EP3521235A1 - Materialhandhabungsfahrzeug - Google Patents
Materialhandhabungsfahrzeug Download PDFInfo
- Publication number
- EP3521235A1 EP3521235A1 EP18154547.6A EP18154547A EP3521235A1 EP 3521235 A1 EP3521235 A1 EP 3521235A1 EP 18154547 A EP18154547 A EP 18154547A EP 3521235 A1 EP3521235 A1 EP 3521235A1
- Authority
- EP
- European Patent Office
- Prior art keywords
- material handling
- mast
- handling vehicle
- vehicle
- wheels
- Prior art date
- Legal status (The legal status 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 status listed.)
- Granted
Links
- 239000000463 material Substances 0.000 title claims abstract description 107
- 230000006641 stabilisation Effects 0.000 claims description 7
- 239000000969 carrier Substances 0.000 claims 1
- 230000006870 function Effects 0.000 description 4
- 238000010276 construction Methods 0.000 description 2
- 238000012423 maintenance Methods 0.000 description 2
- 229910000831 Steel Inorganic materials 0.000 description 1
- 230000006978 adaptation Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 239000000446 fuel Substances 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 229910001416 lithium ion Inorganic materials 0.000 description 1
- 238000011105 stabilization Methods 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
- 238000002604 ultrasonography Methods 0.000 description 1
Images
Classifications
-
- 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
- B66F9/063—Automatically guided
-
- 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
- B66F9/07513—Details concerning the chassis
-
- 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
- B66F9/0755—Position control; Position detectors
-
- 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
- B66F9/07559—Stabilizing means
-
- 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
- B66F9/07568—Steering arrangements
-
- 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
- B66F9/07581—Remote controls
-
- 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
- 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
- B66F9/20—Means for actuating or controlling masts, platforms, or forks
- B66F9/22—Hydraulic devices or systems
-
- 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
- B66F9/20—Means for actuating or controlling masts, platforms, or forks
- B66F9/24—Electrical devices or systems
Definitions
- the present disclosure is related to a material handling vehicle according to the pre-characterizing part of claim 1.
- the present disclosure is related to a material handling vehicle comprising, a mast and auxiliary equipment.
- the auxiliary equipment comprises: a first and a second support leg each comprising at least one wheel.
- the material handling vehicle comprises at least two drive motors each comprising at least one wheel.
- the material handling vehicle further comprises an energy source device for powering the at least two drive motors. At least two of the wheels are independently steerable of the material handling vehicle.
- a load carrier is comprised and attached to the mast in a movable manner such that a load can be lifted up along the mast.
- the auxiliary equipment is fixedly attached to the mast.
- L2 measure This is a well-known and accepted definition in this technical field and defines the length from the back end of the load carrier to the back end of the vehicle.
- a shorter L2 generally provides for a shorter turning radius and allows for a better manoeuvrability in confined spaces.
- the L2-measure is the definition for the measure of the horizontal length between the end of the material handling vehicle opposite the load carrier and the beginning of the load carrier in a direction from the end of the material handling vehicle and the load carrying back.
- Another advantage is that it is very simple in its construction; in particular as the mast itself is actually the central part of the vehicle.
- a further advantage is that by using the mast as the central main unit of the material handling vehicle a chassis is avoided and no longer necessary.
- Hydraulics is particularly advantageous in order to achieve capability for heavy lifting operations.
- the attachment of the hydraulic pump to the mast makes the footprint of the material handling vehicle smaller. And also it provides for a stable attachment as the mast needs to be stable in itself for the higher levels of lifting that the material handling vehicle is intended for.
- the material handling vehicle is preferred to be electric. As preferred the attachment of the energy source device to the mast makes the footprint of the material handling vehicle smaller. And also it provides for a stable attachment as the mast needs to be stable in itself for the higher levels of lifting that the material handling vehicle is intended for.
- the support leg can then function as both support leg and also holder for both drive motors and wheels and gearing for the drive wheels that is powered by the respective drive motor.
- wheels and drive motors/steering motors can be switched in a group operation, by detaching the respective support leg if desired. And still normal maintenance is possible as wheels and drive motor can easily be detached from the support leg itself.
- the installation of the drive motors is very flexible. In case the drive motors are experiencing more wear than expected it is easy to modify the holder and apply a different drive motor.
- Navigation equipment on the material handling vehicle makes the vehicle able to completely independently perform material handling tasks in a warehouse.
- a fully automated material handling vehicle with the compactness of the present disclosure is of great advantage in a warehouse environment where all space that can be used for goods storage is of importance.
- the stabilisation device will make the mast and also the complete vehicle more stable. It will also prevent view through the mast if an operator is operating in the warehouse and thus constitutes very important information for any person in the warehouse as the material handling vehicle is easily identified and any person in its operating area will be more aware where this particular material handling vehicle is.
- the material handling vehicle By introducing telescopic forks the material handling vehicle is able to reach goods further away from the vehicle.
- the material handling vehicle is configured to perform material handling tasks in an environment where a reach truck would normally be operating.
- a telescopic mast provides for high lifting capacity.
- the material handling vehicle is thus able to position and handle loads that is positioned high above the floor of the warehouse.
- a wireless interface for remotely controlling the vehicle can be useful if the vehicle needs to be moved by a remote operator, thus the operator need not operate in the vicinity of the vehicle but can reside in a control room elsewhere.
- the present disclosure is related to a high lifting material handling vehicle.
- high lifting is to be understood a vehicle that in general can lift higher than a stacker material handling vehicle.
- a stacker in general can position a first load onto a second load.
- the high lifting material handling vehicle can lift much higher than this and position and fetch a load that is positioned in a rack that can be as high as 10 meters or more. In general this requires a mast that has several sections that can telescopically extend the mast with a load carrier for lifting high.
- the material handling vehicle has a load carrier.
- the load carrier is in generally a pair of forks that is optimal for lifting a load that is positioned on a pallet.
- the material handling vehicle in general comprises an energy source that can power a drive motor.
- the energy source may be a battery, and the drive motor an electric motor.
- Other energy sources are thinkable but not so common in a warehouse environment, such energy sources could be gas or fuel cells.
- the material handling vehicle is in general not a counter balance vehicle.
- the material handling vehicle is in general a reach material handling vehicle. This means that it can extend the load carrier in the longitudinal direction of the vehicle that is in the direction of the load carrier. Further the material handling vehicle has support legs that will bear the weight of a load such that the centre of gravity of the load itself is mainly positioned in the inner area of the wheels that bears the material handling vehicle.
- Figure 1 discloses a high lifting material handling vehicle 1.
- the vehicle 1 comprises a mast 2.
- the mast 2 has a first vertical beam 2a.
- the mast 2 has also a telescopic element 3.
- the material handling vehicle 1 further comprises auxiliary equipment.
- the auxiliary equipment is defined as equipment that is attached to the mast 2, in order for the mast to be able to move and perform a material handling task.
- the auxiliary equipment comprises a first support leg 4 and a second support leg 5, as seen in figure 1 and 3 .
- the support legs 4, 5 have as function to carry weight. This is as opposed to a counter balance truck where the weight of a load is balanced by a counter balance weight.
- the support legs 4, 5 have a respective wheel 10, 13.
- the wheels 10, 13 are shown as a single wheel on respective support leg, but can be any type of wheel pair as a boogie or the like. All wheels of the material handling vehicle can be installed to the support legs 4, 5.
- the support legs 4, 5 are not movable in relation to each other and in particular in relation to the mast 2.
- the support legs 4, 5 are fixedly attached to the mast at any moment. This provides for a very stable material handling vehicle that also can be easily controlled without any differing angles to the wheels installed onto the support legs 4, 5. Also the material handling vehicle 1 will be very sturdy and will lover maintenance needs.
- the material handling vehicle 1 has at least two of its wheels steerable. This is preferred to be the drive wheels 7, 9 that are steerable by means of a respective servo motor. Individual steering of the drive wheels 7, 9 is preferred. This provides for a better control and adaptation to any movement of the vehicle.
- the forward wheels 10, 13 of the support legs 4, 5 can be swivel wheels and only the drive wheels 7, 9 steerable. However one or both of the forward wheels 10, 13 may also be a steerable wheel.
- the steering is made possible by a respective servo motor. The steering is preferred to be individual for each wheel to allow very precise steering and avoid wear on the wheels in curves etc.
- the material handling vehicle 1 comprises at least two drive motors 6, 8.
- the drive motors 6, 8 may be situated on the support legs 10, 13 and by means of these fixed to the mast 2 on each respective side of the mast 2, as seen in figures 1 and 3 .
- the drive motors 6, 8 may also be fixed to the mast 2 by means of a separate holder 23, 24, as seen in figure 2 and 4 .
- the material handling vehicle 1' from figures 2 and 4 is in all other aspects the same as the vehicle described above and disclosed in figures 1 and 3 .
- the material handling vehicle 1 further has a load carrier 26 that is movably attached to the mast 2.
- the load carrier 26 comprises forks 19, 27.
- the forks 19, 27 have an outer end element 19a, 27a and an inner element.
- the outer element 19a, 27a is extendable, for reach purposes. This is made possible as preferred by a hydraulic arrangement with hydraulic cylinders. This could also be achieved with an electric adjustment device.
- the material handling vehicle 1 further has a hydraulic system comprising a motor 14 connected to a hydraulic pump 14a.
- the hydraulic system powers the lifting and lowering functions of the material handling vehicle 1. Hydraulics may also power the extension of forks 19, 27 if desired.
- a hydraulic cylinder 25 figure 3, 4 is pressurized from the pump 14a for lifting purposes.
- the hydraulic pump is fixedly attached to the mast 2, preferably by means of a holder 15.
- the motor 14 and the hydraulic pump 14a are preferred to be dimensioned such that lifting speeds without load can be reached in the excess of 3 m/s in vertical direction. It should be understood that there can be several lifting cylinders for performing lifting tasks. There can be one cylinder for lifting the load carrier 26 up to the top of the first mast element 2a, and a second hydraulic cylinder for lifting a further mast element 3.
- the material handling vehicle 1 has an energy source device 16.
- the energy source device 16 comprises a battery pack 16a and a holder 17.
- the holder is fixedly attached to the mast 2.
- the battery pack is preferred to be constituted of Li-Ion battery cells.
- the electric system of the material handling vehicle is preferred to be using above 300 Volt. This will be an advantage as the current values can be kept lower and cabling will be simplified. This is in contrast to prior art where much lower Volt values are in general used, for example 24, 36 or 48 Volts.
- the material handling vehicle 1 comprises a control unit.
- the control unit has processor, memory and software to control the functions and operation of the vehicle.
- All wheels 7, 9, 10, 13 may be steerable. This provides for a very excellent manoeuvrability and also provides for using narrow aisles in a warehouse. Thus the multi wheel steering improves efficiency of the warehouse material handling as a whole. In particular the vehicle 1 can move in diagonal direction and turn very narrowly of more wheels are steerable than one.
- the sensors 21, 22 provided on the material handling vehicle 1.
- the sensors provide for that the vehicle 1 can operate in very narrow environment of a warehouse.
- the sensors 21, 22 can be of a suitable type such as laser, ultra-sound or radio based sensors.
- the material handling vehicle 1 also has navigating equipment 28 for navigating in a warehouse. This is realised in conventional manner.
- control unit together with the sensors 21, 22 and the navigation equipment 29 provides for an automated material handling vehicle 1 that can perform tasks in the warehouse without interaction of an operator.
- the material handling vehicle 1 does not comprise any normal operating or control means, such as steering wheel or tiller arm.
- the material handling vehicle comprises a remote interface, such that it can manually be controlled by a remote operator.
- the remote interface may comprise a radio receiver and radio emitter. This can be achieved by means of Wi-Fi, GSM or any other wireless interface.
- the material handling vehicle 1 is arranged such that it can store and perform tasks received over the remote interface. For this reason the material handling vehicle also comprises at least one camera that can send live video to a remote operator.
- mast 2 is the main element of the material handling vehicle 1. This means that no chassis is needed or present in the material handling vehicle 1.
- a stabilization device 18 is preferred to be installed to the mast 2, figure 5 disclosing the upper section of the mast 2 for all described material handling vehicles.
- the stabilisation device is preferred to be a steel plate. The plate should not have holes for viewing through the mast as this would give lower stabilisation properties. And also as the material handling vehicle 1 shall not be operated directly by an operator at site in the warehouse the stabilisation device provides for detection of the vehicle at distance as being an automated vehicle.
- the material handling vehicle 1' is in all other aspects the same as the vehicle 1 described above and disclosed in figures 1 and 3 , except for that the drive motors are mounted to separate holders 23, 24.
- the material handling vehicle 1 may be provided with a wireless interface 35 that provides for that the material handling vehicle can receive order for material handling but also for the possibility of remotely controlling the vehicle manually. This means that an operator that is not on board the vehicle can control the vehicle remotely.
- the material handling vehicle can also be provided with at least one camera capable of sending live video to the operator.
- the remote operator can take over the control of the vehicle and manually do what is needed to start the vehicle again, for example, steer the vehicle around the obstacle.
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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Structural Engineering (AREA)
- Civil Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Geology (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Forklifts And Lifting Vehicles (AREA)
Priority Applications (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
EP18154547.6A EP3521235B1 (de) | 2018-01-31 | 2018-01-31 | Materialhandhabungsfahrzeug |
CN201910093693.6A CN110092325B (zh) | 2018-01-31 | 2019-01-30 | 物料搬运车辆 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
EP18154547.6A EP3521235B1 (de) | 2018-01-31 | 2018-01-31 | Materialhandhabungsfahrzeug |
Publications (2)
Publication Number | Publication Date |
---|---|
EP3521235A1 true EP3521235A1 (de) | 2019-08-07 |
EP3521235B1 EP3521235B1 (de) | 2024-03-06 |
Family
ID=61132237
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP18154547.6A Active EP3521235B1 (de) | 2018-01-31 | 2018-01-31 | Materialhandhabungsfahrzeug |
Country Status (2)
Country | Link |
---|---|
EP (1) | EP3521235B1 (de) |
CN (1) | CN110092325B (de) |
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN114803946A (zh) * | 2022-04-08 | 2022-07-29 | 万广生物科技有限公司 | 一种高效稳定的黑水虻立体养殖***牵引搬运装置 |
SE2250039A1 (en) * | 2022-01-18 | 2023-07-19 | Toyota Mat Handling Manufacturing Sweden Ab | Material handling vehicle comprising diagnostic coverage of pressure in lift system |
Families Citing this family (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN111410144A (zh) * | 2020-03-26 | 2020-07-14 | 河海大学常州校区 | 一种充气式夹取装置 |
CN113636496B (zh) * | 2020-04-27 | 2023-06-16 | 林德(中国)叉车有限公司 | 一种紧凑型agv车架及agv叉车 |
Citations (7)
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US7259662B2 (en) * | 2004-06-02 | 2007-08-21 | The Raymond Corporation | Photoelectric operator position detector |
DE102010012749A1 (de) * | 2010-03-25 | 2011-09-29 | Kuka Laboratories Gmbh | Verfahren zum Betreiben eines autonomen Flurförderfahrzeugs |
US20150120125A1 (en) * | 2013-10-31 | 2015-04-30 | Crown Equipment Limited | Systems, methods, and industrial vehicles for determining the visibility of features |
DE102014000375A1 (de) * | 2014-01-14 | 2015-07-16 | Grenzebach Maschinenbau Gmbh | Vorrichtung zur Orientierung für automatisch in Werkshallen geführte, elektrisch betriebene, Transportfahrzeuge |
US20170050830A1 (en) * | 2015-08-21 | 2017-02-23 | The Boeing Company | Component moving system and method |
CN107337153A (zh) * | 2017-07-31 | 2017-11-10 | 盐城晟阳电子科技有限公司 | 一种激光导航叉车 |
CN107473140A (zh) | 2017-09-30 | 2017-12-15 | 山东兰剑物流科技股份有限公司 | Agv和agv*** |
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DE102004017290B4 (de) * | 2004-04-05 | 2006-03-16 | Vetter Umformtechnik Gmbh | Lastaufnahmemittel |
CN101717058B (zh) * | 2009-11-09 | 2012-12-05 | 浙江美科斯叉车有限公司 | 叉车外门架、叉车三级门架及叉车 |
CN203402897U (zh) * | 2013-08-26 | 2014-01-22 | 山东威力天地机械股份有限公司 | 一种适用于集装箱内物品装卸的四轮驱动叉车 |
CN104986691A (zh) * | 2015-08-06 | 2015-10-21 | 遂宁市长丰机械科技有限公司 | 组合叉臂叉车 |
CN107572457A (zh) * | 2017-09-29 | 2018-01-12 | 苏州罗伯特木牛流马物流技术有限公司 | 多功能叉车货叉及叉车 |
-
2018
- 2018-01-31 EP EP18154547.6A patent/EP3521235B1/de active Active
-
2019
- 2019-01-30 CN CN201910093693.6A patent/CN110092325B/zh active Active
Patent Citations (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US7259662B2 (en) * | 2004-06-02 | 2007-08-21 | The Raymond Corporation | Photoelectric operator position detector |
DE102010012749A1 (de) * | 2010-03-25 | 2011-09-29 | Kuka Laboratories Gmbh | Verfahren zum Betreiben eines autonomen Flurförderfahrzeugs |
US20150120125A1 (en) * | 2013-10-31 | 2015-04-30 | Crown Equipment Limited | Systems, methods, and industrial vehicles for determining the visibility of features |
DE102014000375A1 (de) * | 2014-01-14 | 2015-07-16 | Grenzebach Maschinenbau Gmbh | Vorrichtung zur Orientierung für automatisch in Werkshallen geführte, elektrisch betriebene, Transportfahrzeuge |
US20170050830A1 (en) * | 2015-08-21 | 2017-02-23 | The Boeing Company | Component moving system and method |
CN107337153A (zh) * | 2017-07-31 | 2017-11-10 | 盐城晟阳电子科技有限公司 | 一种激光导航叉车 |
CN107473140A (zh) | 2017-09-30 | 2017-12-15 | 山东兰剑物流科技股份有限公司 | Agv和agv*** |
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
SE2250039A1 (en) * | 2022-01-18 | 2023-07-19 | Toyota Mat Handling Manufacturing Sweden Ab | Material handling vehicle comprising diagnostic coverage of pressure in lift system |
CN114803946A (zh) * | 2022-04-08 | 2022-07-29 | 万广生物科技有限公司 | 一种高效稳定的黑水虻立体养殖***牵引搬运装置 |
Also Published As
Publication number | Publication date |
---|---|
CN110092325A (zh) | 2019-08-06 |
CN110092325B (zh) | 2022-07-08 |
EP3521235B1 (de) | 2024-03-06 |
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Legal Events
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