Robert (Bob) was born in Brooklyn, New York in 1944. He grew up in Brooklyn and Long Island where he met and married his, wife, Sandra. The newlyweds moved to Orlando. Florida five months after their wedding. They lived in Central Florida their entire married life, first in Altamonte Springs and later moved to Lake Mary. He was the father of Mathew Picheny and Melissa (Picheny) Levy.

Bob was an entrepreneur who owned several businesses. He started his career with several roles in New York City, including as Vice President for a wholesale business. Bob opened a retail store (S & R Shopper's Haven) on Orange Avenue upon his arrival in the Orlando area. His business grew into additional gift shops and he became a partner at the Mystery Fun House. Bob then transitioned into the real estate world, became a broker, and eventually formed his own real estate company, Act Now Real Estate. After a successful career in real estate, he turned his focus to his passion of food and formed Orlando Commissary - a food service company that provided facilities and products to local food purveyors. The company would cater weddings, graduations, and was a regular vendor at notable local events including Red, Hot & Boom and the Winter Park Arts Festival.

Bob had the gift of gab and loved talking with people, especially young children. He was active in civic organizations including his Synagogue's Men's Club and had been a member of B'nai B'rith, Kiwanis and Toastmasters. He also appeared on the stage of local theater productions alongside his wife, son and daughter.

Bob is survived by his wife of nearly 50 years, Sandra; his children Mathew (Erica) Picheny and Melissa (Peter) Levy; grandchildren Brayden, Julia, and Abigail; and his brothers Steven (Helice) Picheny and David (Janet) Picheny.

He loved and was loved deeply and will be missed, always.