Automated storage and retrieval system with improved storage efficiency and method of storing articles in, and retrieving articles from the automated storage and retrieval system

摘要

A pair of carousels are provided in an automated storage and retrieval system. A mast, a pair of elevation frame, and a pair of scara arms are provided between the carousels. One of the scara arms includes a plurality of arms stacked from lower to upper arms such that a hand of the scara arm takes a high position. The other of the scara arms includes a plurality of arms stacked from upper to lower arms such that a hand of the scara arm takes a low position.