Retractable lift-and-steer support wheels

Abstract

This specification relates to a compact lift-and-steer wheel assembly. The assembly comprises a housing, a swivel assembly, a linkage, and at least one wheel. The wheel is rotatably connected to a bracket of the swivel assembly via a wheel mount and a pivot member. The linkage is connected to the pivot member of the swivel assembly via a steering member. The assembly is configured to rotate the wheel from a first position to a second position through an opening in the housing by the linkage moving a first distance within the housing. The assembly is configured to rotate the wheel from a second position to a third position around the swivel assembly by the linkage moving a second distance within the housing. An adjustable cantilevered wheel system is configured to suspend the assembly above ground level, allowing insertion at the raised height.

Description

Technical Field

[0001] Cross - Reference to Related Applications This application claims the priority of U.S. Provisional Application No. 63 / 467,982, filed on May 21, 2023, the content of which is incorporated herein by reference in its entirety.

Background Art

[0002] There are many types of material handling machines used for various applications. However, since pallets are a very widespread means of product transportation, pallet movers are probably the most common. A typical pallet mover is a "walk - behind" machine. This pallet mover usually has a drive unit at one end (i.e., the drive end or "A - frame") and two forks that extend towards the opposite end of the pallet mover. Each fork has support wheels near its end to support the load on the fork. The forks are generally inserted into or under the pallet to lift and transport the pallet. However, because the height of the forks with support wheels is generally close to the opening height of a U.S. - style pallet, it results in a tight fit during insertion and ejection, making it difficult to engage securely. Further, since the support wheels need to pass while moving up and down the bottom plate of the pallet, these two factors combined affect the secure engagement with the pallet, and as a result, limit the usefulness of the machine.

[0003] Furthermore, because the support wheels attached to the forks are oriented in only one direction, i.e., the direction of travel, walking machines generally lack maneuverability, increasing the floor space required to complete operations, complicating the execution of such operations (especially in the case of autonomous machines), and increasing the time required to complete such operations. Equipped with non-steering support wheels, such machines are unable to move laterally to align the forks with pallets or align pallets with their placement positions, nor can they rotate around their center point, for example, 90 or 180 degrees, to narrow aisle widths within facilities or to enable quicker changes of direction. In addition, because these pallet movers are equipped with small-diameter non-steering support wheels, these wheels generally cause problems when traversing uneven floor surfaces, dock plates, etc.

[0004] An alternative style of pallet mover is the counterbalanced pallet mover. This type of pallet mover has a large mass (often containing blocks of steel, iron, or lead as ballast) on the opposite side of the support wheels. Counterbalanced pallet trucks, including conventional "seated" and stand-up forklifts, can use much thinner teens (compared to the forks used in walk-behind pallet movers). Therefore, the thinner teens, having a lower height, have greater clearance as they enter the narrow height of US-style pallet cavities. However, these pallet trucks require sufficient counterweight to balance the weight of the loaded pallets supported by the teens. As a result, counterbalanced trucks are significantly larger and heavier than walk-behind pallet movers, and the large mass is less maneuverable and more dangerous for high-speed movement. Their larger size requires operation in wide aisles, ultimately impacting storage density and processing capacity in any warehouse / logistics facility. Furthermore, because these trucks are heavier, they require the use of more robust and high-capacity dock plate systems, resulting in greater wear and tear over time. These trucks are generally expensive because they require additional components to accommodate the increased weight and high-power drive components to propel the increased machine weight.

[0005] Because the use of bottom-deck pallets is established in many markets, particularly in the United States, counterbalanced pallet trucks are more frequently used than walk-behind pallet trucks in these markets, especially when automated pallet handling is considered and reliable autonomous engagement with pallets is a top priority. In contrast, in Europe, a different pallet standard (EUR or EURO pallet) has been adopted that eliminates the bottom plate, allowing walk-behind pallet transporters to function more effectively. Due to their functional and commercial advantages, walk-behind pallet transporters are widely used in Europe for autonomous horizontal pallet transport. As the value of warehouse space increases and the width of pallet transporter aisles is strictly monitored, there is a need for an improved walk-behind autonomous pallet transporter that can reliably capture both US and EUR pallets and is more maneuverable. This invention meets these needs. [Overview of the project] [Problems that the invention aims to solve]

[0006] This disclosure relates in general to pallet movers, and more specifically to a lift-and-steer support wheel assembly housed within the forks of a pallet mover.

[0007] In one or more aspects, the disclosed technology relates to a walkable pallet mover equipped with forks that enable reliable loading and unloading of bottom-deck (US-style) pallets, particularly in warehouse environments, on typical uneven floor surfaces, and especially during autonomous operation.

[0008] In one or more aspects, the disclosed technology relates to performing more operations more quickly in less space, which includes enabling the machine to rotate around its central axis and move laterally to align with pallets or pallet placement positions.

[0009] In one or more aspects, the disclosed technology relates to support wheels having a larger diameter, which are used as lifting members and can raise the mounted forks, and the larger diameter wheels provide the necessary maneuverability by adopting different orientations after raising and when repositioning, enabling superior travel on uneven floor surfaces, in particular when traversing dock plates.

[0010] In one or more aspects, the disclosed technology relates to an assembly comprising a housing having an opening at the bottom of the housing. In one or more cases, the assembly includes a rotating assembly on the longitudinal axis of the housing. In one or more cases, the rotating assembly includes a bracket rotatably connected inside the housing. At least one wheel is rotatably connected to the bracket of the rotating assembly via a wheel mount and a pivot member. The wheel mount and pivot member are located on opposing faces of the bracket.

[0011] In one or more aspects, the disclosed technology relates to an assembly comprising a housing having an opening at the bottom of the housing. In one or more cases, the assembly includes a rotating assembly positioned on the long axis of the housing. In one or more cases, the rotating assembly includes a bracket rotatably connected to the inside of the housing. In one or more cases, a wheel is rotatably connected to the bracket of the rotating assembly via a wheel mount and a pivot member. In one or more cases, the wheel mount and pivot member are positioned on opposing faces of the bracket. In one or more cases, the assembly includes a steering arm extending along the long axis of the housing. In one or more cases, the distal end of the steering arm is connected to a pivot member of the rotating assembly. In one or more cases, in a first position, the bracket of the rotating assembly and the wheel are positioned inside the housing at a first angle with respect to the steering arm. In one or more cases, in a second position, the steering arm is translated a first distance toward the proximal end of the housing, thereby rotating the bracket of the rotating assembly and the wheel through the opening of the housing at a second angle with respect to the steering arm. In one or more cases, in the third position, the steering arm is moved a second distance toward the proximal end of the housing, where the pivot member rotates about the distal end of the steering arm, and in this way, the wheel rotates about the bracket of the rotation assembly based on the rotation of the pivot member.

[0012] In one or more aspects, the disclosed technology relates to a material handling device comprising a drive end and a lifting end. In one or more cases, the material handling device includes a pair of housings connected to and extending from the drive end. In one or more cases, the material handling device includes a torque shaft positioned horizontally within the drive end. In one or more cases, the torque shaft is rotatably connected to the proximal ends of a first linkage and a second linkage. In one or more cases, the first linkage and the second linkage are configured to move parallel to each other along the longitudinal axis of each housing in the pair of housings. In one or more cases, the material handling device includes at least one actuator positioned vertically within the drive end. In one or more cases, the first end of at least one actuator is connected to a portion of the drive end, and the second end of at least one actuator is rotatably connected to the torque shaft. In one or more cases, at least one actuator is configured to drive the first linkage and the second linkage via the torque shaft. In one or more cases, each housing includes a rotating assembly configured to extend in the longitudinal direction of the housing from an opening provided in the bottom surface of the housing. In one or more cases, the rotating assembly includes a bracket rotatably connected to the inside of the housing. In one or more cases, at least one wheel is rotatably connected to the bracket of the rotating assembly via a wheel mount and a pivot member. In one or more cases, the wheel mount and pivot member are located on opposite sides of the bracket. In one or more cases, the rotating assembly is configured to move at least one wheel from a first position located inside the housing to a second position located outside the housing, and to a third position in which at least one wheel faces.

[0013] In one or more aspects, the disclosed technology relates to a material handling device comprising a drive end and a lifting end. In one or more cases, the material handling device comprises a pair of housings connected to and extending from the drive end. In one or more cases, the material handling device comprises a torque shaft positioned horizontally within the drive end. In one or more cases, the torque shaft is rotatably connected to the proximal ends of a first linkage and a second linkage. In one or more cases, the first linkage and the second linkage are configured to move parallel to each other along the longitudinal axis of each housing in the pair of housings. In one or more cases, the material handling device includes at least one actuator positioned vertically within the drive end. In one or more cases, the first end of at least one actuator is connected to a portion of the drive end, and the second end of at least one actuator is rotatably connected to the torque shaft. In one or more cases, at least one actuator is configured to drive the first linkage and the second linkage via the torque shaft. In one or more cases, the material handling device includes at least one cantilever wheel configured to adjust the height of the drive end of the material handling device. In one or more cases, the at least one cantilever wheel includes a mount located within the drive end. In one or more cases, the mount has a first end connected to at least one cantilever wheel and a second end connected to a third actuator via a third linkage. In one or more cases, the third actuator is configured to extend the third linkage, thereby causing the mount to rotate at least one cantilever wheel from a first state to a second state, thereby positioning the drive end at a first height. In one or more cases, the third actuator is configured to retract the third linkage, thereby causing the mount to rotate at least one cantilever wheel from a second state to a first state, positioning the drive end at a second height.

[0014] Various additional aspects are described below. These aspects may relate to individual features and combinations of features. It should be understood that both the general description above and the detailed description below are illustrative and descriptive only, and do not limit the broad inventive concepts underlying the embodiments disclosed herein. [Brief explanation of the drawing]

[0015] The following drawings illustrate specific embodiments of the present disclosure and are not intended to limit the scope of the present disclosure. The drawings are not to scale and are intended to be used in conjunction with the descriptions in the following detailed description.

[0016] Figures 1A and 1B are side views showing an example of a European-style pallet. Figure 1C is a perspective view showing an example of a US-style bottom-deck pallet.

[0017] Figure 2A shows a conventional pallet transport fork with the mounted support wheels in the retracted position. Figure 2B shows a conventional pallet transport fork with the mounted support wheels in the deployed position.

[0018] Figure 3A shows an isometric projection of an A-frame type pallet mover. Figure 3B shows a bottom view of the pallet mover with the drive wheels and support wheels arranged to rotate around the center.

[0019] Figure 4A shows an exemplary fork and an exemplary retractable lift-and-steer (NLS) support wheel system located inside the fork. Figure 4B is a bottom perspective view of the exemplary fork and exemplary NLS support wheel system of Figure 4A.

[0020] Figures 4C-4E show the transition of the exemplary fork and exemplary NLS support wheel system from the stowed state to the deployed state within the pallet.

[0021] Figure 4F shows an exemplary fork and an exemplary NLS support wheel system in a stowed state, and each fork shows an alternative equivalent means of repositioning the support wheels, either by using the same push rod that lifts the fork or by using a separate actuator. Figure 4G shows an exemplary fork and an exemplary NLS support wheel system in a deployed state, and again each fork shows an alternative means of achieving wheel repositioning.

[0022] Figures 4H - 4K show an exemplary fork and an exemplary NLS support wheel system transitioning from a stowed state to a deployed state within a pallet, and in the case of Figure 4K, show steering by a crab - walking motion for lateral movement while moving straight ahead.

[0023] Figures 5A - 5C show in a bottom perspective view another exemplary fork and an exemplary NLS support wheel system transitioning between a stowed state and a deployed state.

[0024] Figures 6A - 6E show another exemplary fork and an exemplary NLS support wheel system transitioning between a stowed state and a deployed state.

[0025] Figure 7A shows a bottom view of an exemplary NLS support wheel system in a stowed state. Figure 7B shows a perspective top view of an exemplary NLS support wheel system in a stowed state.

[0026] Figure 7C shows a bottom view of an exemplary NLS support wheel system in a deployed state. Figure 7D shows a perspective top view of an exemplary NLS support wheel system in a deployed state.

[0027] Figure 7E shows a top view of an exemplary NLS support wheel system in a deployed state with the wheels rotated 90 degrees and arranged for lateral movement. Figure 7F is a perspective top view showing a part of an exemplary NLS support wheel system in a deployed state with the wheels rotated 90 degrees and arranged for lateral movement. Figures 7F - 1 and 7F - 2 show enlarged views of the rotation assembly of an exemplary NLS support wheel system.

[0028] Figure 7G shows a side view and Figure 7H shows an end view, indicating the position where the wheels of the exemplary NLS support wheel system contact the ground, i.e., the partially deployed position, and showing the state where the exemplary single-wheel is housed within the A-frame of the exemplary pallet mover.

[0029] Figure 7I shows a side view and Figure 7J shows an end view, indicating the state where the exemplary NLS support wheel system is in the stored position and the exemplary single-wheel is deployed from the A-frame of the exemplary pallet mover, and this A-frame suspends the fork equipped with the stored NLS support wheels above the floor surface.

[0030] Figure 7K-1 is a side view along the first cross-section of the exemplary NLS support wheel system arranged in a higher state and the exemplary single-wheel deployed from the A-frame of the exemplary pallet mover. Figure 7K-2A shows another side view along the second cross-section of the exemplary NLS support wheel system arranged in a higher state and the exemplary single-wheel deployed from the A-frame of the exemplary pallet mover. Figure 7K-2B shows an enlarged view of the second cross-section. Figure 7L shows an end view of the exemplary NLS support wheel system arranged in a higher state and the exemplary single-wheel deployed from the A-frame of the exemplary pallet mover.

[0031] Figure 7M-1 shows a side view along the first cross-section of the exemplary NLS support wheel system arranged in the deployed state and the normal running posture, and the exemplary single-wheel is housed within the A-frame of the exemplary pallet mover. Figure 7M-2A shows a side view along the second cross-section of the exemplary NLS support wheel system located in the deployed state and the normal running posture, and the exemplary single-wheel is housed within the A-frame of the exemplary pallet mover. Figure 7M-2B shows an enlarged view of the second cross-section. Figure 7N shows a front view of the wheels of the exemplary NLS support wheel system located in the deployed state and the normal running posture, and the exemplary single-wheel is housed within the A-frame of the exemplary pallet mover.

[0032] Figure 70 shows a side view of an exemplary NLS support wheel system and an exemplary cantilever wheel in a lowered position, and Figure 7P shows a front view.

[0033] Figures 7Q to 7S show various wheel orientations for the illustrative NLS support wheel system.

[0034] Figures 8A–8D show another example fork and an example NLS support wheel system transitioning between various orientations of the retracted and deployed states.

[0035] Figures 9A–9D show how the exemplary pallet mover enters, lifts, and moves a bottom deck pallet via exemplary forks and exemplary NLS support wheel system.

[0036] Figures 10A-10C illustrate the effect of floor surface irregularities on the NLS support wheel system without correction by cantilever wheels within the A-frame of the pallet mover. [Modes for carrying out the invention]

[0037] In the following description, prior art features of pallet movers that are obvious to those skilled in the art will be omitted or briefly described. Various embodiments will be described in detail with reference to the drawings, and it should be noted that the same reference numerals in each drawing indicate the same parts and assemblies. References to various embodiments or examples will not limit the scope of the appended claims. Furthermore, none of the examples described herein are limiting, but merely represent a selection of the many possible embodiments for the appended claims. In addition, certain features described herein can be used in combination with other described features in a variety of possible combinations and permutations.

[0038] Unless otherwise defined herein, all terms are to be interpreted in the broadest and most reasonable way, including the meaning implied by the specification, the meaning understood by those skilled in the art, and / or the definitions found in dictionaries, specialized books, etc. The singular form used in the specification and the appended claims is to be interpreted as including the plural form unless otherwise specified. Furthermore, the terms “equipped with,” “included,” and / or “equipped with,” “included,” as used herein, identify the presence of a described feature, element, and / or component, but do not preclude the presence or addition of one or more other features, steps, operations, elements, components, and / or groups thereof.

[0039] Relative terms such as "horizontal," "vertical," "up," "down," "upper part," and "lower part," and their derivatives (e.g., "horizontally," "downward," "upward," etc.) should be interpreted as referring to the direction being described at that time or the direction illustrated in the drawing being discussed. These relative terms are for explanatory convenience and are not intended to require a specific orientation. Terms such as "inward" versus "outward," and "longitudinal" versus "lateral" are interpreted relative to each other, or, where appropriate, relative to an extension axis, rotation axis, or center of rotation. Terms relating to attachments and connections, such as "connected" and "interconnected," unless otherwise specified, refer to relationships in which structures are fixed or attached to each other directly or indirectly through intervening structures, as well as both movable and rigid attachments and connections. The term "operably connected" refers to such attachments, connections, and connections that enable the related structures to operate as intended.

[0040] Throughout this specification, the expressions “one embodiment,” “one embodiment,” or “several embodiments” mean that any particular function, structure, or feature described in relation to an embodiment is included in at least one embodiment of the disclosed subject matter. Therefore, expressions such as “in one embodiment,” “in one embodiment,” or “in several embodiments” appearing in various places in this specification do not necessarily refer to the same embodiment. Furthermore, the particular functions, structures, or features of “one embodiment,” “one embodiment,” or “several embodiments” can be combined in any suitable manner to form additional embodiments by such combination. Embodiments of the disclosed subject matter are intended to include modifications and variations thereof. Terms such as “first,” “second,” and “third” merely identify any of the multiple parts, components, steps, operations, functions, and / or reference points disclosed herein, and similarly do not limit the embodiments of this disclosure to any particular configuration or orientation.

[0041] Furthermore, throughout this specification, various aspects of the invention may be presented in range form. It should be understood that descriptions in range form are for convenience and conciseness and should not be interpreted as limitations lacking flexibility in the scope of the invention. Accordingly, a range description should be considered to specifically disclose not only the individual numerical values ​​within that range, but also all possible subranges. For example, a description such as the range from 1 to 6 includes subranges such as 1 to 3, 1 to 4, 1 to 5, 2 to 4, 2 to 6, 3 to 6, and the individual numerical values ​​within that range (e.g., 1, 2, 2.7, 3, 4, 5, 5.3, 6, and any integers and partial increments between them). This applies regardless of the width of the range. In this specification, the term “about” with respect to measurable values ​​such as quantity, temporal duration, etc., means that the variation is within a range of ±20%, ±10%, ±5%, ±1%, ±0.1% of the specified value, and refers to cases where such variation is appropriate.

[0042] Conventional material handling systems, such as pallet movers, have drawbacks and inherent limitations. For example, walk-behind pallet movers typically lower their forks close to the floor level and insert them into the pallet's cavity. When lowered, the top of the forks is usually 75 mm above the ground. The pallet's cavity opening is typically 80 mm to 100 mm, depending on whether it is a European-style pallet as shown in Figures 1A and IB, or an American / British-style pallet as shown in Figure 1C, where Figures 1A and IB show a standard European-style pallet 100. The cavity 104 at the end of the pallet 100 typically has an opening height of 100 mm and no bottom plate, designed so that each fork can roll into its respective cavity at ground level. The cavity 106 on the side of the pallet 100 has an opening height of 100 mm, but a bottom deck plate 108 is provided on the side of the cavity 106. Therefore, to enter the cavity 106, the support wheels must go over the deck plate 108 and enter the cavity 106. Figure 1C shows a standard US / UK pallet 102. Pallets 102 are not generally standardized in terms of design and dimensions. In most cases, pallets 102 have a bottom deck board that extends along the underside of the pallet 102 in both longitudinal and lateral directions. Furthermore, the opening height of the cavity in the pallet 102 is usually in the range of 80mm to 85mm, but in practice it may fall outside this range. (The vertical distance from the underside of the upper deck board to the floor is approximately 100mm, similar to Euro pallets, but this space is reduced by the thickness of the bottom deck board (usually 10mm to 15mm)). Therefore, support wheels usually need to roll over and over the bottom deck board when entering and exiting the pallet 102.

[0043] Figures 2A and 2B show a conventional single support wheel 206 located within a pallet mover fork 202, which is actuated via a pushrod assembly 204. Figure 2A shows the wheel 206 in its stowed position within the fork 202. The diameter of the wheel 206 is typically about 75 mm, which is generally considered the minimum practical diameter that will fit a US-style pallet; a larger wheel diameter results in smoother movement (reduced rolling resistance). The bottom (lowest point) of the wheel 206 is the lowest point within the fork 202, allowing the pallet mover to move when the fork is lowered. The fork enters the cavity in the stowed position. After entering the cavity, the wheel 206 is pushed downward and rotates around a pair of arms, usually actuated by the pushrod assembly 204, thereby lifting the fork 202 nearly parallel to the ground, thereby allowing the lifted pallet to be transported horizontally. The fork 202 (and pallet) is typically lifted 150 mm to 220 mm from the lowered position of the fork 202. When loading or unloading from a US / UK-style pallet 102 with a bottom plate, the wheels 206 move over the bottom plate as the forks 202 enter the pallet cavity and then back down to the ground. When loading or unloading from a European-style pallet 100 without a bottom plate, the forks 202 move in and out of the cavity at ground level. However, since these support wheels 206 are usually positioned in only one direction, the maneuverability of the pallet mover is greatly limited. Furthermore, reducing the diameter of the support wheels 206 leads to increased rolling resistance, making it difficult to overcome uneven floor surfaces.

[0044] Examples of retractable lift-and-steer (NES) support wheel systems described herein improve maneuverability in confined spaces. Furthermore, the examples described herein reduce rolling resistance, thereby allowing the NLS support wheel system to more easily pass over uneven floor surfaces. Disclosed examples of retractable lift-and-steer support wheel systems are described below with reference to the drawings.

[0045] Figure 3A shows an exemplary pallet mover (hereinafter referred to as "machine 300"). In one or more cases, machine 300 is configured to operate fully autonomously. In one or more other cases, one or more parts of machine 300 are configured to operate manually, and one or more other parts of machine 300 are configured to operate via one or more computer systems. In one or more cases, machine 300 typically comprises a housing such as an A-frame 304 that houses one or more electronic devices, a computing / control system, and one or more batteries, with a drive assembly 302 located beneath the A-frame 304. The A-frame 304 and the drive assembly 302 may be operably coupled to forks 306a and 306b. Forks 306a and 306b may each comprise an NLS support wheel system such as systems 308a and 308b, respectively. Systems 308a and 308b may be located at the distal ends of forks 306a and 306b. For example, as shown in Figure 3B, the wheels 310a, 310b of each system 308a, 308b are positioned along the length of the forks 306a, 306b, which corresponds to the diameter of the slewing circle TC of the machine 300. In some cases, the wheels 310a, 310b are configured to rotate around their respective vertical axes (see Figure 3B), so that the direction of the wheels 310a, 310b (i.e., the direction of travel of each wheel 310a and 310b) changes based on the pivot of each wheel 310a and 310b. In other cases, the wheels 310a and 310b maintain a fixed direction (i.e., are not steerable), so that the wheels 310a and 310b are not configured to slewing circumferentially around their respective vertical axes. The machine 300 may be configured such that the forks 306a, 306b move up and down to lift and then move an object, such as a pallet. In some cases, the machine 300 may optionally include a handle 310 operably connected to the drive assembly 302. The handle 310 can be used as a steering mechanism for an operator to control the speed and direction of movement of the machine 300. In some cases, the drive assembly 302 of the machine 300 includes two drive wheels 312a, 312b located on either side of the A frame 304, as shown in Figure 3B.In other cases, the drive assembly 302 comprises a single drive wheel in the center of the A-frame 304. The drive assembly 302 is configured to drive and steer the wheels 312a, 312b. The drive assembly 302 may include one or more features of the drive assembly 102, the eccentric differential drive system 200, and the displacement differential drive system 300 described in application number PCT / IB2024053632, which is incorporated herein by reference in its entirety.

[0046] In one or more cases, systems 308a, 308b each provide a support wheel configured to be housed within the corresponding fork. For example, system 308a may include a wheel 310a housed within fork 306a, and system 308b may include a wheel 310b housed within fork 306b. In one or more cases, the wheels 310a, 310b of systems 308a, 308b may each have a large diameter, but not limited to, approximately 150 mm or approximately 6 inches, respectively. Larger diameter wheels provide lower rolling resistance. Therefore, larger wheels 310a, 310b may rotate more quietly and smoothly than smaller diameter wheels. Furthermore, larger wheels 310a, 310b can more easily pass over uneven surfaces such as uneven concrete floor slabs and obstacles such as pallet wood fragments on the floor. For example, dock plates and dock levelers are uneven surfaces at ground level, which pose a problem for conventional walk-behind pallet movers. Dock levelers and dock plates are typically installed to bridge the height difference between the rear of a truck or trailer and the dock floor. Thus, dock levelers and dock plates function as inclined surfaces that compensate for the (unchanging) height of the dock floor and the changing (due to loading and unloading) height of the truck. Due to load changes, the truck's suspension compresses or extends during the loading / unloading process, causing the vehicle height to rise and fall. The larger diameter wheels 310a and 310b of systems 308a and 308b allow the machine 300 to travel much more smoothly over uneven surfaces such as dock plates and dock levelers, preventing instability of pallet loads during transport and impact damage to the wheels 310a, 310b, or the machine 300. In one or more other cases, the wheels 310a and 310b of systems 308a and 308b may each have a diameter such as approximately 75 mm. Thus, systems 308a and 308b provide extensive maneuverability of the machine 300 in confined spaces such as the rear of a delivery truck bed, while also significantly reducing the weight of the machine 300.Furthermore, systems 308a and 308b can be implemented on robotic or autonomous material handling machines when the load is moving at the same fork height (i.e., when the support wheels are on a plane perpendicular to the robotic or autonomous material handling machine). By traveling within the same plane, calculations to determine the orientation adjustment of wheels 310a and 310b can be easily performed, and the necessary actions can be automatically carried out on the robotic or autonomous material handling machine.

[0047] While the wheels 310a and 310b are retracted into the forks 306a and 306b, or while at least a large portion of each wheel 310a and 310b is retracted into the forks 306a and 306b, the forks 306a and 306b enter the corresponding cavities of a pallet, such as pallet 100 or pallet 102. When positioned within the cavities of the pallet, systems 308a and 308b can transition the wheels 310a and 310b from the retracted state to the deployed state. Systems 308a and 308b can transition the wheels 310a and 310b from the retracted state to the deployed state until the wheels 310a and 310b are lowered to the floor and lift the forks 306a and 306b, and consequently lift the pallet, enabling horizontal movement. In other words, the wheels 310a and 310b act as levers to lift the forks 306a and 306b and the pallet off the ground. The machine 300 is equipped with cantilevered wheels 314 positioned near or below the A-frame 104. The cantilevered wheels 314 are used to stabilize the machine 300 during movement. For example, while the wheels 310a and 310b are stowed, the cantilevered wheels 314 can stabilize the A-frame 304 when the forks 306a and 306b enter the cavity of the pallet. If the wheels 310a and 310b are steerable, they allow the machine 300 to move in various directions, such as straight, lateral, and rotation around the center of the machine 300. Furthermore, the wheels 310a and 310b provide the machine 300 and the drive assembly 302 with various steering methods, including but not limited to Ackermann steering and all-wheel steering.

[0048] In one or more cases, systems 308a, 308b and their corresponding forks 306a, 306b may be designed to be movable within a space of approximately 100 mm in height and 200 mm in width (e.g., the cavity 104 of pallet 100) and / or a space of approximately 75 mm in height and 200 mm in width (e.g., the cavity of pallet 102). In one or more cases, systems 308a, 308b may be configured to handle the forces acting on them when raising and lowering the forks 306a, 306b and when moving or operating the machine 300. Furthermore, in one or more cases, systems 308a, 308b, and in particular the wheels 310a, 310b, may be configured to move the forks 306a, 306b upward and "rearward" toward the A-frame 304 of the machine 300.

[0049] Figure 4A shows an exemplary fork 401 and an exemplary NLS support wheel system 400 (hereinafter referred to as "system 400") located within the fork 401. Figure 4B shows a bottom perspective view of the exemplary fork 401 and system 400. Figures 4C-4E show how the fork 401 and system 400 transition from a stowed state to an unfolded state within the pallet 102. Note that the fork 401 and system 400 can be used by machine 300 in a similar or analogous manner to the forks 306a, 306b and systems 308a, 308b.

[0050] In one or more cases, the fork 401 may have a cavity 431 sized to accommodate the system 400. The fork 401 may be similar in size, structure, and shape to or identical to conventional forks for pallet movers such as machine 300. The system 400 includes a steering assembly 428 and a lifting assembly 429. The lifting assembly 429 includes a plurality of components configured to move the wheel 409 between a retracted and extended position in order to raise or lower the position of the fork 401. The steering assembly 428 includes a plurality of components configured to rotate, direct, and steer the wheel 409 in the extended position. The system 400 may be configured to move within the cavity 431 to move the system 400 between a retracted and extended position. The wheel 409 may have a diameter of approximately 150 mm and a width of approximately 35 mm. Thus, when the wheel 409 is positioned parallel to the ground (i.e., retracted), the wheel 409 may fit within the cavity of a pallet such as a pallet 102. The cavity in pallet 102 may be approximately 75 mm.

[0051] In the retracted state, the wheel 409 is positioned horizontally, so that the entire wheel 409 is completely housed within the cavity 431 of the fork 401, or so that a large portion of the wheel 409 is housed within the cavity 431 of the fork 401. As shown in Figures 4A and 4B, in the horizontal direction, the side of the wheel 409 is positioned parallel to the length L of the fork 401. When transitioning the wheel 409 from the retracted state to the deployed state, the wheel 409 functions as a lifting member, lifting the pallet 102 off the ground while simultaneously allowing the wheel 409 to roll / turn perpendicular to the fork 401. In the deployed state, the wheel 409 is configured vertically, positioned perpendicular to the length L of the fork 401. When transitioning the wheel 409 from the deployed state to the retracted state, the wheel 409 is used as a lowering member, lowering the pallet 102 to the ground while simultaneously allowing the wheel 409 to roll / turn parallel to the fork 401.

[0052] The wheel 409 is operably connected to the pivot arm 404 via a bracket 402 and a wheel support 410. The pivot arm 404 is rotatably connected to the fork 401 via a mount 403. The mount 403 is fixed to the fork 401 and configured to support the pivot arm 404, so that the wheel 409 and the pivot arm 404 rotate around the proximal end of the mount 403. The pivot arm 404 may function as a guide and brace for the bracket 402. The bracket 402 is a pivot bracket that allows the pivot arm 404 to rotate and move the wheel mount 406 and the wheel support 410, and consequently the wheel 409, from a stowed state to an extended state, or vice versa. The bracket 402 may be fixedly connected to rails 408 located on both sides of the fork 401. The rails 408 may be fixed to the fork 401.

[0053] In one or more cases, the wheel mount 406 is connected to the rotary mount 405, so that the wheel mount 406 is rotatable around the rotary mount 405. The rotary mount 405 may be a cylindrical disc configured to rotate within the cavity of the fork 401. The rotary mount 405 may be operably connected to the mount 403 and configured to rotate in the circumferential direction B, as shown in Figure 4D. The wheel mount 406 is connected to the rotary mount, so that the wheel mount 406 is rotatable based on the rotation of the rotary mount 405. Thus, the wheel 409 changes direction (e.g., steering) as the rotary mount 405 rotates. For example, if the rotary mount 405 rotates in direction B, the wheel 409 rotates in the corresponding direction A. To rotate the rotary mount 405, a steering arm 418 is connected to the rotary mount 405 and an actuator 413. One end of the steering arm 418 is rotatably connected to a portion of the rotating mount 405, and the other end of the steering arm 418 is fixed to a rod 412 of the actuator 413. The actuator 413 moves the rod 412 along the length L of the fork 401. The actuator 413 can push or pull the rod 412, thereby pushing or pulling the steering mechanism 418 to rotate the rotating mount 405. For example, by pulling the rod 412 and the steering mechanism 418 in direction D2, the rotating mount 405 rotates in direction B (e.g., clockwise). As another example, by pushing the rod 412 and the steering mechanism 418 in the opposite direction to direction D2, the rotating mount 405 rotates counterclockwise. The actuator 413 may be a linear actuator. A linear actuator may be, for example, hydraulic, pneumatic, or electric (e.g., rotation by a threaded rod). The actuator 413 provides position feedback instructions to determine the direction in which the wheel 409 is rotated. The encoder is operably coupled to an actuator (e.g., an electric linear actuator) and can provide position feedback instructions for the actuator 413.

[0054] The actuator 413 is connected to a thread 411 configured to move axially along the length L of the fork 401. In one or more cases, the wheel assembly and steering assembly are mounted on the thread 411. The thread 411 is configured to move as a whole, so as to have no tendency to change the orientation (i.e., steer) of the wheels 409 when lifted or lowered, and after being lifted (i.e., configured in the deployed state), the wheels 409 can be steered independently of the thread 411. The proximal end of the thread 411 may be connected to an actuator 415a via a rod 414. The actuator 415a may be located within the fork 401. The end of the actuator 415a opposite the rod 414 is rotatably connected to a pivot mount 416 of a stop mount 417. The stop mount 417 is a cross member fixed within the cavity of the fork 401. This pivot mount 416 allows the actuator 415a to change its angle when pushing or pulling the thread 411. When pushing or pulling the thread 411, the actuator 415a applies a pushing or pulling force to the stop mount 417, thereby pushing or pulling the thread 411.

[0055] Actuator 415a can move the thread 411 along the length L of the fork 401 by pushing or pulling the rod 414. By moving the thread 411 along the length of the fork 401, the wheel 409 can transition between a retracted state and an extended state. For example, as shown in Figure 4C, actuator 415a can pull the rod 414 in direction DI. By moving the rod 414 in direction DI, the thread 411 moves in the corresponding direction D2. When the thread 411 moves in direction D2, actuator 413, rod 412, and steering arm 418 move in direction D2, and consequently the rotary mount 405 rotates in direction B. When the rotary mount 405 rotates in direction B, the wheel 409 transitions from the retracted state to the extended state, as shown in Figures 4C and 4D. The actuator 413 can then actuate the rod 412 to orient the wheel 409 via the steering arm 418. To move the wheel 409 from the deployed state to the retracted state, the actuator 415a pushes the rod 414, which in turn pushes the thread 411 in the opposite direction to directions DI and D2. When the thread 411 moves in the opposite direction to D2, the steering arm 418 rotates the rotation mount 405 counterclockwise, thereby moving the wheel 409 from the deployed state to the retracted state.

[0056] In one or more cases, the rail 408 comprises one or more guide blocks 407 configured to slide along the length L of the fork 401. The guide blocks 407 may be made of a low-friction material such as bronze, brass, or other similar material. The guide blocks 407 are positioned to slide within the grooves of the rail 408 and serve to guide the thread 411 as it moves along the fork 401. In one or more cases, the guide blocks 407 are configured to transmit forces generated by the load to the rail 408 and the fork 401. In one or more cases, the rail 408 is positioned on opposing sides of the thread 411 and restricts the movement of the thread 411 via the guide blocks 407 sliding within the grooves of the rail 408. The rail 408 and guide blocks 407 can transmit vertical forces of a load being transported, for example, by a pallet mover. For example, the rail 408 and guide block 407 transmit the vertical force of the load from the wheel 409 to the mounts 410, 406, 405, thread 411, rail 408, and then to the fork 401.

[0057] Instead of the actuator 415a being mounted on the fork 401, in one or more cases the actuator may be mounted vertically within the A-frame of the machine (e.g., the A-frame 304 of machine 300). For example, as shown in Figures 4F and 4G, the actuator 415b is positioned vertically within the A-frame 427. The actuator 415b is connected to the rod 414 via linkages 420 and 425. The linkages 420 and 425 are configured to transmit to the rod 414 the force generated by the movement of the rod 424 of the actuator 415b. The linkage 420 may be a longitudinal member having a first end 416 and a second end 421. The linkage 420 is configured to move axially along the length L of the fork 401, so that the wheel 409 can transition between a retracted and extended state. The first end 416 of the linkage 420 may be rotatably connected to the rod 414. The second end 421 may be rotatably connected to the end of the linkage 425. In some cases, a rod 423 is positioned through the linkage 425 fixed to the A-frame 427. The opposite end of the linkage 425 is rotatably connected to the end 426 of the rod 424.

[0058] To move the wheel 409 from the retracted state to the extended state, actuator 415b pushes rod 424 in direction D3. As rod 424 moves in direction D3, linkage 425 rotates around rod 423, moving linkage 420 and, consequently, rod 414 in direction D4. To move the wheel 409 from the extended state to the retracted state, actuator 415b pulls rod 424 in the opposite direction to D3, thereby rotating linkage 425 around rod 423. This causes linkage 420 and rod 414 to move in the opposite direction to D4, thereby moving the wheel 409 from the extended state to the retracted state. In some cases, the vertical actuator system provides a pushing / pulling force to rod 414 with a mechanical advantage of approximately 2:1.

[0059] In one or more cases, the machine 300 may utilize a horizontal actuator system (such as actuator 415a and its associated components) in each fork (e.g., fork 401b shown in Figure 4H) to transition the wheel 409 between the deployed and retracted states. In one or more other cases, the machine 300 may utilize a vertical actuator system (such as actuator 415b and its associated components) within each fork (e.g., fork 401a shown in Figure 4H). In one or more yet other cases, the machine 300 may utilize a horizontal actuator system in one fork and a vertical actuator system in the other fork, as shown in Figures 4F-4K. Figures 4H-4K show how the forks 401a, 401b and systems 400a, 400b transition from the retracted to the deployed state within the pallet 102. Forks 401a, 401b have the same or similar components as fork 401. Systems 400a, 400b have the same or similar functions as system 400. Wheels 409a and 409b have the same or similar functions as wheel 409. Systems 400a and 400b can each utilize wheel 409. The diameter of wheels 409a and 409b may be approximately 150 mm. Wheels 409a and 409b may be used as lifting / lowering members to raise / lower their respective forks 401a and 401b. After being fully lifted, wheels 409a and 409b are steered in various directions based on the direction of travel, such as straight, lateral, central rotation, and all-wheel steering, via their respective steering devices. Figure 4H shows wheels 409a and 409b fully retracted within their respective forks 401a and 401b. Systems 400a and 400b, and in particular the threads of each system 400a and 400b, are fully retracted in this retracted configuration. When transitioning from the stored state to the deployed state, the wheels 409a and 409b begin to tilt downward, so that the edges of each wheel 409a and 409b come into contact with the floor. For example, the wheels 409a and 409b can be tilted downward by approximately 15 mm. Once the wheels 409a and 409b engage with the floor, the forks 401a and 401b engage with the underside of the upper deck board of the pallet 102, lifting the pallet 102 off the ground.Figure 41 shows the state where wheels 409a and 409b are fully lowered, and consequently forks 401a and 401b are fully raised. As shown in Figure 41, wheels 409a and 409b are steered to a lateral driving position (for example, by retracting actuator 413 of steering assembly 428). Figure 4J shows the state where wheels 409a and 409b are positioned in a straight-ahead driving position (for example, by further retracting actuator 413 of steering assembly 428). Figure 4K shows the maximum rotation state of wheels 409a and 409b positioned for all-wheel steering (for example, by fully extending steering arm 418 of steering assembly 428).

[0060] Figures 5A-5C are bottom perspective views showing the transition of fork 401 and another NLS support wheel system 500 (hereinafter referred to as "system 500") from the retracted state to the deployed state. System 500 includes one or more of the same or similar components as system 400, but their descriptions will not be repeated. System 500 is distinguished from system 400 by using one actuator 415c, a pivot, and a rotation assembly 506 to transition the wheel 409 between the retracted and deployed states and to rotate the wheel 409 in the direction of travel (e.g., straight ahead). Note that system 500 can be used for each fork 306a, 306b of machine 300 in a similar or similar manner to systems 308a, 308b.

[0061] In one or more cases, the actuator 415c is configured to push or pull the rotating assembly 506 to move the wheel 409 between a retracted and extended state and to position the wheel 409 in the direction of travel. The rotating assembly 506 includes a bracket 509 configured to move between rails 504 fixed to the fork 401 and along the longitudinal direction of the fork 401. The proximal end of the bracket 509 is connected to a rod 414 of the actuator 415c. The distal end of the bracket 509 is configured to move between rails 504 and includes a wheel mount 502 that moves the wheel 409 between a retracted and extended state based on the direction of movement of the bracket 509. The wheel 409 is rotatably and pivotably connected to the wheel mount 502 and to a pivot and rotating arm 508 at the end of the arm 508. The opposite end of the arm 508 is rotatably connected to a mount 501 fixed to the fork 401. In one or more cases, the arm 508 includes a through hole dimensioned to allow one or more portions of the bracket 509 to move through it, thereby guiding the movement of the bracket 509.

[0062] When actuator 415c pulls bracket 509 in direction D5 via rod 414, wheel rotation bracket 502 moves parallel to direction D5, pressing a portion of wheel 409 against arm 508. As brackets 502 and 509 continue to move in direction D5, the fixed position of arm 508 via mount 501 causes wheel 409 to move from the retracted state to the extended state, as shown in Figures 5A and 5B. Once it reaches a certain length, wheel 409 rotates around arm 508, changing its orientation from lateral movement to linear movement. In some cases, wheel 409 may be rotated to change its orientation toward movement around its center. To move wheel 409 from the extended state to the retracted state, actuator 415c drives brackets 502 and 509 in the opposite direction to direction D5.

[0063] Figures 6A-6E show how the fork 401 and another example, the NLS support wheel system 600 (hereinafter referred to as "system 600"), transition between the retracted and deployed states. System 600 includes one or more of the same or similar characteristics as system 400, but the description of those characteristics will not be repeated. System 600 is distinguished from system 400 by utilizing the actuator 415d and the thread 602 with the rack 614 to transition the wheel 409 between the retracted and deployed states, and by being configured to rotate the wheel 409 360 degrees in the deployed state. Note that system 600 can be used for each fork 306a, 306b of machine 300 in the same or similar manner as systems 308a, 308b.

[0064] The actuator 415d is fixed to a thread 602 configured to move axially along the length of the fork 401. A rail 604 is positioned on the opposing sides of the thread 602, and a portion of the thread 602 is configured to move within a slot in the rail 604, thereby guiding the thread 602 as it moves within the fork 401. The actuator rod 414 is connected at one end to a crossbar 606. The crossbar 606 is rotatably connected to the ends of each arm 608. The opposite ends of each arm 608 are rotatably connected to a cross member 610. The wheel 409 is connected to the cross member 610 via a mount 616 that passes through the cross member 610 and is connected to a rotatable gear 612. The gear 612 may be rotatably connected to a mount 618 fixed to a portion of the fork 401. The rack 614 of thread 602 may have teeth that mesh with the gear 612, and in this way the gear 612 may rotate as the teeth of the rack 614 move along the teeth of the gear 612.

[0065] In one or more cases, to move the system 600 from the stowed state to the deployed state, the thread 602 is locked in place, as shown in Figure 6A. As shown in Figure 6B, the actuator 415d extends the rod 414 in direction D6, moving the crossbar 606 and arm 608 in direction D6. While moving in direction D6, the ends of the arms 608, which are connected to each other via the cross member 610, come into contact with the inclined surface of the mount 618, causing the ends of the arms 608 and the cross member 610 to move in direction D7, which causes the wheel 409 to rotate from the stowed state to the deployed state and the fork 401 to be lifted. To adjust the orientation of the wheel 409 (for example, to steer the wheel 409), the crossbar 606 can be locked in place and the thread 602 can be unlocked from that position. As the crossbar 606 is locked in place, the actuator 415d retracts the rod 414, causing the thread 602 to move in direction D8, as shown in Figures 6D and 6E. When the thread 602 moves in direction D8, the rack 614 of the thread 602 rotates the gear 612, thereby rotating the wheel 409 around its central axis. Thus, the direction of travel (i.e. orientation) of the wheel 409 can change based on the distance and / or direction in which the rack 614 moves within the fork 401. For example, Figure 6D shows the wheel 409 oriented toward forward travel, and Figure 6E shows the wheel 409 oriented toward lateral travel. To transition the system 600 from the deployed state to the retracted state, the wheel 409 can be rotated to the lateral travel position while the crossbar 606 remains locked in place. Once the wheel 409 is aligned laterally with the fork 401, the crossbar 606 can be released from its position and the thread 602 can be locked in place. Then, when the actuator 415d retracts the rod 414 in the opposite direction to direction D6, the arm 608 rotates the wheel 409 downward and retracts it into its storage position within the fork 401.

[0066] Figure 7A shows a bottom view of an exemplary NLS support wheel system 700 (hereinafter referred to as "System 700") in its retracted state. Figure 7B shows a perspective top view of System 700 in its retracted state. Figure 7C shows a bottom view of System 700 in its deployed state. Figure 7D shows an isometric top view of System 700 in its deployed state. Figure 7E shows a top view of System 700 with wheels 702a and 702b rotating in the deployed state. Figure 7F shows a perspective top view of a portion of System 700 with wheels 702a and 702b rotating in the deployed state. Note that System 700 can be used by Machine 300 in a similar or analogous manner to Systems 308a and 308b. One or more parts of system 700 (e.g., systems 700a and 700b) are configured to move within the cavities 431 of their respective forks (e.g., forks 401a and 401b), allowing system 700 to transition between a stowed state and an unfolded state. In one or more cases, the wheels of a system, e.g., system 700a, e.g., wheel 702a, may have a diameter of approximately 75 mm. In some cases, the wheels may consist of two wheels configured to rotate in the same direction or in opposite directions. For example, wheel 702a may include wheels 703A and 703B, and wheel 702b may include wheels 703c and 703d. In other cases, the wheels may be a single wheel, e.g., wheel 802 of system 800. In the stowed state, wheels 702a and 702b are positioned such that the ground-contacting surface of each wheel 702a and 702b aligns with the length L of the corresponding forks 401a and 401b. Therefore, when the wheels 702a and 702b are in the stored position, they can be housed within the cavity of a pallet such as the pallet 102.

[0067] In the retracted state, the wheels 702a and 702b are positioned horizontally so that they are completely housed within the cavities 431 of each fork 401a and 401b, or so that the majority of the wheels 702a and 702b are housed within the cavities 431 of each fork 401a and 401b. Thus, in the retracted state, the wheels 702a and 702b (e.g., the surface of each wheel 702a and 702b) are positioned parallel or substantially parallel to each fork 401a and 401b. When transitioning the wheels 702a and 702b from the retracted state to the deployed state, the wheels 702a and 702b are used as lifting members to lift the pallet off the ground. In the deployed state, the wheels 702a and 702b are configured vertically, and each wheel 702a and 702b is oriented perpendicular or substantially perpendicular to the length L of the corresponding forks 401a and 401b. When transitioning the wheels 702a and 702b from the deployed state to the stowed state, the wheels 702a and 702b are used as lowering members to lower the pallet to the ground.

[0068] The wheel 702a is operably connected to the linkage member 714A, so that the wheel 702a can not only transition between a retracted and deployed state, but can also be swiveled to orient the wheel 702a in the direction of travel (e.g., steering). In one or more cases, the wheel 702a is operably connected to the linkage member 714A via the wheel mount 704A, the rotating member 706a, the pivot member 708a, and the steering member 710a. In the retracted state, one or more of the wheel 702a, wheel mount 704A, rotating member 706a, pivot member 708a, and steering member 710a may be positioned along the length L of the fork 401a so that the wheel 702a is parallel to the fork 401a. In the deployed state, one or more of the wheel 702a, wheel mount 704A, rotating member 706a, and pivot member 708a may be positioned perpendicular or substantially perpendicular to the fork 401a.

[0069] The linkage 714A is operably connected to the rotating member 706a via the steering member 710a, causing the wheel 702a to move between a retracted and an extended state. For example, when moving from the retracted state to the extended state, the linkage 714A translates within the fork 401 in direction A1, as shown in Figure 7C, causing the steering member 710a to move toward the distal end of the fork 401a. As the steering member 710a moves toward the distal end of the fork 401a, the rotating member 706a rotates around the steering member 710a in direction R1, as shown in Figure 7D, thereby rotating the wheel 702a from the retracted state to the extended state. In such cases, the wheels 702a and 702b face in the straight-ahead direction. In one or more cases, the rotating member 706a may be centrally located along the width W of the fork 401a and fixed in position along the length L of the fork 401a. Furthermore, the rotating member 706a is rotatably connected to the mount 709a of the fork 401a. The mounts 709a and 709b may be located on the walls of the fork 401a on both sides of the rotating member 706a. In order to allow the linkage 714A to move in direction A1 while connected to the rotating member 706a which is fixed in position along the length L of the fork 401a, the linkage 714A may be positioned along the length L of the fork 401a at an angle that is not parallel to the length L of the fork 401a. Thus, the proximal end of the linkage 714A and the steering member 710a may be connected to each other at an off-center position in the width W direction of the fork 401a. That is, the proximal end of the linkage 714A and the steering member 710a may be connected to each other on one side of the rotating member 706a as viewed from the top view, as shown in Figure 7A. To move the wheel 702a from the deployed state to the retracted state, the linkage 714A and the steering member 710a move in the opposite direction to direction Al, thereby allowing the rotating member 706a to rotate around the steering member 710a in the opposite direction to direction Rl.

[0070] The linkage 714A is operably connected to the pivot member 708a and the wheel mount 704A via the steering member 710a, and directs (e.g., steers) the direction of travel of the wheel 702a. For example, to determine the direction of the wheel 702a, the linkage 714A can translate within the fork 401a in direction A2, as shown in Figure 7E, and steer the wheel 702a in direction R2, as shown in Figure 7F. In some cases, directions A1 and A2 may be the same. Direction A2 is distinguished from direction A1 by the fact that the linkage 714A travels a longer distance within the fork 401a when moving in direction A2 than when moving in direction A1. In one or more cases, the steering member 710a, pivot member 708a, and wheel mount 704A are connected to each other such that when the linkage 714A moves in parallel in direction A2, the steering member 710a, pivot member 708a, and wheel mount 704A can simultaneously pivot in direction R2 around the axis P1 of the rotating member 706a. The steering member 710a is rotatably connected to the proximal end of the linkage 714A. For example, when the linkage 714A moves in direction A2, the proximal end of the linkage 714A pushes the connected end of the steering member 710a in direction A2, causing the connected end of the steering member 710a to rotate in direction R2 (for example, change direction), and consequently the pivot member 708a and wheel mount 704A also rotate in direction R2. The linkage 714A can move in the opposite direction to direction A2, causing the steering member 710a to rotate in the opposite direction to direction R2.

[0071] In one or more cases, as shown in Figures 7F-1 and 7F-2, the pivot member 708a may include one or more guide blocks, such as guide blocks 709 and 711, which help define the direction of movement of the wheel 702a by rotating the steering member 710a as the linkage 714A moves toward or away from the distal end of the fork. For example, guide block 709 can constrain the position of the pivot member 708a so that it does not pivot while the wheel 702a is moving from a retracted to an extended state. In another example, guide block 711 can constrain the position of the rotating member 706a so that it does not rotate from an extended to a retracted state while the wheel 702a is being oriented. In some cases, the guide blocks 709 and 711 are cast into the pivot member 708a. The guide block 711 is configured to work in conjunction with a guide sleeve 713 positioned between the rotating members 706a, assisting in the lifting of the fork 401a by restricting the rotation of the pivot member 708a in the horizontal plane, thereby rotating the shaft 701 connected to the wheel mount 704A. As the linkage 714A moves toward the distal end of the fork 401a, the rotating member 706a rotates around the guide sleeve 713 to deploy, ensuring that the rotating member 706a is aligned within the fork 401a. When the rotating member 706a is deployed, the tip of the linkage 714A presses against the pin 703 of the steering member 710a, rotating around the pin 703, which causes the pivot member 708a to rotate the guide block 711, disengaging the guide block 711 from the guide sleeve 713, and instead the guide block 709 engages with the guide sleeve 713. The guide block 709 is constrained to the guide sleeve 713, and as the linkage 714A moves toward the tip of the fork 401 (i.e., toward the wheel 702a), the pivot member 708a becomes further rotatable.

[0072] Wheel 702a may be rotatably connected to wheel mount 704A. For example, during straight-line travel as shown in Figure 7D, wheels such as wheel 702a may rotate in direction R3 around wheel mount 704A. The proximal end of wheel mount 704A is positioned and mounted to surround both sides of wheel 702a. In one or more cases, wheels 703A, 703B of wheel 702a may be configured to rotate in the same direction or in opposite directions based on the direction of travel of system 700a (and, for example, system 300). For example, as shown in Figures 3B and 7Q, wheels 702a, 702b may be positioned to rotate around the center of system 300, etc. as an axis of rotation, or to move laterally as shown in Figure 7R or 7S.

[0073] To move the linkage 714A within the fork 401a, at least one actuator is operably connected to the linkage 714A so that the linkage 714A can be pushed / pulled within the fork 401a. In one or more cases, the actuator may be located within the A-frame 304 of the machine 300, as shown in Figure 7H. In one or more other cases, the actuator may be located within the fork, as described in Figures 8A-8D. In yet another case, some actuators may be located within the A-frame 304 and others within the fork, as shown in Figures 4F and 4G. The actuators may be, for example, hydraulic actuators, electric actuators, or not.

[0074] As shown in Figure 7H, actuators 716a and 716b may be positioned vertically within the A-frame 304. Actuators 716a and 716b are operably connected to linkages 714A and 714B of systems 700a and 700b, respectively, and are configured to push and / or retract linkages 714A and 714B within their respective forks 401a and 401b, thereby transitioning systems 700a and 700b between a stowed and deployed state and orienting the wheels 702a and 702b in the direction of travel. To convert the vertical forces generated by actuators 716a and 716b into horizontal forces that push and / or retract linkages 714A and 714B, actuators 716a and 716b and linkages 714A and 714B are rotatably connected to each other via linkages 720a, 720b, 724A, 724B and shaft 722. For example, shaft 722 is positioned horizontally so as to cross the A-frame 304. One end of linkage 720a is rotatably connected to shaft 722, and the other end of linkage 720a is rotatably connected to the rod of actuator 716a (while the other end of actuator 716a is connected to a portion of the A-frame 304). One end of linkage 720b may be rotatably connected to the distal end of linkage 714A, and the other end of linkage 720b may be rotatably connected to shaft 722. One end of linkage 724A is rotatably connected to shaft 722, and the other end of linkage 724A is rotatably connected to the rod of actuator 716b (while the other end of actuator 716b is connected to a part of A-frame 304). One end of linkage 724B is rotatably connected to the distal end of perineal cage 714B, and the other end of linkage 724B is rotatably connected to shaft 722.

[0075] When actuators 716a and 716b provide a downward vertical force toward the ground G, the rods of each actuator 716a and 716b drive the linkages 720a and 724A connected to the rod downward, and the opposite ends of the linkages 720a and 724A connected to the shaft 722 upward away from the ground G (as shown in Figure 7H compared to Figure 7N). Raising the shaft 722 causes the ends of the linkages 720b and 724B connected to the shaft 722 to move upward, and the opposite ends of the linkages 720b and 724B connected to the distal ends of the linkages 714A and 714B push the linkages 714A and 714B upward (for example, in direction Al). In response, when the shaft 722 is lowered by pulling the rod into actuators 716a and 716b, the opposite ends of linkages 720b and 724B, which are connected to the distal ends of linkages 714A and 714B, pull linkages 714A and 714B toward the A-frame 304.

[0076] Figure 7G shows a side view of the wheels 702a and 702b of the system 700 positioned on the ground G, and the cantilevered wheels 314A and 314B housed in the A frame 304 of the machine 300, and Figure 7H shows a front view thereof. In this configuration, the wheels 702a and 702b can be lowered sufficiently to contact the ground G, thereby enabling the machine 300 to move without a pallet.

[0077] Figure 71 shows the wheels 702a and 702b of system 700 in a retracted position, and a side view of the cantilever wheels 314A and 314B deployed from the A-frame 304 of machine 300, and Figure 7J is a front view thereof. Figure 7K-1 is a side view along a first section line of the NLS support wheel system positioned at a higher level, showing exemplary cantilever wheels 314A and 314B deployed from the A-frame 304 of machine 300. Figure 7K-2A shows another side view along a second section line of the exemplary NLS support wheel system positioned at a higher level, showing exemplary cantilever wheels 314A and 314B deployed from the A-frame 304 of machine 300. Figure 7K-2B shows an enlarged view of the second section. Figure 7L is a front view showing the forks 401a and 401b of system 700 in a raised position, with cantilever wheels 314A and 314B extended from the A-frame 304 of machine 300. In this configuration, the wheels 702a and 702b are housed within the forks 401a and 401b without contacting the ground G. Furthermore, the cantilever wheels 314A and 314B are extended from the A-frame 304 in contact with the ground G. The configurations shown in Figures 71 and 7J lift the forks 401a and 401b off the ground G, enabling them to enter and / or exit pallets with bottom deck boards (e.g., US-style pallets), especially when the pallet is on the ground G. The cantilever wheels 314A and 314B enable the suspended forks 401a and 401b to enter and exit pallets when the pallet is on the ground G. The configurations shown in Figures 7K-1, 7K-2A, 7K-2B, and 7L lift the forks 401a, 401b from the ground G, enabling them to enter and / or exit pallets located above the ground G (e.g., on conveyors or other elevated platforms). To retract the wheels 702a, 70b into the forks 401a, 401b, actuators 716a, 716b retract the rods within each actuator 716a, 716b.

[0078] The adjustable cantilever wheels 314A and 314B allow the forks 401a and 401b to be suspended at any height within their vertical range of movement. Generally, for entry into and exit from US standard pallets, the forks 401a and 401b are suspended above the height of the bottom deck board, typically at the midpoint of the pallet opening. Thus, the cantilever wheels 314A and 314B are adjusted to the height of each fork 401a and 401b, leaving approximately 2-3 mm of clearance above the top surface of the forks 401a and 401b, and approximately 2-3 mm above the top surface of the bottom deck board. Figures 7K-2A and 7K-2B show the adjustable cantilever wheels 314A and 314B incorporated as a cantilever wheel system within the A-frame 304 of machine 300. The cantilever wheel system may include actuators 725 operably connected to pivot arms 717a, 717b and cantilever wheels 314A, 314B. The actuators 725 are positioned horizontally with respect to the A-frame 304 and are configured to move rods 715 and cross members 721 horizontally and axially. The ends of the pivot arms 717a, 717b are rotatably connected to the distal ends of the cross members 721. The pivot arms 717a, 717b are rigid, angled arms. A support member 723 is connected to and positioned at the bends of the pivot arms 717a, 717b to increase the rigidity of the cantilever wheel system. The member 723 is fixed to one or more parts of the A-frame 304 so that the pivot arms 717a, 717b rotate around the member 723. The cantilevered wheels 314A and 314B are rotatably connected to the ends of the pivot arms 717a and 717b via a shaft 719. In one or more cases, when the actuator 725 drives the rod 715 in direction C1, the cross member 721 moves in direction C1, the pivot arms 717a and 717b rotate around member 723, and the cantilevered wheels 314A and 314B rotate toward the ground G.

[0079] Because the distance between the drive wheels 312a and 312b and the cantilever wheels 314A and 314B is shorter than the distance from the drive wheels 312a and 312b to the distal end of the suspended forks 401a and 401b (for example, about 1500 mm), even a slight change in the floor height of the cantilever wheels 314A and 314B will change the angle of the forks 401a and 401b, resulting in a large change in the height of the ends of the forks 401a and 401b. For this reason, even a slight change in the floor height under the drive unit of the A-frame 304 may hinder the loading and unloading of the bottom deck pallet. For example, if the cantilever wheels 314A and 314B and the drive wheels 312a and 312b are on the same plane, the forks 401a and 401b will be horizontal, and if they are set to an appropriate height as shown in Figure 10A, they can enter and exit the pallet 102. However, for example, if the drive wheels 312a and 312b are about 2 mm lower than the cantilever wheels 314A and 314B, the distal ends of the forks 401a and 401b will be about 15 mm higher, and as shown in Figure 10B, they may come into contact with the top plate of the pallet 102 during entry / exit. As another example, if the drive wheels 312a and 312b are about 4 mm lower than the cantilever wheels 314A and 314B, the distal ends of the forks 401a and 401b will be about 32 mm higher, as shown in Figure 10C, and they may overshoot the opening of the pallet 102. Therefore, the cantilever wheels 314A and 314B are adjusted to allow for a small clearance between the forks 401a and 401b and the opening of the pallet.

[0080] In cases 1 or more, the cantilever wheel system is applicable to autonomous machinery, where sensors at the ends of the forks 401a and 401b detect their position relative to the pallet opening, or confirm that the forks 401a and 401b are horizontal, and then fine-tune the actuators 715 that move the pivot arms 717a and 717b, thereby gradually raising and lowering the cantilever wheels 314A and 314B in the required direction. Using a computer control system, such fine-tuning can be performed in milliseconds, and the ends of the forks 401a and 401b remain centered in the pallet opening even when the machine 300 enters or exits the pallet.

[0081] Figure 7M-1 shows a side view along a first cross section of an exemplary NLS support wheel system in its deployed state and positioned in its normal direction of movement, with the exemplary cantilever wheels 314A and 314B housed in the A-frame 304 of machine 300. Figure 7M-2A shows another side view along a second cross section of the exemplary NLS support wheel system in its deployed state and positioned in its normal direction of movement, with the cantilever wheels 314A and 314B housed in the A-frame 304 of machine 300. Figure 7M-2B shows an enlarged view of the second cross section. Figure 7N shows a front view of the wheels 702a and 702b of system 700 in its deployed state and the cantilever wheels 314A and 314B housed in the A-frame 304 of machine 300. In this configuration, the A-frame 304 and forks 401a and 401b are raised, the cantilever wheels 314A and 314B are housed within the A-frame 304, and the wheels 702a and 702b are configured to be in an extended state in contact with the ground G. In one or more cases, when the actuator 725 drives the rod 715 in direction C2, the cross member 721 moves in direction C2, the pivot arms 717a and 717b rotate around member 723, and the cantilever wheels 314A and 314B rotate away from the ground G.

[0082] Figure 70 shows a side view of the wheels 702a and 702b of system 700, and Figure 7P shows a front view of the cantilevered wheels 314A and 314B in the lowered position. In this configuration, the A-frame 304 and forks 401a and 401b can be lowered, and the cantilevered wheels 314A and 314B are height-adjusted so that the forks 401a and 401b are parallel to the ground G. This configuration allows pallets to be lowered onto an open conveyor and enables the wheels 702a and 702b to be moved to the retracted position when the forks 401a and 401b exit the pallet.

[0083] Figures 8A-8D show how another example, the NLS support wheel system 800 (hereinafter referred to as "System 800"), transitions between a retracted and deployed state. Note that System 800 can be used by Machine 300 in a manner similar to or similar to Systems 308a and 308b. One or more parts of System 800 may be configured to move in parallel within the cavity 431 to transition System 800 between a retracted and deployed state. Furthermore, System 800 includes one or more components that are the same as or similar to those of System 700; therefore, a description of their features will not be repeated. System 800 is distinguished from System 700 by having an actuator 816 operably connected to the linkage 814.

[0084] In one or more cases, wheel 802 may be a single wheel with a diameter of approximately 75 mm. In one or more other cases, wheel 802 may be a two-wheeled system similar to wheels 702a and 702b of system 700.

[0085] The wheel 802 is operably connected to the linkage member 814 via a rotating member 706, a pivot member 708, a steering member 710, and a wheel mount 704. The linkage 814 is pushed out and / or retracted by an actuator positioned vertically within the A-frame, in a manner similar to or similar to that of an actuator 415b in the A-frame 427 or an actuator 716c in the A-frame 304. The vertically positioned actuator may be configured to drive the linkage 814 in direction D9, thereby transitioning the system 800 from a retracted state to an deployed state. As the linkage 814 moves in direction D9, the shaft 812 moves the steering member 710 in direction D9, causing the rotating member 706 and the pivot member 708 to rotate in direction R1 around the mount 709 and the steering member 710, thereby transitioning the wheel 802 from a retracted state to an deployed state. During this initial transition, the wheel 802 faces in a straight line.

[0086] One end of the actuator 816 may be attached to a part of the linkage 814. The rod 818 of the actuator 816 may be connected to the shaft 812. To further orient the wheel 802, the actuator 816 moves the rod 818 in the DIO direction, thereby moving the shaft 812 in the DIO direction. As the shaft 812 moves in the DIO direction, the end of the shaft 812 rotates around the steering member 710, thereby causing the wheel 802 to rotate in the R2 direction.

[0087] Figures 9A-9D show how machine 300 moves pallet 102 via forks 306a, 306b and NLS support wheel system 900 (hereinafter referred to as "system 900"). Note that each fork 306a, 306b may include system 900. Furthermore, for the sake of simplicity in explaining Figures 9A-9D, system 900 refers to one of systems 400, 500, 600, 700, or 800. Therefore, in one or more cases, both forks 306a and 306b may include the same system. For example, both forks 306a and 306b may utilize system 400 or system 700. In one or more other cases, forks 306a and 306b may utilize different systems. For example, fork 306a may utilize system 500 and fork 306b may utilize system 600. System 900 provides a rotatable assembly within the lifting assembly that is itself pivotable (e.g., steerable) around a vertical axis. In one or more cases, System 900 includes an actuator (e.g., a hydraulic cylinder actuator) that acts to actuate a pivot to push the wheels into a vertical position. System 900 includes another actuator configured to rotate the wheels into a specific position.

[0088] As shown in Figure 9A, the machine 300 moves toward the pallet 102. In some cases, the machine 300 lowers the forks 306a and 306b toward the ground G. For example, the machine 300 lowers the forks 306a and 306b to about 15 mm above the height of the ground G, so that the forks 306a and 306b are suspended but parallel to the ground G. The cantilevered wheel 314 is configured to support the forks 306a and 306b in the cantilevered position. While the forks 306a and 306b are in the cantilevered position, as shown in Figure 9B, the forks 306a and 306b enter their respective cavities in the pallet 102. In one or more cases, the pallet 103 has a different opening that is higher than the pallet 102, which may prevent the forks 306a and 306b from entering the opening of the pallet 103. In such cases, the cantilevered wheels 314A and 314B can be adjusted to raise or lower the height of the forks 306a and 306b, allowing them to enter the opening of the pallet 103. Because the forks 306a and 306b are suspended, the wheels 310a and 310b of the machine 300 can move over the bottom deck board of the pallet 102 and enter the cavity of the pallet 102 without contacting the bottom deck board of the pallet 102. Furthermore, the forks 306a and 306b are suspended near the center of each cavity, for example, about 15 mm above the ground G. As the machine 300 moves forward and the forks 306a and 306b enter the pallet, the forks 306a and 306b can self-adjust by gently bending upward or downward due to interference with the deck board of the pallet 102 above or below the forks 306a and 306b.

[0089] In some cases, when the forks 306a and 306b are positioned within the pallet 102, the forks 306a and 306b may lift the pallet 102 (and the load placed on the pallet 102) to a height sufficient for the system 900 located within each fork 306a and 306b to move the wheels 310a and 310b from the retracted state to the extended state. The forks 306a and 306b are then lowered until the wheels 310a and 310b make contact with the ground G. In other cases, when the forks 306a and 306b are positioned within the pallet 102, the forks 306a and 306b may rise simultaneously with the wheels 310a and 310b moving from the retracted state to the extended state. In yet another case, once the forks 306a and 306b are positioned within the pallet 102, as shown in Figure 9C, a system 900 positioned within each fork 306a and 306b moves the wheels 310a and 310b from a retracted state to an extended state, thereby raising the height of the forks 306a and 306b. In one or more cases, the cantilevered wheels 314 may be retracted within the A-frame and / or lifted from the ground G, thereby enabling the wheels 310a, 310b, 312a, and 312b to move in various directions (e.g., horizontally). In the extended state, the system 900 can position each wheel 310a and 310b at various angles depending on the function to be performed (e.g., linear or lateral movement, rotational movement around the center of the machine 300, or movement in any direction by dynamically oriented the wheels to achieve more stable and sharper turning and linear motion during movement).

[0090] In one or more cases, the machine 300 may be configured to load the pallet 102 onto the forks 306a, 306b with the pallet 102 positioned high above the ground G (e.g., on a conveyor belt), as shown in Figure 9D. In such cases, the forks 306a, 306b are raised to a height corresponding to the height of the cavity in the pallet 102, the wheels 310a, 310b are configured to be retracted, and the cantilevered wheels 314 are extended from the A-frame of the machine 300 to contact the ground G. In some cases, the vertical position of the wheels 314 is adjustable based on feedback provided from sensors (e.g., sonar sensors) located at the ends of the forks 306a, 306b. The wheels 314 may be adjusted to be correctly aligned with the height of the pallet 102 from the ground G. In one or more other cases, sensors may be provided on the forks 306a, 306b to provide feedback indicating the horizontal alignment of the forks 306a, 306b. In such a case, the machine 300 can adjust the vertical position of the wheels 314 so that the forks 306a and 306b are parallel to the ground G.

[0091] In one or more cases, the system 900 provided on forks 306a, 306b improves the loading and unloading of pallets, such as pallets with a bottom deck plate. In one or more cases, when used in conjunction with the drive assembly 302, the system 900 provides an increase in the direction of movement (e.g., lateral movement, rotation around the center). Furthermore, the system 900 improves the mobility of the machine 300 when traveling on uneven terrain such as dock plates and dock levelers. In some cases, the system 900 provided on each fork 306a, 306b allows each wheel 310a, 310b to rotate independently to the left and right, thereby allowing the machine 300 to move in a more compact manner in a straight line, laterally, or in other directions. In one or more cases, the system 900 may be used in a double-wide pallet mover. For example, a double-wide pallet mover may have four forks to transport two pallets. In such cases, the system 900 is provided on each of the four forks. In some cases, because the spacing between forks varies depending on the pallet, a rotating screw may be used to move the forks laterally and align them within the pallet cavity. The drive wheels may be 2 x 0.75kW drive wheels. In one or more cases, the machine 300 may not include a pallet detection flap, and instead use sensors positioned at the tips of the forks 306a, 306b to measure the side wall of the pallet and / or confirm pallet detection. For example, the forks 306a, 306b enter the pallet cavity until the sensors detect that the fork tips are protruding from the opposite end of the pallet. In such cases, the sensors provide feedback to the machine 300 so that the machine 300 loads the pallet near the ends of the forks 306a, 306b without pressing it against the A-frame. Furthermore, sensors may also be installed on both sides of the A-frame of the machine 300 to check the distance to the side wall (e.g., the track wall). Therefore, by combining multiple sensors, the machine 300 can determine the distance to the side wall and the distance to the next row of pallets, and adjust the orientation and position of the forks within the pallet.

[0092] The various embodiments described above are provided merely as examples and should not be construed as limiting the appended claims. Those skilled in the art will readily recognize that various changes and modifications are possible without following the examples and applications illustrated and described herein and without departing from the spirit and scope of the following claims.

Claims

1. It is an assembly: A housing having an opening located at the bottom; A rotating assembly on the longitudinal axis of the housing, the rotating assembly comprising a bracket rotatably connected inside the housing, wherein at least one wheel is rotatably connected to the bracket of the rotating assembly via a wheel mount and a pivot member, the wheel mount and the pivot member being located on the opposite side of the bracket; and A linkage extending along the longitudinal axis of the housing, wherein the distal end of the linkage is connected to the pivot member of the rotating assembly via a steering member, Here, in the first position, the bracket and the at least one wheel of the rotating assembly are positioned within the housing at a first angle with respect to the linkage. Here, in the second position, the linkage is moved by a first distance toward the distal end of the housing, so that the bracket and at least one wheel of the rotating assembly rotate by a second angle relative to the linkage through the opening in the housing, and Herein, in the third position, the linkage is moved by a second distance toward the distal end of the housing, and the steering member rotates around the distal end of the linkage, and in this way, the at least one wheel rotates around the bracket of the rotation assembly based on the rotation of the steering member, characterized in that

2. The assembly according to claim 1, wherein the housing is equipped with a fork for a pallet mover.

3. The assembly according to claim 1, wherein the diameter of at least one of the wheels is approximately 75 millimeters or less.

4. The assembly according to claim 1, wherein the at least one wheel comprises a first wheel configured to rotate in a first direction and a second wheel configured to rotate in a second direction.

5. The assembly according to claim 4, characterized in that the first direction and the second direction are opposite directions.

6. The assembly according to claim 1, wherein the bracket and the at least one wheel of the rotating assembly are positioned within the housing at a first angle parallel to the length of the housing.

7. The assembly according to claim 1, wherein the proximal end of the linkage and the steering member are rotatably connected at positions off-center from the longitudinal axis of the housing.

8. Furthermore, the linkage is equipped with an actuator connected to its distal end, The assembly according to claim 1, wherein the actuator is configured to move the linkage between the first position, the second position, and the third position.

9. The assembly according to claim 1, wherein, in the second position, the at least one wheel is oriented in the direction of the longitudinal axis of the housing.

10. The assembly according to claim 1, wherein, in the third position, the at least one wheel is oriented in a direction different from the direction of the longitudinal axis of the housing.

11. The assembly according to claim 10, wherein, in the third position, at least one wheel is oriented in a direction of rotation in the lateral direction or in a direction of rotation in a curved manner.

12. It is an assembly: A housing having an opening located at the bottom; A rotating assembly on the longitudinal axis of the housing, the rotating assembly comprising a bracket rotatably connected inside the housing, wherein a wheel is rotatably connected to the bracket of the rotating assembly via a wheel mount and a pivot member, the wheel mount and the pivot member being located on the opposite side of the bracket; and A steering arm extending along the longitudinal axis of the housing, wherein the distal end of the steering arm is connected to the pivot member of the rotation assembly, Here, in the first position, the bracket and the wheel of the rotating assembly are positioned within the housing at a first angle with respect to the steering arm. Here, in the second position, the steering arm is moved a first distance toward the proximal end of the housing, so that the bracket and the wheel of the rotating assembly rotate to a second angle relative to the steering arm through the opening in the housing, and Herein, in the third position, the steering arm is moved by a second distance toward the proximal end of the housing, and the pivot member rotates about the distal end of the steering arm, and in this way the wheel rotates about the bracket of the rotation assembly based on the rotation of the pivot member, characterized in that

13. The assembly according to claim 12, wherein the housing is equipped with a fork for a pallet mover.

14. The assembly according to claim 12, characterized in that the diameter of the wheel is approximately 150 millimeters or less.

15. Furthermore, the assembly is A first actuator connected to a thread configured to move axially along the longitudinal axis of the housing, wherein the proximal end of the first actuator is connected to the thread, and the distal end of the first actuator is connected to the steering arm; and The assembly according to claim 12, further comprising a second actuator, the proximal end of which is connected to a part of the housing and the distal end of which is operably connected to the proximal end of the thread.

16. The assembly according to 15, wherein, in the second position, the second actuator is configured to move the thread toward the proximal end of the housing, and the steering arm is moved by the second distance toward the proximal end of the housing.

17. The assembly according to claim 16, wherein, in the third position, the first actuator is configured to move the steering arm toward the proximal end of the housing by a first distance.

18. A material handling device: Drive end and lifting end; A pair of housings positioned at the lifting end, connected to the drive end, and extending from the drive end; A torque shaft is horizontally positioned within the drive end, wherein the torque shaft is rotatably connected to the proximal ends of a first linkage and a second linkage, wherein the first linkage and the second linkage are configured to move along the longitudinal axis of each of the pair of housings; The drive end comprises at least one actuator arranged vertically within the drive end, Here, the first end of the at least one actuator is connected to a part of the drive end, and the second end of the at least one actuator is rotatably connected to the torque shaft, wherein the at least one actuator is configured to drive the first linkage and the second linkage via the torque shaft. Here, each housing comprises a rotating assembly configured to extend along the longitudinal axis of the housing from an opening provided in the bottom surface of the housing, the rotating assembly comprises a bracket rotatably connected inside the housing, where at least one wheel is rotatably connected to the bracket of the rotating assembly via a wheel mount and a pivot member, the wheel mount and the pivot member are located on the opposite side of the bracket, and A material handling device characterized in that the rotating assembly is configured to move the at least one wheel from a first position located inside the housing to a second position located outside the housing, and then to a third position in which the at least one wheel faces.

19. The material handling device according to claim 18, wherein, in the first position, the bracket and the at least one wheel of the rotating assembly are positioned within the housing at a first angle with respect to the housing, and wherein, in the second position, the bracket and the at least one wheel of the rotating assembly are configured to rotate at a second angle with respect to the housing through an opening in the housing.

20. The material handling device according to claim 19, wherein, in the third position, a steering member connected to the corresponding first linkage or second linkage is configured to rotate about the distal end of the corresponding first linkage or second linkage, and in this manner, based on the rotation of the steering member, at least one wheel rotates about the bracket of the rotating assembly.

21. The material handling device according to claim 19, wherein, in the third position, the steering arm is moved toward the proximal end of the housing, where the pivot member rotates about the distal end of the steering arm, and in this way, the at least one wheel rotates about the bracket of the rotation assembly based on the rotation of the pivot member.

22. Furthermore, the material handling device according to claim 18 is characterized by comprising at least one cantilevered wheel, the cantilevered wheel being configured to adjust the angle of the drive end and the lifting end of the material handling device.

23. The at least one cantilevered wheel comprises a mount located within the drive end, the mount having a first end connected to the at least one cantilevered wheel and a second end connected to a third actuator via a third link. Here, the third actuator is configured to extend the third linkage, and in this way the mount rotates the at least one cantilevered wheel from a first state to a second state, and in this way the drive end is positioned at a first angle. The material handling device according to claim 22, wherein the third actuator is configured to contract the third linkage, and in this way the mount rotates the at least one cantilevered wheel from the second state to the first state, and in this way the drive end is positioned at a second angle.

24. The material handling device according to claim 23, further comprising at least one sensor connected to the drive end and configured to detect the angle of either one or both of the pair of housings, or to determine the distance between the pair of housings and an object, wherein the third actuator is configured to extend or retract the third linkage based on the detected angle or the determined distance.

25. The material handling device according to claim 23, wherein when the at least one cantilevered wheel transitions to the second state, the pair of housings are positioned in the first position.

26. The material handling device according to claim 23, wherein when the at least one cantilevered wheel moves to the first state, the pair of housings are positioned in the second position.

27. A material handling device: Drive end and lifting end; A pair of housings positioned at the lifting end, connected to the drive end, and extending from the drive end; A torque shaft is horizontally positioned within the drive end, wherein the torque shaft is rotatably connected to the proximal ends of a first linkage and a second linkage, wherein the first linkage and the second linkage are configured to move along the longitudinal axis of each of the pair of housings; The drive end comprises at least one actuator arranged vertically within the drive end, Here, the first end of the at least one actuator is connected to a part of the drive end, and the second end of the at least one actuator is rotatably connected to the torque shaft, wherein the at least one actuator is configured to drive the first linkage and the second linkage via the torque shaft, and The material handling device comprises at least one cantilevered wheel, the cantilevered wheel being configured to adjust the angle of the drive end and the lifting end of the material handling device, the at least one cantilevered wheel comprising a mount located within the drive end, the mount having a first end connected to the at least one cantilevered wheel and a second end connected to a third actuator via a third link, Here, the third actuator is configured to extend the third linkage, and in this way the mount rotates the at least one cantilevered wheel from a first state to a second state, and in this way the drive end is positioned at a first angle, and A material handling device characterized in that, the third actuator is configured to contract the third linkage, so that the mount rotates the at least one cantilevered wheel from a second state to a first state, so that the drive end is positioned at a second angle.

28. Furthermore, the system further comprises at least one sensor connected to the drive end and configured to detect the angle of either or both of the pair of housings, or to determine the distance between the pair of housings and an object, The material handling device according to claim 27, wherein the third actuator is configured to extend or retract the third linkage based on the detected angle or the determined distance.

29. Here, when the at least one cantilevered wheel transitions to the second state, the pair of housings are positioned in the first position. The material handling device according to claim 27, characterized in that when the at least one cantilevered wheel moves to the first state, the pair of housings are positioned in the second position.

30. Here, each housing comprises a rotating assembly extending along the longitudinal axis of the housing from an opening provided in the bottom surface of the housing, the rotating assembly comprising a bracket rotatably connected to the inside of the housing, wherein at least one wheel is rotatably connected to the bracket of the rotating assembly via a wheel mount and a pivot member, the wheel mount and the pivot member being located on the opposite side of the bracket; and The material handling device according to claim 27, characterized in that the rotating assembly is configured to move the at least one wheel from a first position located inside the housing to a second position located outside the housing, and to a third position in which the at least one wheel faces.

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