CN211056639U - 货叉及搬运机器人 - Google Patents
货叉及搬运机器人 Download PDFInfo
- Publication number
- CN211056639U CN211056639U CN201921546485.9U CN201921546485U CN211056639U CN 211056639 U CN211056639 U CN 211056639U CN 201921546485 U CN201921546485 U CN 201921546485U CN 211056639 U CN211056639 U CN 211056639U
- Authority
- CN
- China
- Prior art keywords
- arm
- push rod
- fork
- movable
- temporary storage
- 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.)
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Links
- 238000003860 storage Methods 0.000 claims abstract description 101
- 238000000034 method Methods 0.000 claims description 8
- 230000000712 assembly Effects 0.000 claims description 5
- 238000000429 assembly Methods 0.000 claims description 5
- 230000000694 effects Effects 0.000 abstract description 3
- 238000012856 packing Methods 0.000 abstract description 3
- 230000000903 blocking effect Effects 0.000 description 6
- 238000010586 diagram Methods 0.000 description 2
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 238000012432 intermediate storage Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
Images
Classifications
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- 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
-
- 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
- B66F9/14—Platforms; Forks; Other load supporting or gripping members laterally movable, e.g. swingable, for slewing or transverse movements
- B66F9/141—Platforms; Forks; Other load supporting or gripping members laterally movable, e.g. swingable, for slewing or transverse movements with shuttle-type movement
-
- 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
- B66F9/18—Load gripping or retaining means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/0407—Storage devices mechanical using stacker cranes
- B65G1/0435—Storage devices mechanical using stacker cranes with pulling or pushing means on either stacking crane or stacking area
-
- 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
- B66F9/12—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
- B66F9/12—Platforms; Forks; Other load supporting or gripping members
- B66F9/14—Platforms; Forks; Other load supporting or gripping members laterally movable, e.g. swingable, for slewing or transverse movements
- B66F9/147—Whole unit including fork support moves relative to mast
- B66F9/149—Whole unit including fork support rotates
-
- 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
- B66F9/19—Additional means for facilitating unloading
- B66F9/195—Additional means for facilitating unloading for pushing the load
Landscapes
- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Structural Engineering (AREA)
- Mechanical Engineering (AREA)
- Civil Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Geology (AREA)
- Warehouses Or Storage Devices (AREA)
- Load-Engaging Elements For Cranes (AREA)
Abstract
Description
Claims (11)
Priority Applications (16)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201921546485.9U CN211056639U (zh) | 2019-09-17 | 2019-09-17 | 货叉及搬运机器人 |
EP20866644.6A EP4032848A4 (en) | 2019-09-17 | 2020-09-17 | PALLET FORKS AND CARRIER ROBOTS |
DE212020000724.1U DE212020000724U1 (de) | 2019-09-17 | 2020-09-17 | Gabelstapler und Transportroboter |
PCT/CN2020/115764 WO2021052393A1 (zh) | 2019-09-17 | 2020-09-17 | 货叉及搬运机器人 |
CA3149595A CA3149595C (en) | 2019-09-17 | 2020-09-17 | Pallet fork and carrying robot |
JP2022512817A JP7360543B2 (ja) | 2019-09-17 | 2020-09-17 | フォーク及び搬送用ロボット |
CN202080064791.8A CN114514189B (zh) | 2019-09-17 | 2020-09-17 | 货叉及搬运机器人 |
KR1020227009274A KR20220061141A (ko) | 2019-09-17 | 2020-09-17 | 팰릿 포크 및 운송 로봇 |
AU2020350944A AU2020350944B2 (en) | 2019-09-17 | 2020-09-17 | Pallet fork and carrying robot |
DE202020005899.8U DE202020005899U1 (de) | 2019-09-17 | 2020-09-17 | Gabel und Transportroboter |
US17/697,527 US11548770B2 (en) | 2019-09-17 | 2022-03-17 | Fork and carrying robot |
US18/074,716 US11807451B2 (en) | 2019-09-17 | 2022-12-05 | Fork and carrying robot |
US18/183,542 US20230211947A1 (en) | 2019-09-17 | 2023-03-14 | Fork and carrying robot |
US18/125,515 US11718473B1 (en) | 2019-09-17 | 2023-03-23 | Fork and carrying robot |
JP2023161544A JP2023164756A (ja) | 2019-09-17 | 2023-09-25 | フォーク及び搬送用ロボット |
AU2024200110A AU2024200110A1 (en) | 2019-09-17 | 2024-01-08 | Pallet fork and carrying robot |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201921546485.9U CN211056639U (zh) | 2019-09-17 | 2019-09-17 | 货叉及搬运机器人 |
Publications (1)
Publication Number | Publication Date |
---|---|
CN211056639U true CN211056639U (zh) | 2020-07-21 |
Family
ID=71594335
Family Applications (2)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN201921546485.9U Active CN211056639U (zh) | 2019-09-17 | 2019-09-17 | 货叉及搬运机器人 |
CN202080064791.8A Active CN114514189B (zh) | 2019-09-17 | 2020-09-17 | 货叉及搬运机器人 |
Family Applications After (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN202080064791.8A Active CN114514189B (zh) | 2019-09-17 | 2020-09-17 | 货叉及搬运机器人 |
Country Status (9)
Country | Link |
---|---|
US (1) | US11548770B2 (zh) |
EP (1) | EP4032848A4 (zh) |
JP (2) | JP7360543B2 (zh) |
KR (1) | KR20220061141A (zh) |
CN (2) | CN211056639U (zh) |
AU (2) | AU2020350944B2 (zh) |
CA (1) | CA3149595C (zh) |
DE (2) | DE202020005899U1 (zh) |
WO (1) | WO2021052393A1 (zh) |
Cited By (11)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2021052393A1 (zh) * | 2019-09-17 | 2021-03-25 | 深圳市海柔创新科技有限公司 | 货叉及搬运机器人 |
CN113479822A (zh) * | 2021-08-04 | 2021-10-08 | 杭州海康机器人技术有限公司 | 搬运装置 |
CN113788259A (zh) * | 2021-09-18 | 2021-12-14 | 深圳市海柔创新科技有限公司 | 搬运机器人 |
CN113895970A (zh) * | 2021-11-19 | 2022-01-07 | 成都海科机械设备制造有限公司 | 一种卸垛码垛装置及其使用方法 |
CN114684516A (zh) * | 2020-12-31 | 2022-07-01 | 深圳市海柔创新科技有限公司 | 货叉组件的控制方法、货叉组件及机器人 |
CN114939858A (zh) * | 2021-02-16 | 2022-08-26 | 丰田自动车株式会社 | 运输系统和运输方法 |
CN114955423A (zh) * | 2022-05-31 | 2022-08-30 | 菲尼克斯(南京)智能制造技术工程有限公司 | 集成于agv小车的箱体搬运系统及箱体搬运方法 |
WO2023274320A1 (zh) * | 2021-07-01 | 2023-01-05 | 深圳市海柔创新科技有限公司 | 货叉组件、搬运机器人及仓储系统 |
WO2023045777A1 (zh) * | 2021-09-24 | 2023-03-30 | 深圳市海柔创新科技有限公司 | 货叉机构及搬运机器人 |
US11718473B1 (en) | 2019-09-17 | 2023-08-08 | Hai Robotics Co., Ltd. | Fork and carrying robot |
WO2024001730A1 (zh) * | 2022-06-30 | 2024-01-04 | 深圳市海柔创新科技有限公司 | 货叉机构及码垛机器人 |
Families Citing this family (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN211197466U (zh) * | 2019-11-19 | 2020-08-07 | 深圳市海柔创新科技有限公司 | 一种搬运装置及具有此搬运装置的搬运机器人 |
Family Cites Families (29)
Publication number | Priority date | Publication date | Assignee | Title |
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DE3020791C2 (de) * | 1980-05-31 | 1982-11-25 | psb GmbH Förderanlagen und Lagertechnik, 6780 Pirmasens | Regalbediengerät für Hochregallager |
JPH08268552A (ja) * | 1995-03-31 | 1996-10-15 | Nkk Corp | 層別ピッキング装置の制御方法 |
JP3887904B2 (ja) * | 1997-09-10 | 2007-02-28 | 株式会社豊田自動織機 | スタッカクレーン用移載装置の制御装置 |
DE10140643B4 (de) * | 2001-04-27 | 2007-04-05 | Kht Kommissionier- Und Handhabungstechnik Gmbh | Regallagersystem |
AT500228B1 (de) * | 2003-05-20 | 2007-07-15 | Tgw Transportgeraete Gmbh | Teleskopschubarm, insbesondere für eine lastaufnahmevorrichtung |
JP4793654B2 (ja) * | 2006-06-13 | 2011-10-12 | 株式会社ダイフク | スライド式のフォーク装置 |
CN100560470C (zh) * | 2006-06-13 | 2009-11-18 | 大福株式会社 | 滑动式叉装置 |
JP2008100774A (ja) | 2006-10-17 | 2008-05-01 | Asyst Technologies Japan Inc | 搬送台車及び搬送台車による被搬送物移送方法 |
JP5432917B2 (ja) * | 2008-10-27 | 2014-03-05 | デマティック アカウンティング サービシーズ ゲーエムベーハー | 立体自動倉庫用の移載シャトル |
US8465243B2 (en) * | 2009-07-16 | 2013-06-18 | Wes van Ooyen | Method and apparatus for picking a package from a dispensing system |
JP5581715B2 (ja) * | 2010-02-04 | 2014-09-03 | 株式会社Ihi | フォーク装置 |
WO2011158422A1 (ja) * | 2010-06-17 | 2011-12-22 | 村田機械株式会社 | 移載装置および移載方法 |
JP6523296B2 (ja) * | 2013-09-13 | 2019-05-29 | シムボティック エルエルシー | 自動保管および取出システム |
JP6350166B2 (ja) | 2014-09-19 | 2018-07-04 | 株式会社ダイフク | 物品搬送台車 |
JP6260584B2 (ja) | 2015-06-19 | 2018-01-17 | 村田機械株式会社 | 移載装置 |
DE202018006723U1 (de) * | 2017-11-14 | 2022-06-08 | Hai Robotics Co., Ltd. | Handhabungsroboter |
CN208022646U (zh) | 2018-01-16 | 2018-10-30 | 浙江国自机器人技术有限公司 | 一种货箱搬运机器人伸缩叉齿双向调平机构 |
CN207748386U (zh) * | 2018-01-22 | 2018-08-21 | 合肥工业大学 | 一种双倍行程穿梭车伸叉机构 |
CN208217598U (zh) * | 2018-02-02 | 2018-12-11 | 尊道(上海)自动化设备有限公司 | 四向行走提升物流搬运仓储车的抱夹货叉机构 |
CN208499400U (zh) * | 2018-05-29 | 2019-02-15 | 北京起重运输机械设计研究院有限公司 | 一种货叉机构 |
CN208666177U (zh) | 2018-07-26 | 2019-03-29 | 浙江迈睿机器人有限公司 | 一种用于货箱拣选仓储机器人的叉取装置 |
CN209160601U (zh) * | 2018-09-07 | 2019-07-26 | 深圳市海柔创新科技有限公司 | 一种搬运机器人 |
CN209023571U (zh) * | 2018-09-07 | 2019-06-25 | 深圳市海柔创新科技有限公司 | 一种搬运机器人 |
CN209210300U (zh) | 2018-10-16 | 2019-08-06 | 无锡弘宜智能科技有限公司 | 前叉后货架式搬运机器人 |
CN110271805B (zh) | 2018-12-29 | 2020-09-22 | 杭州慧盈智能科技有限公司 | 一种用于仓储的机器人及其工作方法 |
CN109748027A (zh) * | 2019-03-11 | 2019-05-14 | 杭州蓝芯科技有限公司 | 一种物料箱自动拣选机器人及其控制方法 |
JP7081553B2 (ja) * | 2019-03-29 | 2022-06-07 | 株式会社ダイフク | 移載装置 |
CN109941653A (zh) | 2019-04-19 | 2019-06-28 | 北京极智嘉科技有限公司 | 一种搬运机器人 |
CN211056639U (zh) * | 2019-09-17 | 2020-07-21 | 深圳市海柔创新科技有限公司 | 货叉及搬运机器人 |
-
2019
- 2019-09-17 CN CN201921546485.9U patent/CN211056639U/zh active Active
-
2020
- 2020-09-17 JP JP2022512817A patent/JP7360543B2/ja active Active
- 2020-09-17 KR KR1020227009274A patent/KR20220061141A/ko not_active Application Discontinuation
- 2020-09-17 DE DE202020005899.8U patent/DE202020005899U1/de active Active
- 2020-09-17 AU AU2020350944A patent/AU2020350944B2/en active Active
- 2020-09-17 CN CN202080064791.8A patent/CN114514189B/zh active Active
- 2020-09-17 CA CA3149595A patent/CA3149595C/en active Active
- 2020-09-17 DE DE212020000724.1U patent/DE212020000724U1/de active Active
- 2020-09-17 EP EP20866644.6A patent/EP4032848A4/en active Pending
- 2020-09-17 WO PCT/CN2020/115764 patent/WO2021052393A1/zh unknown
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2022
- 2022-03-17 US US17/697,527 patent/US11548770B2/en active Active
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2023
- 2023-09-25 JP JP2023161544A patent/JP2023164756A/ja active Pending
-
2024
- 2024-01-08 AU AU2024200110A patent/AU2024200110A1/en active Pending
Cited By (17)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2021052393A1 (zh) * | 2019-09-17 | 2021-03-25 | 深圳市海柔创新科技有限公司 | 货叉及搬运机器人 |
US11807451B2 (en) | 2019-09-17 | 2023-11-07 | Hai Robotics Co., Ltd. | Fork and carrying robot |
US11718473B1 (en) | 2019-09-17 | 2023-08-08 | Hai Robotics Co., Ltd. | Fork and carrying robot |
US11548770B2 (en) | 2019-09-17 | 2023-01-10 | Hai Robotics Co., Ltd. | Fork and carrying robot |
CN114684516A (zh) * | 2020-12-31 | 2022-07-01 | 深圳市海柔创新科技有限公司 | 货叉组件的控制方法、货叉组件及机器人 |
WO2022143133A1 (zh) * | 2020-12-31 | 2022-07-07 | 深圳市海柔创新科技有限公司 | 货叉组件的控制方法、货叉组件及机器人 |
CN114939858B (zh) * | 2021-02-16 | 2024-04-02 | 丰田自动车株式会社 | 运输系统和运输方法 |
CN114939858A (zh) * | 2021-02-16 | 2022-08-26 | 丰田自动车株式会社 | 运输系统和运输方法 |
WO2023274320A1 (zh) * | 2021-07-01 | 2023-01-05 | 深圳市海柔创新科技有限公司 | 货叉组件、搬运机器人及仓储系统 |
CN113479822A (zh) * | 2021-08-04 | 2021-10-08 | 杭州海康机器人技术有限公司 | 搬运装置 |
WO2023040752A1 (zh) * | 2021-09-18 | 2023-03-23 | 深圳市海柔创新科技有限公司 | 搬运机器人 |
CN113788259B (zh) * | 2021-09-18 | 2023-07-18 | 深圳市海柔创新科技有限公司 | 搬运机器人 |
CN113788259A (zh) * | 2021-09-18 | 2021-12-14 | 深圳市海柔创新科技有限公司 | 搬运机器人 |
WO2023045777A1 (zh) * | 2021-09-24 | 2023-03-30 | 深圳市海柔创新科技有限公司 | 货叉机构及搬运机器人 |
CN113895970A (zh) * | 2021-11-19 | 2022-01-07 | 成都海科机械设备制造有限公司 | 一种卸垛码垛装置及其使用方法 |
CN114955423A (zh) * | 2022-05-31 | 2022-08-30 | 菲尼克斯(南京)智能制造技术工程有限公司 | 集成于agv小车的箱体搬运系统及箱体搬运方法 |
WO2024001730A1 (zh) * | 2022-06-30 | 2024-01-04 | 深圳市海柔创新科技有限公司 | 货叉机构及码垛机器人 |
Also Published As
Publication number | Publication date |
---|---|
WO2021052393A1 (zh) | 2021-03-25 |
AU2024200110A1 (en) | 2024-01-25 |
CN114514189A (zh) | 2022-05-17 |
JP2023164756A (ja) | 2023-11-10 |
DE202020005899U1 (de) | 2023-02-06 |
US11548770B2 (en) | 2023-01-10 |
JP2022545523A (ja) | 2022-10-27 |
CA3149595C (en) | 2024-05-28 |
KR20220061141A (ko) | 2022-05-12 |
CN114514189B (zh) | 2023-06-06 |
EP4032848A4 (en) | 2022-11-30 |
EP4032848A1 (en) | 2022-07-27 |
JP7360543B2 (ja) | 2023-10-12 |
DE212020000724U1 (de) | 2022-06-29 |
CA3149595A1 (en) | 2021-03-25 |
US20220204329A1 (en) | 2022-06-30 |
AU2020350944A1 (en) | 2022-03-24 |
AU2020350944B2 (en) | 2023-11-02 |
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Commission number: 5W129271 Conclusion of examination: Declare partial invalidity of utility model patent No. 201921546485.9, and continue to maintain the validity of the patent on the basis of the claims submitted by the patentee on October 14, 2022 Decision date of declaring invalidation: 20230425 Decision number of declaring invalidation: 561509 Denomination of utility model: Forks and handling robots Granted publication date: 20200721 Patentee: HAI ROBOTICS Co.,Ltd. |
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