Material lift for unloading automated guided vehicles

Abstract

A material lift including a frame and a fork carriage supported by the frame. The fork carriage includes a slide linearly movable relative to the frame between a lowered position and a raised position and one or more forks that are movable relative to the frame between a retracted position and an extended position as the slide moves between the lowered and raised positions, respectively. In the retracted position, the fork(s) are withdrawn toward the frame and in the extended position the fork(s) extend outwardly from the frame and upwardly relative to the position of the fork(s) in the retracted position.

Description

Docket No.: SPC120PCTMATERIAL LIFT FOR UNLOADING AUTOMATED GUIDED VEHICLESCROSS-REFERENCE TO RELATED APPLICATIONS

[0001] The present application claims the benefit of the filing date of U.S. Provisional Application Ser. No. 63 / 699,480, filed September 26, 2024, the entire teachings of which are hereby incorporated herein by reference.FIELD

[0002] The present disclosure relates to lifts, and, more particularly, to a material lift for unloading automated guided vehicles.BACKGROUND

[0003] Automated guided vehicles (AGVs), e.g., mobile robots, are used in a wide variety of industrial and home applications. In some applications, AGVs are configured as material handling robots for autonomously traveling in a self-propelled manner to transport loads in a warehouse setting. For example, the AGVs may be configured for retrieving a load of goods on a pallet from one location in a warehouse and transporting it to another location.

[0004] One challenge associated with AGVs involves lifting a load from, or placing a load on, the AGV. One solution involves using a traditional forklift to engage the pallet and remove it from, or place it on, the AGV. This solution can be inefficient since the AGV may need to wait for the forklift and / or forklift operator to be available, or vice versa, leading operational delays. Also, in some cases forklift operator error can result in contact with and damage to the AGV and / or improper placement of a pallet on the AGV or in a storage position.BRIEF DESCRIPTION OF THE DRAWINGSDocket No.: SPC120PCT

[0005] For a better understanding of the present invention, together with other objects, features and advantages, reference should be made to the following detailed description which should be read in conjunction with the accompanying figures, wherein:

[0006] FIG. 1 is a front left perspective view of one example of a material lift consistent with the present disclosure with the forks of a fork carriage in a retracted position.

[0007] FIG. 2 is a front view of the material lift shown in FIG. 1 with the forks of the fork carriage in a retracted position.

[0008] FIG. 3 is a front left perspective view of the material lift shown in FIG. 1 with the forks of the fork carriage in an extended position.

[0009] FIG. 4 is a front view of the material lift shown in FIG. 1 with the forks of the fork carriage in an extended position.

[0010] FIG. 5 is a front view of the fork carriage of the material lift shown in FIG. 1 with the forks of the fork carriage in the retracted position.

[0011] FIG. 6 is a front left perspective view of the fork carriage of the material lift shown in FIG. 1 with the forks of the fork carriage in the retracted position.

[0012] FIG. 7 is a front left perspective view of the fork carriage of the material lift shown in FIG. 1 with the forks of the fork carriage in the extended position.

[0013] FIG. 8 is a left side view of the fork carriage of the material lift shown in FIG. 1 with the forks of the fork carriage in the extended position.

[0014] FIGS. 9A-9L are right side views of the material lift of FIG. 1 showing successive positions of the fork carriage and a guide pin within a guide pin slot as the forks of the fork carriage moves from the retracted position to the extended position.

[0015] FIGS. 10A-10C are front right perspective views of the material lift of FIG. 1 showing successive in an example process for removing a pallet from an AGV consistent with the present disclosure.DETAILED DESCRIPTION

[0016] The present disclosure is not limited in its application to the details of construction and the arrangement of components set forth in the following description or illustrated in the drawings. The examples described herein may be capable of other embodiments and of being practiced or being carried out in various ways. Also, the phraseology and terminology usedDocket No.: SPC120PCT herein is for the purpose of description and should not be regarded as limiting as such may be understood by one of skill in the art. Throughout the present description, like reference characters may indicate like structure throughout the several views, and such structure need not be separately discussed. Furthermore, any particular feature(s) of a particular exemplary embodiment may be equally applied to any other exemplary embodiment(s) of this specification as suitable. In other words, features between the various exemplary embodiments described herein are interchangeable, and not exclusive.

[0017] In general, a material lift consistent with the present disclosure includes a frame and a fork carriage supported by the frame. The fork carriage includes a slide linearly movable relative to the frame between a lowered position and a raised position and one or more forks that are movable relative to the frame between a retracted position and an extended position as the slide moves between the lowered and raised positions, respectively. In the retracted position, the fork(s) are withdrawn toward the frame and in the extended position the forks extend outwardly from the frame and upwardly relative to the position of the fork(s) in the retracted position. A power unit is coupled to the slide and moves the slide between the lowered position and the raised position.

[0018] Advantageously, the material lift consistent with the present disclosure may be operated to efficiently unload a load, e.g., a pallet with goods thereon, from an AGV. When the forks are in the retracted position, an AGV supporting a load on the top thereof may move to a position adjacent to the lift. As forks move to the extended position, the fork(s) move upwardly and outwardly to extend under the load and lift the load from the AGV. The AGV may then move away from the material lift and the fork carriage may move back to the retracted position to rest the load on the floor adjacent to the material lift. A manual or automated lift, e.g., a forklift, may then lift the load from the floor adjacent the material lift and move it to a desired location.

[0019] For ease of explanation only, a material lift consistent with the present disclosure may be described herein in connection with a particular stationary configuration for unloading an AGV and may be described in connection with unloading a pallet from an AGV. It is to be understood, however, that a material lift consistent with the present disclosure may be portable, may be configured to load or unload an AGV, and may be provided in a variety of sizes, shapes and configurations, e.g., depending on the configuration of the AGV it isDocket No.: SPC120PCT intended to load or unload. The example embodiments shown and described herein are thus provided by way of illustration, not limitation.

[0020] FIGS. 1 and 2 show one example embodiment of a material lift 100 consistent with the present disclosure. The material lift 100 includes a frame 102, a fork carriage 104, and a power unit 106. In the illustrated embodiment, the frame 102 has a first side 108, a second side 110, a top 112, a back 114, and a front 116. The first side 108 includes a front post 118, a back post 120, a bottom rail 122, an intermediate rail 124, a top rail 126, a first rear support 128 and a second rear support 130. The top rail 126 extends rearwardly from a top of the front post 118 to a top of the first rear support 128. The intermediate rail 124 is longer than the top rail 126 and the first rear support 128 extends at a non-zero angle from the back end of the top rail 126 to a back end of the intermediate rail 124. A front end of the intermediate rail 124 is coupled to the front post 118, e.g. about midway along the length of the front post 118. A top of the second rear support 130 extends at a non-zero angle from the back end of the intermediate rail 124 to the top of the back post 120. The bottom of the back post 120 is coupled to the bottom of the front post 118 through the bottom rail 122. The second side 110 is configured in the same manner as the first side 108, e.g., as illustrated in FIG. 9A, and includes a front post 118a, a back post 120a, a bottom rail 122a, an intermediate rail 124a, a top rail 126a, a first rear support 128a and a second rear support 130a.

[0021] The first 108 and second 110 sides of the frame 102 are coupled by first 132, second 134, third 136 (FIG. 9A), fourth 138 and fifth 140 cross members. The first cross member 132 extends between the tops of the front posts 118, 118a of the first 108 and second 110 sides. The second cross member 134 extends between the back ends of the top rails 126, 126a of the first 108 and second 110 sides. The third cross member 136 extends between the tops of the second rear supports 130, 130a of the first 108 and second 110 sides. The fourth cross member 138 extends between the tops of the back posts 120, 120a of the first 108 and second 110 sides. The fifth cross member 140 extends between the bottoms of the back posts 120, 120a of the first 108 and second 110 sides. One or more mounting plates 142 may be coupled to the bottom rails 122, 122a of the first 108 and second 110 sides and extend over the surface on which the material lift 100 is placed to allow mounting of the material lift 100 to the floor so that the material lift 100 is stationary during use.Docket No.: SPC120PCT

[0022] The frame 102 defines a cavity 144 for receiving at least a portion of the fork carriage 104 and the power unit 106. The spaces between the members forming the first 108 and second 110 sides, the top 112, and the back 114 of the material lift 100 may be filled by associated panels, e.g., panels 146, to prevent inadvertent contact of moving pails of the material lift 100 by a user. At least a portion of the space between the front posts of the first 108 and second 110 sides may be left open, e.g., without any panel extending therebetween.

[0023] In general, the fork carriage 104 is supported by the frame 102 for movement between a retraced position, as shown in FIGS. 1 and 2, and an extended position, as shown in FIGS. 3 and 4. In the retracted positions, forks 150,150a of the fork carriage 104 are at least partially retracted toward the frame 102, e.g. at least partially in the cavity, and the bottoms of the forks 150,150a are positioned adjacent to a floor surface. In some embodiments, the forks 150,150a are positioned completely within the frame 102 in the retracted position. In the extended position, the forks 150,150a extend outwardly from the frame 102 and upwardly from the floor surface by a distance D, as shown in FIG. 4.

[0024] The fork carriage 104 is illustrated with the forks 150,150a in the retracted position in FIGS. 5-6 and with the forks 150,150a in the extended position in FIGS. 7-8. With particular reference to the perspective view of FIG. 7, the fork carriage 104 includes a slide 702, first 704 and second 706 front posts, first 708 and second 710 rear posts, first 712 and second 714 bottom rails, the first and second forks 150,150a, and a bottom cross support 716.

[0025] The tops of the first 704 and second 706 front posts are rotatably coupled to opposite sides 718, 720 of the slide 702 at a front thereof. The tops of the first 708 and second 710 rear posts are rotatably coupled to opposite sides 718, 720 of the slide 702 at the rear thereof. The slide 702 thus extends between the first 704 and second 706 front posts and the first 708 and second 710 rear posts and is rotatably coupled thereto.

[0026] The bottom cross support 716 extends between the first 712 and second 714 bottom rails. In the illustrated example embodiment, the bottom of the first front post 704 is rotatably coupled to front end of the first bottom rail 712 and the bottom of the second front post 706 is rotatably coupled to the front end of the second bottom rail 714. The bottom of the first real- post 708 is rotatably coupled to rear end of the first bottom rail 712 and the bottom of the second rear post 710 is rotatably coupled to the rear end of the second bottom rail 714.Docket No.: SPC120PCT

[0027] The rear end of the first fork 150 is coupled to, e.g. formed integrally with or fastened to, the front of the first bottom rail 712 and the first fork 150 extends forwardly from the first bottom rail 712 at a non-zero angle A from the top of the first bottom rail, as shown in FIG. 8. The real' end of the second fork 150a is coupled to the front of the second bottom rail 714 and the second fork 150a extends forwardly from the second bottom rail 714 at substantially the non-zero angle A. The angle A is a fixed angle and may be chosen depending on the application. In some embodiments the angle A may be between 115 and 155 degrees. In some embodiments, the angle A may be substantially 135 degrees.

[0028] The rotatable coupling between the bottom of the first front post 704 and the front end of the first bottom rail 712, the bottom of the second front post 706 and the front end of the second bottom rail 714, the bottom of the first rear post 708 and the rear end of the first bottom rail 712, and the bottom of the second rear post 710 and the rear end of the second bottom rail 714, allows the front posts 704, 706 and the rear posts 708,710 to be positioned at a variable non-zero angle B relative to the forks 150, 150a, as shown for example in FIG. 8. In some embodiments the angle B may be between 20 and 120 degrees. In some embodiments, the angle A may be between 45 and 90 degrees.

[0029] First 722a and second 722b slide pins extend outwardly from the first side 718 of the slide 702, and first 722c and second 722d slide pins extend outwardly from the second side 720 of the slide 702. In the illustrated example embodiment, the slide pins 722a and 722c are positioned adjacent to the top the slide 702 and the slide pins 722b and 722d are positioned adjacent the bottom of the slide 702. A guide pin 724 extends outwardly from the side of the first rear post 708 and a guide pin extends 724a (FIG. 9A) outwardly from the side of the second rear’ post 710. In the illustrated example embodiment, the guide pins 724, 724a are positioned adjacent to the top the first 708 and second 710 rear posts, respectively.

[0030] With reference also to FIGS. 1 and 10a, the first 722a and second 722b slide pins on the first side 718 of the slide 702 are received in a vertical slot 152 in the first front post 118 and the first 722c and second 722d slide pins on the second side of the slide 702 are received in a vertical slot 154 in the second front post 118a. As shown in FIG. 1, for example, the vertical slots 152, 154 in the first 118 and second 118a front posts may extend from the tops of the first 118 and second 118a front post and along on a portion of the first 118 and second 118a front posts, e.g. to a point mid-way between the tops and the bottoms of the firstDocket No.: SPC120PCT118 and second front posts 118a. The slide 702 is thus slidably movable along at least a portion of the first 118 and second front posts 118a.

[0031] With reference particularly to FIGS. 1-4, the power unit 106 may include an actuator 156, which may be for example, an or more hydraulic or pneumatic pistons, and / or electrical linear actuators. In the illustrated example embodiment, the actuator 156 is configured as a known hydraulic piston and the power unit includes a known electric pump 158 for pumping fluid to the piston. A piston rod 160 is coupled to a bottom of the slide 702 for moving the slide 702 between a lowered position and a raised position. As shown, for example, in FIGS. 1 and 2, when the piston rod 160 is retracted the slide 702 is in the lowered position and as shown, for example, in FIGS. 3 and 4 when the piston rod 160 is extended.

[0032] A user may selectively control operation of the power unit 106 by operation of user controls 162 placed on the exterior of the lift 100 to selectively move the slide 702 between the lowered position or the raised position. Inputs provided at the user controls 162 may be coupled to a controller 164 configured, e.g., with software executable on a non- transitory machine-readable medium, to provide control outputs through a wired or wireless connection to the power unit 106 for moving the slide 702 between the lowered position or the raised position. In some embodiments, the power unit 106 may be automatically controlled in response to outputs to the controller 164 from one or more sensors 166 associated with the material lift 100. For example, an optical sensor may sense presence of an AGV at the front 116 of the material lift 100 and provide an output to the controller 164. In response, the controller 164 may provide one or more control signals to the power unit 106 to move the slide 702 from the lowered position to the raised position. In some embodiments, an AGV may be configured to provide a signal to the material lift 100 when the AGV is positioned in front 116 of the material lift 100. The signal may be detected by one or more of the sensor(s) 166, e.g. a signal receiver, and the sensor may provide an output to the controller 164, which provides one or more control signals to the power unit 106 to cause movement of the slide 702 from the lowered position to the raised position.

[0033] As will be described, particularly in connection with FIGS. 9A-9L, each of the guide pins 724, 724a is positioned to engage an associated guide slot 902 coupled to the frame 102. The guide pins 724, 724a engage the associated guide slots 902 to move the forks 150,150a between the retracted position and the extended position as the slide 702 is movedDocket No.: SPC120PCT from the lowered position to the raised position, respectively. In the illustrated embodiment, the guide pins 724, 724a thus form first carriage guide members and the guide slots 902 form second carriage guide members. It is to be understood that the first carriage guide members and second carriage guide members may take a variety of configurations, e.g. pins, slots, flanges, rollers, cams, etc., that engage with each other to move the forks 150,150a between the retracted position and the extended position as the slide 702 is moved from the lowered position to the raised position, respectively. Also, the first guide members may be coupled to the frame 102 and the second guide members may be coupled to the fork carriage 104. In some embodiments, for example, the guide pins 724, 724a may be coupled to the frame 102 and associated guide slots 902 may be coupled to the first 708 and second 710 rear posts of the fork carriage 104.

[0034] FIGS. 9A-9L are side views at the second side 110 (right side in the drawings) of the material lift 100 illustrating a sequence of movements of the guide pin 724a on the second side 110 of the material lift 100 within a guide slot 902 coupled to the frame 102 for causing movement of the forks 150,150a between the retracted position and the extended position as the slide 702 is moved by the power unit 106 between the lowered position and the raised position respectively. The first side 108 (left side in the drawing) is in the same configuration as shown in FIGS. 9A-9L, and, for simplicity and ease of explanation, will not be separately described.

[0035] FIG. 9A is a right side view of the material lift 100 with the fork carriage 104, the power unit 106, and the guide slot 902 shown in phantom view. FIG. 9B is a close-up view of a portion of the fork carriage 104 and a guide slot 902 for receiving the guide pin 724a. In FIGS. 9A and 9B, the slide 702 is in the lowered position and the forks 150,150a are in the retracted position.

[0036] As shown particularly in FIG. 9B, the guide slot 902 in the illustrated example embodiment includes a top track 904 and a bottom track 906. The top track 904 has a forward upwardly arcing arcuate section 908 and a rearward substantially linear section 910. The bottom track 906 has a rearward upwardly arcing arcuate section 912 and a forward substantially linear section 914. The rearward substantially linear section 910 of the top track 904 meets the rearward arcuate section 912 of the bottom track 906 at a rear end of the guide slot 902 and extends into a first linear release section 916. The forward arcuate sectionDocket No.: SPC120PCT908 of the top track 904 meets the forward substantially linear section 914 of the bottom track 906 at a forward end of the guide slot 902 and extend into a second linear release section 918. The first linear release section 916 is positioned lower than the second linear release section 918.

[0037] As shown, the material lift 100 also includes a forward slot finger 920 adjacent the second linear release section 918 and a rearward slot finger 922 adjacent the first linear release section 916. The forward slot finger 920 is pivotally coupled to the frame 102 at a pivot point 924 and is biased by a spring 926 coupled between the frame 102 and a first end of the forward slot finger 920. The spring 926 biases a second end of the forward slot finger 920 against a top surface of the top track 904. The rearward slot finger 922 is pivotally coupled to the frame 102 at a pivot point 928 and is biased by a spring 930 coupled between the frame 102 and a first end of the rearward slot finger 922. The spring 930 biases a second end of the rearward slot finger 922 against a bottom surface of the bottom track 906. As shown, when the slide 702 is in the lowered position and the forks 150,150a are in the retracted position, the guide pin 724a is positioned in the first release section 916 of the guide slot 902.

[0038] In FIGS. 9C and 9D, the slide 702 is transitioning from the lowered position to the raised position and the forks 150,150a arc transitioning from the retracted position to the extended position. As shown particularly in FIG. 9D, as this transition occurs the rearward slot finger 922 blocks the guide pin 724a from entering the bottom track 906 and the guide pin 724a moves up through the rearward substantially linear section 910 of the top track 904 and into the forward arcuate section 908 of the top track 904. This movement of slide 702 and the guide pin 724a in the guide slot 902 causes rotation of first 704 and second 706 front posts and the first 708 and second 710 rear posts relative to the slide 702 and the first 712 and second 714 bottom rails to raise the forks 150,150a and begin to extend the forks 150,150a relative to the retracted position.

[0039] In FIGS. 9E and 9F, the slide 702 is further transitioning from the lowered position to the raised position and the forks 150,150a are further transitioning from the retracted position to the extended position compared to the position shown in FIGS. 9C and 9D. As shown particularly in FIG. 9F, as this transition occurs the guide pin 724a forces the forward slot finger 920 to rotate forwardly against the bias of the spring 926, opening access to the second linear release section 918 and blocking access to the forward substantially linearDocket No.: SPC120PCT section 914 of the bottom track 906. This movement of slide 702 and the guide pin 724a in the guide slot 902 causes further rotation of first 704 and second 706 front posts and the first 708 and second 710 rear posts relative to the slide 702 and the first 712 and second 714 bottom rails to raise the forks 150,150a and further extend the forks 150,150a.

[0040] From the position shown in FIGS. 9E and 9F, the guide pin 724a extends upwardly into the second linear release section 918, as shown in FIGS. 9G and 9H. This moves the guide pin 724a out of the path of the forward slot finger 920 , and the spring 926 returns the forward slot finger 920 to the position against a top surface of the top track 904. In this position, the forward slot finger 920 blocks access by the guide pin 724a to the forward arcuate section 908 of the top track 904 and allows access to the forward substantially linear section 914 of the bottom track 906. When the guide pin 724a reaches the top of the second linear' release section 918, as shown in FIGS. 9G and 9H, the slide 702 is in the raised position and the forks 150,150a are in the extended position.

[0041] From the position shown in FIGS. 9G and 9H, the slide 702 moves downwardly from the raised position toward the lowered position and guide pin 724a extends downwardly into the forward substantially linear section 914 of the bottom track 906 and into the rearward upwardly arcing arcuate section of the bottom track 906, as shown in FIGS. 91 and 9J. This movement of slide 702 and the guide pin 724a in the guide slot 902 causes rotation of first 704 and second 706 front posts and the first 708 and second 710 rear posts relative to the slide 702 and the first 712 and second 714 bottom rails to lower the forks 150,150a and begin to retract the forks 150,150a into from the extended position.

[0042] In FIGS. 9K and 9L, the slide 702 is further transitioning from the raised position to the lowered position and the forks 150,150a are further transitioning from the extended position to the retracted position. As shown particularly in FIG. 9L, as this transition occurs the guide pin 724a forces the rearward slot finger 922 to rotate rearwardly against the bias of the spring 930, opening access to the first linear release section 916 and blocking access to the rearward substantially linear section 910 of the top track 904. This movement of slide 702 and the guide pin 724a in the guide slot 902 causes further rotation of first 704 and second 706 front posts and the first 708 and second 710 rear posts relative to the slide 702 and the first 712 and second 714 bottom rails to lower the forks 150,150a and further retract the forks 150,150a.Docket No.: SPC120PCT

[0043] From the position shown in FIGS. 9K and 9L, the guide pin 724a extends downwardly into the first linear release section 916 to return to the position shown in FIGS. 9 A and 9B. This moves the guide pin 724a out of the path of the rearward slot finger 922 , and the spring 930 returns the rearward slot finger 922 to the position against a bottom surface of the bottom track 906. When the guide pin 724a reaches the bottom of the first linear release section 916, as shown in FIGS. 9A and 9B, the slide 702 is in the lowered position and the forks 150,150a are in the retracted position.

[0044] In a material lift 100 consistent with the present disclosure, movement of the forks 150,150a between the retracted position and the extended position may be used to load and / or unload an AGV 1002. FIGS. 10A-10C are perspective views of the second side 110 (right side in the drawings) of the material lift 100, with portions shown in phantom, illustrating a sequence of movements of the slide 702 and the forks 150,150a for unloading a pallet 1004 from the AGV 1002. Although the illustrated example embodiment illustrates unloading an AGV 1002, it is to be understood that a material lift 100 consistent with the present disclosure may be operated to unload or load other implements. For example, a user may manually place a pallet truck (not shown) adjacent to the front 116 of the material lift 100 and the material lift 100 may be operated to load or unload from the pallet truck.

[0045] In FIG. 10A, the slide 702 of the material lift 100 is in the lowered position and forks 150,150a are in the retracted position. An AGV 1002 with a pallet 1004 of goods 1006 supported thereby is positioned adjacent the front 116 of the material lift 100 with fork openings of the pallet 1004 aligned with the positions of the retracted forks 150,150a. In FIG. 10B, the power unit 106 has moved the slide 702 to the raised position and forks 150,150a have moved to the extended position by engagement of the guide pins 724, 724a with their associated guide slots 902. In this position, the forks 150,150a are extended into the fork openings of the pallet 1004 and have raised the pallet 1004 above the top surface of the AGV 1002. As shown, the AGV 1002 may then leave the area while the pallet 1004 and the goods 1006 thereby are supported by the forks 150,150a.

[0046] In FIG. 10C the power unit 106 has lowered the slide 702 back to the lowered positions and the forks 150,150a have returned to the retracted position. The pallet 1004 has thus been placed on the floor surface in front 116 of the material lift 100. From this position the pallet 1004 may be lifted from the floor, e.g. by a manual or autonomous forklift, manuallyDocket No.: SPC120PCT using a pallet truck, etc., and moved to a different location. Alternatively, the process illustrated in FIGS. 10A-10C may be performed in reverse to load the pallet 1004 and the goods 1006 thereon onto an AGV 1002.

[0047] According to one aspect of the present disclosure, there is thus provided a material lift including a frame; a fork carriage; the fork carriage including: a slide coupled to the frame for linear movement relative to the frame between a lowered position and a raised position, and a least one fork coupled to the slide. The at least one fork is movable relative to the frame between a retracted position and an extended position as the slide is moved between the lowered position and the raised position, respectively. In the retracted position the at least one fork is withdrawn toward the frame and in the extended position the at least one fork is extended away from the frame and positioned upward relative to a position of the fork when the at least one fork is in the retracted position. The material lift also includes a power unit coupled to the slide to move the slide between the lowered position and the raised position.

[0048] According to another aspect of the disclosure, there is provided a material lift comprising: a frame including first and second vertical slots; a fork carriage including: a slide coupled to the frame for linear movement relative to the frame between a lowered position and a raised position, the slide includes at least one first slide pin extending from a first side of the slide and into the first vertical slot and at least one second slide pin extending from a second side of the slide and into the second vertical slot, and a least one fork coupled to the slide. The at least one fork is movable relative to the frame between a retracted position and an extended position as the slide is moved between the lowered position and the raised position, respectively, wherein in the retracted position the at least one fork is withdrawn toward the frame and in the extended position the at least one fork is extended away from the frame and positioned upward relative to a position of the fork when the at least one fork is in the retracted position. The material lift also includes: a power unit coupled to the slide to move the slide between the lowered position and the raised position; a first carriage guide member coupled to the slide; and a second carriage guide member coupled to the frame, the first carriage guide member being positioned to engage the second carriage guide member to move the least one fork between the retracted position and the extended position as the slide moves between the lowered position and the raised position.Docket No.: SPC120PCT

[0049] According to another aspect of the disclosure, there is provided a method of unloading a pallet from an automated guided vehicle (AGV) including: providing material lift including: a frame, a fork carriage, the fork carriage comprising: a slide coupled to the frame for lineal' movement relative to the frame between a lowered position and a raised position, and a least one fork coupled to the slide, the at least one fork being movable relative to the frame between a retracted position and an extended position as the slide is moved between the lowered position and the raised position, respectively, wherein in the retracted position the at least one fork is withdrawn toward the frame and in the extended position the at least one fork is extended away from the frame and positioned upward relative to a position of the fork when the at least one fork is in the retracted position, and a power unit coupled to the slide to move the slide between the lowered position and the raised position; operating the AGV to position the AGV adjacent the material lift; operating the power unit to move the slide from the lowered position the raised position to move at least one fork from the retracted position to the extended position, wherein the at least one fork extends into a fork opening in the pallet and the pallet is supported above the AGV by the at least one fork; operating the AGV to move the AGV away from the material lift when the pallet; and operating the power unit to move the slide from the raised position the lowered position to move at least one fork from the extended position to the retracted position, wherein the at least one fork retracts from the fork opening in the pallet and the pallet is supported on a floor surface.

[0050] While several embodiments of the present invention have been described and illustrated herein, those of ordinary skill in the art will readily envision a variety of other means and / or structures for performing the functions and / or obtaining the results and / or one or more of the advantages described herein, and each of such variations and / or modifications is deemed to be within the scope of the present invention. More generally, those skilled in the art will readily appreciate that all parameters, dimensions, materials, and configurations described herein are meant to be exemplary and that the actual parameters, dimensions, materials, and / or configurations will depend upon the specific application or applications for which the teachings of the present invention is / are used. Those skilled in the art will recognize or be able to ascertain using no more than routine experimentation, many equivalents to the specific embodiments of the invention described herein.Docket No.: SPC120PCT

[0051] It is, therefore, to be understood that the foregoing embodiments are presented by way of example only and that, within the scope of the appended claims and equivalents thereto, the invention may be practiced otherwise than as specifically described and claimed. The present invention is directed to each individual feature, system, article, material, kit, and / or method described herein. In addition, any combination of two or more such features, systems, articles, materials, kits, and / or methods, if such features, systems, articles, materials, kits, and / or methods are not mutually inconsistent, is included within the scope of the present invention.

[0052] All definitions, as defined and used herein, should be understood to control over dictionary definitions, definitions in documents incorporated by reference, and / or ordinary meanings of the defined terms.

[0053] The term “coupled" as used herein refers to any connection, coupling, link. Components described herein as “coupled" may be directly coupled to one another or may be indirectly coupled through intermediate components.

[0054] Unless otherwise stated, use of the word "substantially" may be construed to include a precise relationship, condition, arrangement, orientation, and / or other characteristic, and deviations thereof as understood by one of ordinary skill in the art, to the extent that such deviations do not materially affect the disclosed methods and systems.

[0055] The terms "comprising", "including" and "having" are intended to be inclusive and mean that there may be additional elements other than the listed elements.

[0056] The indefinite articles “a” and “an,” as used herein in the specification and in the claims, unless clearly indicated to the contrary, should be understood to mean “at least one.”

[0057] The phrase “and / or,” as used herein in the specification and in the claims, should be understood to mean “either or both” of the elements so conjoined, i.e., elements that are conjunctively present in some cases and disjunctively present in other cases. Other elements may optionally be present other than the elements specifically identified by the “and / or” clause, whether related or unrelated to those elements specifically identified, unless clearly indicated to the contrary.

[0058] Spatially relative terms, such as “beneath,” below,” upper,” “lower,” “above” and the like may be used herein for ease of description to describe one element or feature’s relationship to another element(s) or feature(s) as illustrated in the drawings. These spatiallyDocket No.: SPC120PCT relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation shown in the drawings. For example, if the device in the drawings is turned over, elements described as “below” or “beneath” other elements or features would then be oriented “above” the other elements or features. Thus, the exemplary term “below” can encompass both an orientation of above and below. The device may be otherwise oriented (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.

Claims

CLAIMSWhat is claimed is:

1. A material lift comprising: a frame; a fork carriage, the fork carriage comprising: a slide coupled to the frame for lineal' movement relative to the frame between a lowered position and a raised position, and a least one fork coupled to the slide, the at least one fork being movable relative to the frame between a retracted position and an extended position as the slide is moved between the lowered position and the raised position, respectively, wherein in the retracted position the at least one fork is withdrawn toward the frame and in the extended position the at least one fork is extended away from the frame and positioned upward relative to a position of the fork when the at least one fork is in the retracted position; and a power unit coupled to the slide to move the slide between the lowered position and the raised position.

2. The material lift of claim 1 wherein the frame defines a cavity and the at least one fork is at least partially disposed in the cavity when the retracted position.

3. The material lift of claim 1 wherein the at least one fork is at extends from the cavity when in the extended position.

4. The material lift of claim 1 wherein the frame comprises first and second vertical slots for guiding the slide to move linearly between the lowered position and the raised position, and the slide comprises at least one first slide pin extending from a first side of the slide and into the first vertical slot and at least one second slide pin extending from a second side of the slide and into the second vertical slot.

5. The material lift of claim 1 wherein the frame further comprises:Docket No.: SPC120PCT first and second front posts pivotally coupled to opposite sides of the slide; first and second rear posts pivotally coupled to opposite sides of the slide a first bottom rail, the first front post and the first rear- post being pivotally coupled to the first bottom rail; a second bottom rail, the second front post and the second rear post being pivotally coupled the second bottom rail, wherein at least one fork comprises a first fork and a second fork, the first fork extending from a front of the first bottom rail and the second fork extending from a front of the second bottom rail.

6. The material lift of claim 1 wherein the first fork extends from the front of the first bottom rail at a non-zero angle relative to the top of the first bottom rail and the second fork extends from the front of the second bottom rail at substantially the non-zero angle relative to the top of the second bottom rail.

7. The material lift of claim 1 wherein the non-zero angle is between 115 and 155 degrees.

8. The material lift of claim 1 wherein the non-zero angle is substantially 135 degrees.

9. The material lift of claim 1 further comprising: a first carriage guide member coupled to the slide; a second carriage guide member coupled to the frame, the first carriage guide member being positioned to engage the second carriage guide member to move the least one fork between the retracted position and the extended position.

10. The material lift of claim 1, wherein one of the first carriage guide member and the second carriage guide member comprises a guide pin and the other of the first carriage guide member and the second carriage guide member comprises a guide slot, and wherein the guide pin is received in the guide slot.Docket No.: SPC120PCT11 . The material lift of claim 1 further comprising at least one slot finger pivotally coupled to the frame and controlling travel of the guide pin in the guide slot.

12. The material lift of claim 1, wherein the at least one slot finger is biased in an associated direction by a spring coupled to the frame.

13. The material lift of claim 1, wherein the guide slot comprises: a top track comprising a forward arcuate section and a rearward substantially linear section; a bottom track comprising a rearward arcuate section and a forward substantially linear section, a first linear release section; and a second linear release section, wherein the rearward substantially linear section of the top track meets the rearward arcuate section of the bottom track at a rear end of the guide slot and extend into the first linear release section, and wherein forward arcuate section of the top track meets the forward substantially linear section of the bottom track at a forward end of the guide slot and extend into the second linear release section.

14. The material lift of claim 1, wherein the guide slot comprises: a forward slot finger adjacent the second linear release section, the forward slot finger being pivotally coupled to the frame and controlling travel of the guide pin in the guide slot, a rearward slot finger adjacent the first linear release section, the rearward slot finger being pivotally coupled to the frame and controlling travel of the guide pin in the guide slot.

15. The material lift of claim 1, wherein the forward slot finger is biased by a first spring coupled to the frame and the rearward slot finger is biased by a second spring coupled to the frame.

16. A material lift comprising:Docket No.: SPC120PCT a frame comprising first and second vertical slots; a fork carriage, the fork carriage comprising: a slide coupled to the frame for linear movement relative to the frame between a lowered position and a raised position, the slide comprises at least one first slide pin extending from a first side of the slide and into the first vertical slot and at least one second slide pin extending from a second side of the slide and into the second vertical slot, and a least one fork coupled to the slide, the at least one fork being movable relative to the frame between a retracted position and an extended position as the slide is moved between the lowered position and the raised position, respectively, wherein in the retracted position the at least one fork is withdrawn toward the frame and in the extended position the at least one fork is extended away from the frame and positioned upward relative to a position of the fork when the at least one fork is in the retracted position; a power unit coupled to the slide to move the slide between the lowered position and the raised position; a first carriage guide member coupled to the slide; and a second carriage guide member coupled to the frame, the first carriage guide member being positioned to engage the second carriage guide member to move the least one fork between the retracted position and the extended position as the slide moves between the lowered position and the raised position.

17. The material lift of claim 16 wherein the frame further comprises: first and second front posts pivotally coupled to opposite sides of the slide; first and second rear posts pivotally coupled to opposite sides of the slide a first bottom rail, the first front post and the first rear post being pivotally coupled to the first bottom rail; a second bottom rail, the second front post and the second rear post being pivotally coupled the second bottom rail,Docket No.: SPC120PCT wherein at least one fork comprises a first fork and a second fork, the first fork extending from a front of the first bottom rail and the second fork extending from a front of the second bottom rail.

18. The material lift of claim 16, wherein one of the first carriage guide member and the second carriage guide member comprises a guide pin and the other of the first carriage guide member and the second carriage guide member comprises a guide slot, and wherein the guide pin is received in the guide slot.

19. The material lift of claim 16 further comprising at least one slot finger pivotally coupled to the frame and controlling travel of the guide pin in the guide slot.

20. A method of unloading a pallet from an automated guided vehicle (AGV) comprising: providing material lift comprising: a frame, a fork carriage; the fork carriage comprising: a slide coupled to the frame for linear movement relative to the frame between a lowered position and a raised position, and a least one fork coupled to the slide, the at least one fork being movable relative to the frame between a retracted position and an extended position as the slide is moved between the lowered position and the raised position, respectively, wherein in the retracted position the at least one fork is withdrawn toward the frame and in the extended position the at least one fork is extended away from the frame and positioned upward relative to a position of the fork when the at least one fork is in the retracted position, and a power unit coupled to the slide to move the slide between the lowered position and the raised position; operating the AGV to position the AGV adjacent the material lift; operating the power unit to move the slide from the lowered position the raised position to move at least one fork from the retracted position to the extended position, wherein the at leastDocket No.: SPC120PCT one fork extends into a fork opening in the pallet and the pallet is supported above the AGV by the at least one fork; operating the AGV to move the AGV away from the material lift when the pallet; and operating the power unit to move the slide from the raised position the lowered position to move at least one fork from the extended position to the retracted position, wherein the at least one fork retracts from the fork opening in the pallet and the pallet is supported on a floor surface.

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