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WO2011087363A1 - Transpalette avec fourches déployables - Google Patents

Transpalette avec fourches déployables Download PDF

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Publication number
WO2011087363A1
WO2011087363A1 PCT/NL2011/050023 NL2011050023W WO2011087363A1 WO 2011087363 A1 WO2011087363 A1 WO 2011087363A1 NL 2011050023 W NL2011050023 W NL 2011050023W WO 2011087363 A1 WO2011087363 A1 WO 2011087363A1
Authority
WO
WIPO (PCT)
Prior art keywords
pallet truck
fork
extending
cylinder
frame
Prior art date
Application number
PCT/NL2011/050023
Other languages
English (en)
Inventor
Hendrik Meijer
Folkert De Graaf
Original Assignee
Gebr. Meijer St. Jabik B.V.
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Gebr. Meijer St. Jabik B.V. filed Critical Gebr. Meijer St. Jabik B.V.
Publication of WO2011087363A1 publication Critical patent/WO2011087363A1/fr

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62B—HAND-PROPELLED VEHICLES, e.g. HAND CARTS OR PERAMBULATORS; SLEDGES
    • B62B3/00—Hand carts having more than one axis carrying transport wheels; Steering devices therefor; Equipment therefor
    • B62B3/04—Hand carts having more than one axis carrying transport wheels; Steering devices therefor; Equipment therefor involving means for grappling or securing in place objects to be carried; Loading or unloading equipment
    • B62B3/06—Hand carts having more than one axis carrying transport wheels; Steering devices therefor; Equipment therefor involving means for grappling or securing in place objects to be carried; Loading or unloading equipment for simply clearing the load from the ground
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • 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
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/075—Constructional features or details
    • B66F9/12—Platforms; Forks; Other load supporting or gripping members
    • B66F9/122—Platforms; Forks; Other load supporting or gripping members longitudinally movable
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62B—HAND-PROPELLED VEHICLES, e.g. HAND CARTS OR PERAMBULATORS; SLEDGES
    • B62B2203/00—Grasping, holding, supporting the objects
    • B62B2203/20—Grasping, holding, supporting the objects using forks or tines
    • B62B2203/24—Changing the position of the fork or supports
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62B—HAND-PROPELLED VEHICLES, e.g. HAND CARTS OR PERAMBULATORS; SLEDGES
    • B62B2206/00—Adjustable or convertible hand-propelled vehicles or sledges
    • B62B2206/02—Adjustable or convertible hand-propelled vehicles or sledges adjustable in length or width
    • B62B2206/04—Adjustable or convertible hand-propelled vehicles or sledges adjustable in length or width only the load support being adjustable

Definitions

  • the invention relates to a pallet truck for substantially horizontal displacement of goods, comprising a frame and one or more forks connected to the frame for displacing these goods.
  • Such pallet trucks are generally known and are for instance used in shops, warehouses, factories and trucks.
  • a lowered position the forks of such a pallet truck are inserted under a load or engage in a pallet, after which the forks are moved upward in vertical direction to a raised position.
  • the goods are then displaced in horizontal direction to the desired set-down position.
  • the forks are once again displaced vertically in downward direction in order to set down the load, after which the forks are moved out from under the load or moved out of the pallet.
  • Loads of differing dimensions are herein transported on the same pallet truck such that, in the case of a relatively small load, the forks extend beyond the load and the protruding parts can cause damage to buildings, goods and/or people.
  • a pallet truck with extending forks is known from NL-1032657 with which the above stated problems are partially solved and loads are displaced in more efficient manner.
  • the invention has for its object to provide a pallet truck for the purpose of further improving the above stated device.
  • the present invention provides for this purpose a pallet truck for substantially horizontal displacement of goods, comprising:
  • a displaceable frame at least one elongate fork connected to the frame and provided with a least two parts for carrying the goods, wherein the fork is provided with a support wheel at a distance from the frame;
  • an extending mechanism operatively connected to the at least two parts and comprising a mechanical coupling element such that the fork can be selectively extended in longitudinal direction.
  • the length of these forks can be adjusted to the load for displacement, such as for any of the standard types of pallet. This achieves that forks do not extend unnecessarily beyond the load for displacing, and damage during manoeuvring and placing of the load is avoided.
  • a great variety of goods, including pallets can also be displaced in responsible manner without these goods for instance being able to slide off the forks.
  • Owing to the extending mechanism a pallet truck can further be displaced in the retracted position during movement thereof without a load, whereby the turning circle of the pallet truck remains minimal and a relatively small space is therefore required for manoeuvring purposes.
  • a further advantage here is that the pallet truck requires less storage space in the retracted position. It is also possible, if desired, to displace for instance two pallets simultaneously in a partially extended position.
  • Providing a mechanical coupling element for instance in the form of a gear rack or screw spindle, achieves that a hydraulic or pneumatic system is not directly required for extending purposes, wherein for instance a relatively large quantity of oil would need to be transported to the extending part.
  • An improved pallet truck with extending forks is realized in effective manner according to the invention by using a mechanical coupling element.
  • the robustness of the pallet truck according to the invention is also further increased in that a possible load on the forks, particularly in the lowest position of the pallet truck, is supported by the fork construction and does not here come to lie, or hardly so, on the coupling element in the form of for instance a gear rack, which is provided for locking and other purposes, and optionally a screw-spindle combination.
  • This can for instance be realized by designing the construction of the for instance two parts of the fork such that the outer walls of the free outer end of the foremost part of the fork are fully slidable relative to the construction of the first fork part close to the frame. By configuring this guiding such that forces can be transmitted the coupling element can in principle be provided free of load in respect of the load for transporting.
  • An efficient extending mechanism is hereby realized.
  • the support wheel of the pallet truck is preferably placed in or close to a free outer end of the fork in substantially any extending position of the fork. Placing the wheel in the extending part of a fork achieves that a load can also be displaced in stable manner in an extended position of a fork such that a pallet truck which is heavily loaded on the front side of the fork cannot tip over.
  • the coupling element comprises a gear rack element .
  • the at least two parts thereof can then be mutually fixed by means of the gear rack element.
  • One or more coupling means are preferably provided here for the purpose of selectively fixing these at least two parts relative to each other, and thereby relative to the frame. If a further sliding of the two parts relative to each other is desired, the coupling means are placed in a position such that the at least two parts are uncoupled and sliding in or out is made possible.
  • the actual sliding in or out can be performed manually or automatically using a drive, for instance an electrical drive.
  • a manual driving of the extending mechanism the front side of the pallet truck is for instance secured, after which the frame is moved rearward such that the at least two parts are extended relative to each other.
  • a motor is provided, preferably in the fork on the side of the frame.
  • Use is optionally made here of a screw spindle element.
  • the coupling element comprises a screw spindle element .
  • the screw spindle element serves for the purpose of extending the fork.
  • the screw moves here relative to the spindle whereby it is possible to displace for instance two parts of a fork relative to each other in longitudinal direction. It is possible here to connect the spindle fixedly to the outer end of the fork close to the frame or to the other free outer end of the fork where a support wheel is preferably placed.
  • the relative movement of the screw and spindle can be realized manually and/or automatically.
  • a drive which can be placed in the fork or in the frame is necessary in the case of an automatic movement. In addition to being a hydraulic drive, this can also be an electrical and even a pneumatic drive.
  • the pallet truck is preferably provided with cup springs. This enables some relative movement in that any pressure occurring is absorbed by the cup springs such that play is as it were removed from the system. This enhances the flexibility of the pallet truck as a whole.
  • the coupling element preferably comprises a second connecting element in the form of an extendable cylinder.
  • the second connecting element serves for downward movement of the support wheel and thereby forms a kind of lifting mechanism.
  • the support wheel can hereby be moved downward, preferably in or close to the free outer end of the fork, such that this support wheel tilts and is in contact with the ground surface.
  • a possible load on the forks is hereby supported close to the outer end of the fork located at the frame and at the free outer end.
  • the second connecting element can conversely also fold away a support wheel.
  • the second connecting element preferably comprises an extendable cylinder, wherein the housing is preferably placed on or close to the frame.
  • the piston is preferably placed here on the side of a fork with the free outer end.
  • This configuration has been found to be the most advantageous. Hoses for instance can thus be connected relatively easily from the frame and the space required in the free outer end of the fork remains limited. A different configuration is of course also possible.
  • the cylinder co-displaces with the extending part of the fork are during both extending and retraction thereof. Use is made here of a valve.
  • An additional advantage of using the cylinder according to the present invention is that a knock or collision on the front side of the pallet truck can be absorbed to some extent. Such a knock or collision can occur during pick-up of the goods for displacement or during rather careless driving of the pallet truck.
  • the robustness of the pallet truck is hereby improved.
  • the cylinder is preferably operatively connected to a reservoir preferably located in the fork for the purpose of extending the second connecting element. Using the reservoir, and particularly the content thereof, the cylinder can be extended. Operation preferably take place here with a closed system.
  • the reservoir is preferably located in the fork such that an autonomous unit can be obtained which can be placed in the fork without major modifications of the displaceable frame. A modular device is hereby obtained.
  • the cylinder with the reservoir is preferably also operatively connected to a venting element. A more accurate control is hereby possible.
  • the venting element is preferably embodied as a filter and placed on or close to the reservoir.
  • the cylinder is provided with a flushing system, comprising a spring and a ball placed in an opening of a piston of the lifting cylinder and a channel between a pressure side and a discharge channel of the piston which is closed in retracted position of the cylinder and opened in a fully extended position of the cylinder by moving the ball relative to the piston.
  • a flushing system comprising a spring and a ball placed in an opening of a piston of the lifting cylinder and a channel between a pressure side and a discharge channel of the piston which is closed in retracted position of the cylinder and opened in a fully extended position of the cylinder by moving the ball relative to the piston.
  • the flushing system achieves that dirt and air in the cylinder, and possibly in a hydraulic system, can be discharged.
  • the pallet truck is further provided with a raising mechanism for moving the fork in vertical direction relative to the frame .
  • the pallet truck is provided with a drive placed in or close to the frame, wherein the drive is operatively connected to the coupling element for the purpose of extending the forks.
  • the forks By providing the lifting mechanism with a drive the forks can be lifted in vertical direction in a user-friendly manner both with and without load. Because the forks can be extended, the connecting element is provided so as to be variable in length in order to enable this sliding in and out of the forks.
  • a user-friendly pallet truck is provided by driving the extending mechanism with preferably an electric or alternatively a hydraulic drive.
  • the extending mechanism of the pallet truck is provided with at least one spindle for extending the forks.
  • the housing of a cylinder is here preferably mounted on or close to the frame.
  • the extending part of the cylinder is mounted on the foremost part of the forks.
  • a favourable transmission of forces is hereby obtained.
  • the optionally individually extended forks of the pallet truck are preferably set to the same position as the fully retracted and/or fully extended position of the forks.
  • the forks can be extended in the range of 800-2000 mm.
  • a so-called Europallet can be displaced on both the short and the long side with the pallet truck according to the present invention without a pallet either hanging over the front part of the forks or the forks protruding beyond the pallet.
  • block pallets of 1000 mm can for instance be processed in advantageous manner. It is noted here that other ranges, including for instance up to 2400 mm, are also possible with the pallet truck according to the present invention.
  • the invention also relates to a system for extending a carrying part of a pallet truck as stated above.
  • control signals need only be exchanged with the housing of the pallet truck and the control unit thereof.
  • these control signals relate to power supply for a valve and a drive.
  • no oil lines need therefore be connected between the forks and the housing.
  • An additional advantage of this modular character is that maintenance and repair can be carried out in a more efficient manner.
  • the system relates for instance to a modular system of the extending forks which, if desired, can be seen as an individual unit.
  • the invention also relates to a method for using the pallet truck and/or the system as described above. Similar advantages and effects are hereby realized as described in respect of the pallet truck and the system.
  • Fig. 1 shows a view of a pallet truck according to the invention
  • Fig. 2 shows the pallet truck of fig. 1 with a pallet
  • - Fig. 3 shows the pallet truck of fig. 1 with a pallet in a different orientation
  • Fig. 4 shows the fork of the pallet truck according to the invention in lowered position
  • Fig. 5 shows the fork of fig. 4 in raised position
  • Fig. 6A shows a view of the pallet truck according to the invention in extended position
  • Fig. 6B shows a view of the pallet truck according to the invention in retracted position
  • Fig. 7A shows a view of the fork with a folded-away support wheel
  • Fig. 7B shows a view of the fork with a lowered support wheel
  • Fig. 8A and B show alternative embodiments according to the invention with manually driven extending mechanism
  • Fig. 9 shows the pallet truck of fig. 8 in extended position
  • Fig. 10 shows a view of the pallet truck of fig. 8
  • Fig. 11-13 show views of the pallet truck of fig. 8 being extended
  • Fig. 14 shows a view of an alternative embodiment with driven extending mechanism
  • Fig. 15-17 show views of the extending mechanism of the pallet truck of fig. 14.
  • a pallet truck 2 (fig. 1) is provided with a housing 4, on one side of which an arm 6 with handle 8 is attached for the purpose of displacement of pallet truck 2 by the user.
  • the goods to be transported are placed on forks 10 which are arranged on the other side of frame 4 and which have a fixed part 12 which is fixedly attached to frame housing 4 and an extending part 14 which is provided with a support wheel 16 in the tip of fork 10 and which is mounted in extendable manner in fixed part 12 of fork 10.
  • a pallet 20 to be transported on pallet truck 2 ⁇ fig. 2 ⁇ can be placed on forks 10 with the short side in the lengthwise direction of these forks 10. This means that the extending part 14 of forks 10 is placed in a more retracted position in the foremost part 12 of forks 10. Forks 10 hereby do not protrude beyond pallet 20.
  • a pallet 22 (fig. 3) can also be placed on forks 10 with the long side in the lengthwise direction of forks 10. The extending part 14 of forks 10 is situated in a more extended position relative to the foremost part 12 of fork 10. The whole pallet 22 is hereby supported along the whole long side by forks 10 of pallet truck 2.
  • support wheel 16 In a lowered position of pallet truck 2 (fig.4) support wheel 16 is folded away. Support wheel 16 can be moved downward (fig. 5) . An additional support wheel 24 can be placed in tip 18 of pallet truck 2.
  • Fork 10 ⁇ fig. 6A and 6B) is provided with a cylinder housing
  • Cylinder 26 with an extendable cylinder part 28 which functions as a kind of push rod for the lowering mechanism for support wheel 16. Cylinder 26 is connected to valve 29 for the purpose of moving cylinder part 28 during in or outward sliding of extending part 19 of fork 10. Cylinder housing 26 is connected at one outer end to housing 4 via connection 30. An oil reservoir 32 is provided in addition to cylinder housing 26. Reservoir 32 is further provided with a valve 33 for venting purposes. Extending of fork 10, wherein extending part 14 is displaced relative to fixed part 12, is brought about using spindle 34. Spindle 34 is driven via drive 36, wherein spindle 34 with drive 36 is connected by means of mounting 38 to fixed part 12 of fork 10. Spindle 34 is likewise connected to extending part 14 of fork 10 using mounting blocks 40, 42.
  • spindle 34 is driven by drive 36. Operation of drive 36 takes place from housing 4. Spindle 34 pushes the extending part 14 of fork 10 forward such that it will be displaced relative to fixed part 12 of fork 10. As a result of the outward sliding of extending part 14 relative to fixed part 12 the extendable part 28 of cylinder 26 connected to the lowering mechanism for support wheel 16 is co-displaced during the outward sliding. Valve 29 is in an opened position during this extending of part 28 of cylinder 26. As soon as the desired position of extending part 14 of fork 10 has been reached, spindle 34 stops moving and valve 29 is also closed. During lowering of support wheel 16 (fig.
  • cylinder 26 is controlled from housing 4. Use is made here of oil reservoir 32. By providing this reservoir 32 in fork 10 a modular system is obtained for forks 10. Cylinder 26 is operated during folding away of support wheel 16. During retraction of extending part 14 of fork 10 spindle 34 moves in the other direction, whereby extending part 14 is as it were pulled in relative to fixed part 12. Providing the extending part 14 with its own frame or housing and displacing this part therewith relative to fixed part 12 achieves that a pallet or other object for displacing is carried by the whole fork 10. Spindle 34 and cylinder 26 are not loaded as a result.
  • two forks 48 are provided on a frame or housing 46.
  • Forks 48 are connected via a lifting mechanism 50 to frame 46.
  • the connection between fork 48 and mechanism 50 is realized by a support block 52.
  • Fork 48 consists of a fixed part formed by a tube 54 which is also fixedly connected to a frame 46.
  • Fork 48 is further provided with a push rod 56 having on the underside a reverse U-profile 58 and on the upper side a reverse U-profile 60.
  • Fork 48 further comprises an extendable or outward slidable part 62. Situated in extendable part 62 is a lowering mechanism part 64 on which wheels 66 are provided.
  • each fork 48 has a left-hand fixing block 68 and a right-hand fixing block 70 for the purpose of securing tube 54 on extendable part 62.
  • the blocking means in the shown embodiment in the form of four return blocks, engage here through openings 71 in tube 54 on ridges or serrations 72 arranged on the outer tube or extendable part 62 (fig. 9) .
  • blocking means 70 has a toothing 73 which engages on ridges or serrations 72.
  • Push rod 56 is provided over a first longitudinal sign with ridges or serrations 74.
  • Blocking means 76 can engage on these ridges 74 in order to secure the push rod.
  • the drive for blocking means 68, 70, 76 makes use of feed lines 78, 80.
  • Feed line 80 is to some extent extendable or flexible since blocking means 76 is fixedly connected to U-profile 58,60. When wheel 66 is lowered, push rod 56 and U-profiles 58,60 advance over a short distance.
  • Pallet truck 44 is driven manually during the extending of forks 46 (fig. 11-13) .
  • Blocking means 68, 70, 76 are here uncoupled when pallet truck 44 has to be extended.
  • Pallet truck 44 is then moved rearward in the direction of arrow A.
  • Profiles 58,60 herein move relative to push rod 56, wherein fork 46 is extended.
  • lowering mechanism 50 A rotation around rotation shaft 82 is brought about here.
  • Lever 86 then makes a rotating movement around rotation shaft 82. This movement is then transmitted to support block 52 using transmission 88 and stop 90.
  • Support block 52 and U-profiles 58,60 with push rod 56 therein are then moved forward to some extent, whereby pushing takes place against engagement point 96 close to wheels 66.
  • Hinge 98 herein makes a rotating movement in the direction of arrow C around rotation shaft 94.
  • Wheels 66 are mutually connected via connection 92. Wheels 66 will be moved downward due to the rotation around rotation shaft 94. When the wheels are folded away, the movements take place in reverse direction.
  • a frame 104 is provided with two forks 104 thereon having a fixed part 106 and an extendable or outward slidable part 108.
  • motor 110 is an electrically driven motor.
  • the movement of the extendable part 108 relative to fixed part 106 of forks 104 is realized using a ball circulating spindle 112.
  • Motor 110 herein moves a nut 114 (fig. 15-17) over spindle 112.
  • spindle 112 is provided in push rod 116, wherein push rod 116 is placed inside U-profiles 118, 120.

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  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Structural Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Civil Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Geology (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Handcart (AREA)
  • Forklifts And Lifting Vehicles (AREA)

Abstract

L'invention porte sur une transpalette, sur un système et sur un procédé de déplacement sensiblement horizontal de marchandises, laquelle transpalette comprend : une armature déplaçable, au moins une fourche allongée reliée à l'armature et munie d'au moins deux parties pour le transport de marchandises, la fourche étant munie d'une roue de support à une certaine distance de l'armature, un mécanisme d'abaissement destiné à déplacer la roue de support vers le bas, et un mécanisme d'extension relié en fonctionnement aux au moins deux parties et comprenant un élément de couplage mécanique tel que la fourche peut être déployée sélectivement en direction longitudinale.
PCT/NL2011/050023 2010-01-14 2011-01-14 Transpalette avec fourches déployables WO2011087363A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
NL2004095 2010-01-14
NL2004095A NL2004095C2 (nl) 2010-01-14 2010-01-14 Palletwagen met uitschuifbare vorken.

Publications (1)

Publication Number Publication Date
WO2011087363A1 true WO2011087363A1 (fr) 2011-07-21

Family

ID=42320360

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/NL2011/050023 WO2011087363A1 (fr) 2010-01-14 2011-01-14 Transpalette avec fourches déployables

Country Status (2)

Country Link
NL (1) NL2004095C2 (fr)
WO (1) WO2011087363A1 (fr)

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108751051A (zh) * 2018-08-10 2018-11-06 杭叉集团股份有限公司 一种堆垛车支腿机构及堆垛车
EP3967645A4 (fr) * 2019-05-06 2022-06-29 Hangzhou Eiorobot Technology Co., Ltd. Système télescopique inverse et appareil de transport automatique
WO2023274320A1 (fr) * 2021-07-01 2023-01-05 深圳市海柔创新科技有限公司 Ensemble fourche, robot de transfert et système d'entreposage

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
NL2018218B1 (nl) 2017-01-24 2018-08-01 Meijer Holding B V Hefinrichting, zoals een heftruck en palletwagen, voorzien van een sensorsysteem, en werkwijze daarvoor

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US2985328A (en) * 1956-02-28 1961-05-23 Fitch Clifford Kingsbury Fork lift trucks
GB2121759A (en) * 1982-06-09 1984-01-04 Jungheinrich Low-level pallet or stillage mover
EP1449807A1 (fr) * 2003-01-31 2004-08-25 Vetter Umformtechnik GmbH Moyen de support de charge
EP1760032A2 (fr) * 2005-08-30 2007-03-07 Yvon Le Roy Dispositif de manutention horizontale et collective de palettes pour charger ou décharger des véhicules
NL1032657C2 (nl) 2006-06-15 2007-12-18 Meijer St Jabik B V Geb Palletwagen met uitschuifbare vorken.

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US2985328A (en) * 1956-02-28 1961-05-23 Fitch Clifford Kingsbury Fork lift trucks
GB2121759A (en) * 1982-06-09 1984-01-04 Jungheinrich Low-level pallet or stillage mover
EP1449807A1 (fr) * 2003-01-31 2004-08-25 Vetter Umformtechnik GmbH Moyen de support de charge
EP1760032A2 (fr) * 2005-08-30 2007-03-07 Yvon Le Roy Dispositif de manutention horizontale et collective de palettes pour charger ou décharger des véhicules
NL1032657C2 (nl) 2006-06-15 2007-12-18 Meijer St Jabik B V Geb Palletwagen met uitschuifbare vorken.

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108751051A (zh) * 2018-08-10 2018-11-06 杭叉集团股份有限公司 一种堆垛车支腿机构及堆垛车
EP3967645A4 (fr) * 2019-05-06 2022-06-29 Hangzhou Eiorobot Technology Co., Ltd. Système télescopique inverse et appareil de transport automatique
WO2023274320A1 (fr) * 2021-07-01 2023-01-05 深圳市海柔创新科技有限公司 Ensemble fourche, robot de transfert et système d'entreposage

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