. The gripper <NUM> may include bifurcated first and second gripper fingers <NUM>, <NUM> that are opposed to and spaced apart from each other. The gripper <NUM> may also include actuators that enable the first and second gripper fingers <NUM>, <NUM> to move apart or together with respect to each other. The first and second gripper fingers <NUM>, <NUM> may be joined at a common pivot point to articulate with respect to each other or may translate linearly with respect to each other. In operation, the gripper <NUM> is positioned so that the object to be grasped is between the spaced apart first and second gripper fingers <NUM>, <NUM> and the actuators are activated to close and clamp the object between the gripper fingers. The gripper <NUM> may be moved to lift the object with the object securely held by the clamping force between the first and second gripper fingers <NUM>, <NUM> and the frictional forces between the surface of the object and the gripper fingers prevent the object from sliding. This interaction may be referred to as force grasping or frictional grasping. However, other grasping techniques may be used with the gripper. Additionally, other examples of retrieval tools and/or end effectors, such as those functioning by attractive forces including magnetic forces, electrostatic forces, vacuum suction, or adhesives, are also contemplated by the disclosure.

The storage and retrieval machine <NUM> may include additional features to facilitate retrieval of the containers <NUM> from the storage units <NUM>. For example, the storage and retrieval machine <NUM> may include a camera <NUM> or other optical sensor to visually guide movement of the storage and retrieval machine with respect to the storage unit <NUM>, the containers <NUM> therein, and the rest of the material handling facility. Other examples of sensory devices include LIDAR, radiofrequency or sonic range finders, motion sensors, inertial measurement units, magnetic sensors, GPS, and the like. In the example where the retrieval tool <NUM> is a gripper <NUM>, the retrieval tool may include tactile feedback controls to monitor and adjust the clamping force exerted by the gripper. In addition to moving with respect to the three principal Cartesian axes X, Y, and Z, the storage and retrieval machine <NUM> may be configured to move in additional degrees of freedom, for example, by including rotational couplings or bearings at the intersections of the base <NUM> and column <NUM> and the slidable arm <NUM> and the retrieval tool <NUM>.

As indicated, the items and goods may be packaged in containers <NUM> such as cardboard cartons or plastic crates. For example, a number of individual items and goods may be packaged in bulk in a container to facilitate shipment to the material handling facility. An example of a container <NUM> is illustrated in <FIG>. The containers <NUM> provide an enclosed space to accommodate and keep together multiple items or goods. The container <NUM> can be configured as a three dimensional polyhedron such as a square or a rectangle and in particular may be a box-like structure having multiple integral or conjoined panels. For example, the container <NUM> may include a front panel <NUM>, a rear panel <NUM>, a first side panel <NUM>, a second side panel <NUM>, as well as a bottom panel <NUM> and a top panel <NUM>. The panels can be orthogonally arranged with the front and rear panels <NUM>, <NUM> parallel and opposed to each other, the first and second side panels <NUM>, <NUM> parallel and opposed to each other, and the bottom and top panels <NUM>, <NUM> parallel and opposed to each other. The containers <NUM> can be of any suitable construction including, for example, a carton formed from a flat cardboard blank in which panels are integrally formed and joined along fold lines to facilitate assembly into the three dimensional carton. Another example of a container <NUM> can be a re-useable shipping crate made of plastic where the top panel <NUM> is formed as a pair of doors pivotally attached to the respective first and second side panels <NUM>, <NUM> to allow access to the interior. Any other suitable example of a container having a three dimensional, polyhedron-shaped configuration may be used with the present disclosure.

As illustrated in <FIG>, when multiple containers <NUM> are in the storage unit <NUM>, they may be placed in a closed packed configuration within the individual receptacles <NUM> in which the individual containers are adjacently abutting each other. The polyhedron shape enables containers <NUM> to be placed in a side-by-side relation with adjacent side panels abutting or in contact with each other. Additionally, multiple containers <NUM> may be stacked on top of each other. The individual containers <NUM> may be shaped to facilitate closed packing to the extent the abutting containers may substantially fill a receptacle <NUM>. The closed packed configuration of the containers <NUM> facilitates efficient use of storage space and maximizes storage density. However, the closed packed configuration also impedes access to individual containers <NUM> by the retrieval tool <NUM> on the storage and retrieval machine <NUM> of the ASRS <NUM> and hampers automation. The following examples disclose ways of facilitating retrieval tool access by altering the container layout within the storage units, altering the geometry of the containers and/or retrieval tools, or a combination of these features.

Referring to <FIG>, as a background information not covered by the present invention there is illustrated a plurality of individual containers <NUM>
disposed on top of a shelf <NUM>. In a closed packed configuration <NUM> represented at the left, a plurality of individual containers <NUM> may be aligned in a row with their respective side panels <NUM>, <NUM> abutting in physical contact. The closed packed configuration <NUM> does not provide clearance or access for the retrieval tool <NUM> to interact with an individual container <NUM> of the plurality to allow for retrieval of individual containers. Alternatively, if the gripper <NUM> of the retrieval tool <NUM> were inserted into the plurality of containers <NUM> in the closed packed configuration <NUM>, the first and second gripper fingers <NUM>, <NUM> could damage the individual containers <NUM> by tearing the first and second side panels <NUM>, <NUM> during insertion. The first example redefines the layout of the individual containers <NUM> into a spaced-apart relation <NUM> as represented at the right. Redefinition of the container layout into the spaced-apart relation <NUM> provides clearances <NUM> between the individual containers <NUM> for access by the gripper fingers <NUM>, <NUM> on the gripper of the retrieval tool <NUM>. Once inserted into the clearances <NUM>, the gripper fingers <NUM>, <NUM> can be clamped against the opposing side panels <NUM>, <NUM> of the container <NUM> so that the retrieval tool <NUM> can lift the container <NUM> by force or fiction during a friction-grasping interaction. The clearances <NUM> between adjacent containers <NUM> can take any shape or form and in some examples may be partial clearances so that adjacent containers remain in substantial contact to maintain the closed packed configuration. The gripper <NUM> with bifurcated first and second gripping fingers <NUM>, <NUM> is an example of a frictional grasping device that holds an object by a clamping force or force closure effect and prevents it from slipping away due to friction. To facilitate the frictional grasping of the container, there may be disposed on the first and second gripper fingers a soft, compressible, or textured material.

Referring to <FIG>, as a background information not covered by the present invention there is illustrated an example of individual containers <NUM>
configured with retrieval features to promote separation into a spaced-apart relation <NUM> and prevent abutment of adjacent containers associated with the closed packed configuration shown with respect to <FIG>. In the illustrated example, the containers <NUM> can include a retrieval feature which may be one or more external protrusion <NUM> on one or both of the first and/or second side panels <NUM>, <NUM>. The external protrusions <NUM> function to offset the individual containers <NUM> from each other on the shelf <NUM> and provide a clearance <NUM> to receive the gripper fingers <NUM>, <NUM> between the individual containers <NUM>. The external protrusions <NUM> may be disposed on the side panels <NUM>, <NUM> proximate to the bottom panel and close to the top surface of the shelf <NUM>. In examples where the container <NUM> is constructed from cardboard blanks, the external protrusions <NUM> can be formed by appropriate cutouts or punch outs disposed into the blank which provides extra material once the container is formed. In another example, the external protrusions <NUM> can be provided by adhering additional material to the first and/or second side panels <NUM>, <NUM> of the containers <NUM>. In the example where the container <NUM> is constructed from molded plastic, the additional material for the external protrusions <NUM> can be provided during the molding process or by extruding, adhering, or sonically welding the additional material to the first and/or second side panels <NUM>, <NUM>.

Referring to <FIG>, as a background information not covered by the present invention there is illustrated an example in which individual containers
<NUM> are located on a shelf <NUM> in a spaced-apart relation <NUM> with clearances <NUM> between the containers created by including a retrieval feature in the form of upright spacers <NUM> projecting upwards from the upper surface of the shelf <NUM>. The upright spacers <NUM> alter the geometry of the shelves <NUM> in the storage unit and preclude the closed packed configuration of individual containers shown in <FIG>. More particularly, the upright spacers <NUM> prevent the adjacent containers <NUM> from being placed in direct contact with each other. The upright spacers <NUM> provide slot-like channels <NUM> over the upper surface of the shelf <NUM> that can be sized to receive the individual container <NUM> and maintain separation between containers in adjacent channels <NUM>. The gripper fingers can be inserted into the clearances <NUM> between containers <NUM> created by the upright spacers <NUM> to grip or grasp an individual container and lift the container by a frictional grasping interaction.

Referring to <FIG>, there is illustrated an example of the present invention in which the containers <NUM> include retrieval features that enable the containers to generally maintain a closed packed configuration <NUM> on the shelf <NUM> in which a plurality of containers are aligned in a row in a physically abutting relation with the side panels <NUM>, <NUM> in physical contact. In the illustrated example, the retrieval feature may be one or more chamfers, fillets, or bevels <NUM> formed into a corner or vertical edge of the individual containers <NUM>. The bevel <NUM> can be formed at the intersection between the front panels <NUM> and the first and/or second side panels <NUM>, <NUM> of the container <NUM>. The bevels <NUM> may be straight or rounded, may be angled cuts, chamfers or fillets, and may either traverse the vertical height of the container or some smaller distance thereof. Because of the bevel features <NUM> disposed into the containers <NUM>, triangular gaps or clearances <NUM> are provided proximate where the front panels <NUM> and the side panels <NUM>, <NUM> intersect and where the front panels <NUM> align in parallel with each other. The clearances <NUM> allow for insertion of the gripper fingers <NUM>, <NUM> on the gripper <NUM> between adjacent containers <NUM>. Once inserted, the gripper fingers <NUM>, <NUM> can be closed against the first and second side panels <NUM>, <NUM> to grasp and lift the container <NUM> by force or friction via a friction-grasping interaction. In an example, to facilitate temporary displacement of adjacent containers <NUM> during insertion of the gripper <NUM> on the retrieval tool <NUM>, one or more springs <NUM> can be placed at either end of the row of aligned containers <NUM> and can compress to accommodate the separation between adjacent containers caused by insertion of the gripper fingers <NUM>, <NUM>. After the gripper fingers <NUM>, <NUM> are removed, the springs <NUM> may urge the row of aligned containers <NUM> against each other. In an example where the containers are polyhedrons or rectangular, the bevels <NUM> can be disposed along the four vertical edges or corners so that the containers <NUM> are symmetrical in shape and their forward and backward orientations are interchangeable. The foregoing is an example in which the clearance <NUM> provides partial separation between adjacent containers <NUM> that are otherwise in physical contact with each other to maintain a closed pack configuration to optimize storage density.

Referring to <FIG>, as a background information not covered by the present invention there is illustrated an example in which the retrieval tool <NUM>
and the individual containers <NUM> cooperatively interact to create the retrieval feature that facilitates retrieval of the container from the shelf <NUM>. In the illustrated example, the individual containers <NUM> can include one or more apertures <NUM> disposed into either of the first and/or second side panels <NUM>, <NUM>. The apertures <NUM> may be formed partially into or completely through the first and/or second side panels <NUM>, <NUM> and can have any suitable shape or size. To interact with the apertures <NUM>, there can be disposed proximate to the distal ends of the first and second gripper fingers <NUM>, <NUM> corresponding finger projections <NUM> adapted to mate with the apertures <NUM>. The finger projections <NUM> can have any corresponding shape or size with respect to the apertures <NUM>. The retrieval tool <NUM> is moved about the container <NUM> with the first and second gripper fingers <NUM>, <NUM> along the opposing first and second side panels <NUM>, <NUM> so that the finger projections <NUM> and the apertures <NUM> are vertically and laterally aligned. The spaced-apart gripper fingers <NUM>, <NUM> can be closed so the finger projections <NUM> are received in the apertures <NUM>, thereby mating the two features together. The mated finger projections <NUM> and apertures <NUM> provide a form-fit or mate-grasping interaction that, in addition to the friction-grasping interaction between the gripper fingers <NUM>, <NUM> and the first and second side panels <NUM>, <NUM>, allows the retrieval tool <NUM> to grasp, lift, and remove the container <NUM> from the shelf <NUM>.

Referring to <FIG>, as a background information not covered by the present invention there is illustrated an example which combines the retrieval
features of some of the foregoing examples. In <FIG>, a plurality of containers <NUM> can be aligned in a row on the shelf <NUM> initially in a closed packed configuration <NUM> with their respective first and second side panels <NUM>, <NUM> in physical contact. In another example, the containers <NUM> may be initially maintained in a spaced-apart relation to facilitate grasping, such as, for example, by inclusion of external protrusions described in Example <NUM>. The individual containers <NUM> may include any of the foregoing retrieval features such as bevels <NUM> formed into the vertical corners formed by the intersections of the front panels <NUM> and the first and second side panels <NUM>, <NUM>. The bevels <NUM> provide triangular clearances <NUM> between the adjacent containers <NUM> proximate where the front panels <NUM> align. An additional retrieval feature can be provided by cooperative interaction between the retrieval tool <NUM> and the container <NUM>. For example, the container <NUM> may include an aperture <NUM> disposed into the first and second side panels <NUM>/<NUM> that can cooperate with a finger projection <NUM> disposed at the distal ends of the first and second gripper fingers <NUM>, <NUM> on the gripper <NUM> of the retrieval tool <NUM>. When the gripper fingers <NUM>, <NUM> are inserted between adjacent containers <NUM> and the aperture <NUM> and finger projections <NUM> align, the gripper fingers can be closed against the first and second side panels <NUM>, <NUM> to mate the two features together. Mating the finger projections <NUM> and the apertures <NUM> results in a form fit relation or interaction that, in addition to the friction or clamping force between the gripper fingers <NUM>, <NUM> and the first and second side panels <NUM>, <NUM>, enables the retrieval tool <NUM> to grasp, lift and remove the container from the shelf <NUM>. When the containers <NUM> are initially aligned in a closed packed configuration <NUM>, manufacturing the containers from a compliant material such as cardboard may facilitate insertion of the gripper fingers <NUM>, <NUM> between adjacent containers by allowing the first and second side panels <NUM>, <NUM> to displace or stretch and accommodate the gripper fingers. It will be appreciated that other retrieval features, such as upright spacers projecting from the shelf top, may also be used with the present example.

Referring to <FIG>, as a background information not covered by the present invention there is illustrated an example in which the retrieval
feature may be provided by altering the layout or construction of the container <NUM>. The container <NUM> may be formed as an opened crate having front and rear panels <NUM>, <NUM>, first and second side panels <NUM>, <NUM>, and a bottom panel <NUM> interconnected together but lacking a top panel. Accordingly, the container <NUM> provides access to the items and goods contained therein due to the lack of the top panel. The containers <NUM> may also be initially arranged in a closed packed configuration <NUM> as illustrated with the first and second side panels <NUM>, <NUM> in physical contact when aligned on a row on the shelf <NUM>. To grasp the container <NUM>, the retrieval tool <NUM> can be configured as a pincher clamp <NUM>. Similar to a gripper, a pincher clamp <NUM> can include first and second opposed jaws <NUM>, <NUM> that can be moved together or apart to create the grasping action. The first and second jaws <NUM>, <NUM> may have a common pivot point to articulate with respect to each other or may translate linearly with respect to each other. In the illustrated embodiment, the jaws <NUM>, <NUM> are positioned so they move horizontally with respect to the upper surface of the shelf <NUM> to grasp an object within the vertical plane. To enable the first and second jaws <NUM>, <NUM> to move with respect to each other, pincher clamp <NUM> can include an actuator <NUM>.

To enable the pincher clamp <NUM> to access and grasp the front panel <NUM> of the container <NUM>, a spacer or separator <NUM> can be disposed inside the container between the front panel <NUM> and the items <NUM> contained therein. The separator <NUM> may be formed integrally with the front panel <NUM> or may be a separate component inserted into the container <NUM> with the items <NUM>. The separator <NUM> can be shorter in height than the front panel <NUM> so that a channel or gap <NUM> is created between the front panel and the items <NUM> contained in the container <NUM>. The gap <NUM> allows the first jJaw <NUM> to be placed over the upper edge of the front panel <NUM> and into the container <NUM> so the front panel <NUM> is disposed between the first and second jaws <NUM>, <NUM>. When moved together, the first and second jaws <NUM>, <NUM> pinch and grasp the front panel <NUM>, allowing the pincher clamp <NUM> to lift and/or retrieve the container <NUM> from the shelf <NUM>. The pincher clamp <NUM> is therefore a variation of a force or frictional grasping method in which the object is held due to a clamping force and prevented from sliding away from the retrieval tool due to frictional interaction.

Claim 1:
An automated storage and retrieval system (<NUM>), comprising:
a storage and retrieval machine (<NUM>) including a retrieval tool (<NUM>) adapted to engage a container (<NUM>), wherein the retrieval tool (<NUM>) is a gripper (<NUM>) including spaced apart first and second gripper fingers (<NUM>, <NUM>), and wherein the gripper (<NUM>) comprises actuators to enable the first and second gripper fingers (<NUM>, <NUM>) to move apart or together with respect to each other;
a storage unit (<NUM>) including a shelf (<NUM>);
a plurality of containers (<NUM>) configured as three-dimensional polyhedra disposed on the shelf (<NUM>), wherein adjacent containers (<NUM>) are in contact, wherein a clearance (<NUM>) is provided between adjacent containers to facilitate access by
the first and second gripper fingers (<NUM>, <NUM>) of the retrieval tool (<NUM>), and wherein the clearance (<NUM>) is a partial separation which is created by one or more chamfers, fillets or bevels (<NUM>; <NUM>) so that adjacent containers (<NUM>) are in substantial contact;
wherein at least one of the retrieval tool (<NUM>), the containers (<NUM>), and the shelf (<NUM>) is configured to facilitate access by the retrieval tool (<NUM>) to an individual container (<NUM>) of the plurality of containers (<NUM>); and
wherein the gripper (<NUM>) is adapted to be positioned so that the container (<NUM>) to be grasped is between the spaced apart first and second gripper fingers (<NUM>, <NUM>), to activate the actuators to close and clamp the container (<NUM>) between the gripper fingers (<NUM>, <NUM>), such that the gripper (<NUM>) is moved to lift the container (<NUM>) with the container (<NUM>) held by the clamping force between the first and second gripper fingers (<NUM>, <NUM>) and the frictional forces between the surface of the container (<NUM>) and the gripper fingers (<NUM>, <NUM>) prevent the container (<NUM>) from sliding,
wherein the partial separation is formed into a corner or vertical edge of said individual aligned containers (<NUM>) and the partial separation is formed at the intersection between the front panels (<NUM>) and the first and/or second side panels (<NUM>, <NUM>) of the individual aligned containers (<NUM>).