CN117430059A - Pallet fork assembly of handling equipment - Google Patents

Abstract

The invention provides a fork assembly of handling equipment, which comprises: lifting module, fork unit, link mechanism, gyro wheel unit are equipped with the link arm on the backplate of this fork unit, and this link mechanism includes: the lifting link rod, the swing rod and the pull rod are provided with P, N, B angle position ends, the first end of the lifting link rod is in transmission connection with the lifting module, the second end of the lifting link rod is in rotary connection with the P angle position end of the swing rod, the first ends of the linkage arm and the pull rod are respectively in rotary connection with the N, B angle position end of the swing rod, the N angle position end is used as a supporting point capable of lifting and rotating, the lifting link rod is lifted/lowered and swung by the P angle position end to lift/lower the fork unit, the B angle position end is linked to swing by taking the N angle position end as the supporting point, so that the pull rod stretches/contracts, the rotary supporting point end of the roller unit is in rotary connection with the fork teeth of the fork unit, and the linkage end of the roller unit is in rotary connection with the second end of the pull rod, and the roller unit is linked through the pull rod so as to retract/release at the fork teeth. Thereby realizing the integral linkage of the roller unit and the fork unit.

Description

Pallet fork assembly of handling equipment

Technical Field

The invention relates to a conveying equipment technology, in particular to a fork assembly of conveying equipment.

Background

In the field of freight transportation, a forklift is widely used as a common industrial transportation tool in various freight transportation scenes, and in general, the forklift lifts a piece of pallet goods through a fork, so as to transfer the piece of pallet goods to a predetermined position for loading, unloading and stacking, thereby completing various wheeled transportation vehicles for short-distance transportation operations. Therefore, the forklift is one of the most widely used mechanical equipment in the industrial field, and a large amount of goods handling work is required to be applied to a warehouse, a factory or a construction site.

With the development of forklift technology at present, in order to improve freight carrying capacity and stabilize stability of carrying the forks, the tail ends of the tines of the conventional forklift equipment are usually provided with roller structures, for example, the prior art has proposed a two-drive differential forklift with scissor lifting (patent application number: 202123167155.9), wherein in the scheme, two forks can be driven to lift by the scissor lifting structure, and simultaneously, bottoms of the two forks are connected with universal wheels through adjustable supporting pieces, so that telescopic control of the universal wheels can be realized.

However, the prior art has some drawbacks, that is, the fork lifting mechanism and the telescopic mechanism of the fork roller with the prior art are two sets of independent transmission systems, which need to be controlled separately, and once the joint control has a problem, any mechanism is not cooperated, an operation accident can be caused, so that a certain disadvantage exists in the aspect of reliability.

Disclosure of Invention

Therefore, a main object of the present invention is to provide a fork assembly of a handling apparatus, so as to realize the retraction/extension of the roller unit, and to be integrally and structurally synchronous with the lifting/lowering movement of the fork unit.

In order to achieve the above object, according to a first aspect of the present invention, there is provided a fork assembly of a handling apparatus, comprising: lifting module, fork unit, link mechanism, gyro wheel unit, wherein be equipped with the link arm on the backplate of fork unit, link mechanism includes: the lifting device comprises a lifting connecting rod, a swinging rod and a pull rod, wherein a P, N, B angle position end is arranged on the swinging rod, a first end of the lifting connecting rod is in transmission connection with a lifting module, a second end of the lifting connecting rod is in rotary connection with a P angle position end of the swinging rod, a first end of the connecting rod and a first end of the pull rod are respectively in rotary connection with N, B angle position ends of the swinging rod, an N angle position end is used as a supporting point capable of lifting and rotating, the lifting/lowering and swinging traction are carried out by the P angle position end to lift/lower a fork unit, a B angle position end is linked to swing by taking the N angle position end as a supporting point, so that the pull rod stretches/contracts, a rotary supporting point end of a roller unit is in rotary connection with a fork tooth of the fork unit, and a linkage end of the roller unit is in rotary connection with a second end of the pull rod, and the roller unit is linked through the pull rod so as to retract/release at the fork tooth.

In a possibly preferred embodiment, the method further comprises: and the two ends of the synchronizing shaft are respectively connected to the P-angle position ends close to the swinging rods.

In a possibly preferred embodiment, the fork assembly of the handling device further comprises: the guide piece is fixed on a structural frame of the carrying equipment, the guided piece is connected to the first end of the lifting connecting rod, and the guided piece is matched with the guide piece, so that the guided piece is constrained by the guide piece, and the first end of the lifting connecting rod moves along the guide direction of the guide piece.

In a possible preferred embodiment, the linkage arm is provided with a loading platform, the guide is located on the structure frame, the position is located on the lifting/lowering path of the loading platform, and when the fork unit is lifted to the limit, the loading platform is abutted against the guide.

In a possible preferred embodiment, a bracket is further arranged on the back plate of the fork unit, the guided piece is connected to one side of the bracket, and the guided piece is matched with the guide piece, so that the guided piece is constrained by the guide piece, and the fork unit moves along the guiding direction of the guide piece together with the first end of the connecting rod.

In a possible preferred embodiment, the guided member and the guide member are any one of a guide wheel and a roller rail, a slider and a ball rail.

In a possible preferred embodiment, wherein the prong belly is provided with a linkage groove to receive a roller unit, the roller unit comprises: the wheel carrier is provided with M, A, C angle ends extending in different directions, wherein the C angle end of the wheel carrier is rotationally connected with the wheel, the M angle end is rotationally connected with a support seat at a fork tooth linkage groove to form a rotating fulcrum, the A angle end is rotationally connected with a second end of the pull rod, and the pull rod is connected with the C angle end in a stretching/shrinking manner to enable the C angle end to swing by taking the M angle end as a fulcrum so as to drive the wheel to extend/retract from the linkage groove.

In a possibly preferred embodiment, the center line L1 of the angular end of the swing rod B, N is equidistant and parallel to the center line L2 of the angular end of the wheel frame M, A.

In a possible preferred embodiment, the pull rod is accommodated in the linkage groove, and the first end and the second end of the pull rod have a fall relative to the pull rod body so as to allow the first end and the second end of the pull rod to swing below the angle end of the swing rod N and the angle end of the wheel carrier M respectively during transmission.

In a possible preferred embodiment, a sun roof is provided on the fork at the position of receiving the roller unit, and when the roller unit is received in the coupling groove, at least part of the roller body protrudes from the sun roof to the outside of the fork.

The fork assembly of the carrying equipment provided by the invention skillfully designs the linkage structure of the lifting module, the fork unit, the connecting rod mechanism and the roller unit, realizes the retraction/release of the roller unit, can be integrally linked with the lifting/lowering of the fork unit in structure, ensures the synergy of each linkage unit, has reliability superior to the linkage control scheme of a plurality of independent mechanisms, and on the other hand, the roller unit is in a contracted state in the non-lifting state by the scheme, thereby leading the fork teeth to be in a suspending state when entering the field-shaped tray, and can integrally link the roller unit to extend out of the ground by lifting and adjusting the fork unit when the fork teeth are in place, thereby avoiding the fork teeth and the roller from impacting the field-shaped tray during the loading/unloading operation, and being particularly suitable for the field-shaped tray. In addition, after the fork unit lifts the bearing tray, the roller unit can also provide bearing support for the fork teeth after falling to the ground, so that the freight operation stability is further improved.

Drawings

The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention. In the drawings:

FIG. 1 is a schematic view of the overall structure of a fork assembly of the handling apparatus of the present invention;

FIG. 2 is a schematic view of a fork assembly of the handling apparatus of the present invention in a partially perspective configuration, wherein one side of the fork is in a perspective configuration;

FIG. 3 is a schematic view of the bottom structure of the fork assembly of the handling apparatus of the present invention;

FIG. 4 is a schematic view of the overall linkage structure of the fork assembly of the handling apparatus according to the present invention in the released state of the roller units, wherein the fork teeth on one side are in a perspective state;

FIG. 5 is a schematic side view of a link mechanism in a fork assembly of a handling apparatus according to the present invention, wherein a roller unit is in a storage state and a fork unit is in an initial position, and one side of a fork is in a perspective state;

FIG. 6 is a schematic diagram of a transmission path of a link mechanism when a roller unit is in a storage state and the fork unit is in an initial position in a fork assembly of a handling apparatus according to the present invention;

FIG. 7 is a schematic side view of a link mechanism in a fork assembly of a handling apparatus according to the present invention, wherein one side of the fork is in perspective, and the roller unit is in a released state and the fork unit is in a raised position;

FIG. 8 is a schematic diagram of a linkage transmission path of the fork assembly of the handling apparatus of the present invention with the roller units in a released position and the fork units in a raised position;

fig. 9 to 10 are schematic diagrams showing transmission tracks of the roller unit and the fork unit in the fork assembly of the transporting device according to the present invention when the guide mechanism is included;

FIG. 11 is a schematic view of the overall linkage structure of the fork assembly of the handling apparatus of the present invention in the roller unit storage state when the guide mechanism is included;

FIG. 12 is a schematic view of the overall linkage structure of the pallet fork assembly of the transporting apparatus of the present invention in the released state of the roller unit when the guiding mechanism is included;

fig. 13 to 14 are schematic views of the overall linkage structure of the fork unit in the lifting/lowering state when the fork assembly of the handling apparatus of the present invention includes the guiding mechanism, wherein the back plate is in a perspective state;

fig. 15 to 16 are schematic views showing that when the pallet fork assembly of the transporting apparatus of the present invention is loaded with a pallet in a shape of a Chinese character 'tian', the pallet fork unit and the roller unit are coupled according to the link mechanism to perform barrier-free insertion and extraction;

fig. 17 is a schematic view showing that the roller unit is extended from the bottom of the pallet according to the linkage of the link mechanism after the pallet fork assembly of the transporting apparatus of the present invention is loaded with the pallet.

Description of the reference numerals

The lifting module 1, the fork unit 2, the link mechanism 3, the roller unit 4, the guide wheel 5, the roller slide rail 6, the inverted V-shaped tray 7, the structure frame 8, the back plate 21, the fork teeth 22, the linkage arm 23, the lifting link 31, the swing rod 32, the pull rod 33, the P angle position end P, the N angle position end N, the B angle position end B, the wheel frame 41, the roller 42, the M angle position end M, the A angle position end A, the C angle position end C, the bracket 211, the linkage groove 221, the skylight 222, the synchronous shaft 321 and the bearing platform 231.

Detailed Description

In order that those skilled in the art can better understand the technical solutions of the present invention, the following description will clearly and completely describe the specific technical solutions of the present invention in conjunction with the embodiments to help those skilled in the art to further understand the present invention. It will be apparent that the embodiments described herein are merely some, but not all embodiments of the invention. It should be noted that embodiments and features of embodiments in this application may be combined with each other by those of ordinary skill in the art without departing from the inventive concept and conflict. All other embodiments, which are derived from the embodiments herein without creative effort for a person skilled in the art, shall fall within the disclosure and the protection scope of the present invention.

It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further definition or explanation thereof is necessary in the following figures.

In the description of the present invention, it should be noted that, directions or positional relationships indicated by terms such as "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., are directions or positional relationships based on those shown in the drawings, or are directions or positional relationships conventionally put in use of the inventive product, are merely for convenience of describing the present invention and simplifying the description, and are not indicative or implying that the apparatus or element to be referred to must have a specific direction, be constructed and operated in a specific direction, and thus should not be construed as limiting the present invention. Furthermore, the terms "first," "second," "third," and the like are used merely to distinguish between descriptions and should not be construed as indicating or implying relative importance. While the terms "comprising" and "having," and any variations thereof, are intended to cover a non-exclusive inclusion.

Furthermore, the terms "horizontal," "vertical," "overhang," and the like do not denote a requirement that the component be absolutely horizontal or overhang, but rather may be slightly inclined. As "horizontal" merely means that its direction is more horizontal than "vertical", and does not mean that the structure must be perfectly horizontal, but may be slightly inclined.

In the description of the present invention, it should also be noted that, unless explicitly specified and limited otherwise, the terms "disposed," "configured," "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art in view of the specific circumstances in combination with the prior art. Furthermore, embodiments of the invention and features of the embodiments may be combined with each other without conflict. And one or more of the illustrated components may be necessary or optional, and the relative positional relationship between the various components illustrated above may be adjusted as desired.

Referring to fig. 1 to 8, in order to realize the structural integral linkage of the roller unit 4 and the fork unit 2, the present invention provides a fork assembly of a handling apparatus, which includes: the lifting device comprises a lifting module 1, a fork unit 2, a link mechanism 3 and a roller unit 4, wherein the fork unit 2 comprises; the lifting module 1 in the example is a lifting hydraulic/oil cylinder, thereby, through the link mechanism 3, only the lifting/lowering movement of the lifting module 1 is controlled, the roller unit 4 can be simultaneously linked to perform retraction/release movement and the fork unit 2 can perform lifting/lowering movement, so that the roller unit 4 and the fork unit 2 can form synchronous and integrated linkage to ensure the consistency of each linkage unit, the rhythm is controllable, the interference among mechanisms and the problem of program phase executing cannot occur, and the reliability and stability are extremely high.

Specifically, in order to achieve the above-described interlocking effect of the link mechanism 3, the lifting/lowering movement of the lifting module 1 is actually performed by interlocking conversion of different movement directions by the link mechanism 3, so that, as shown in fig. 1 to 4, in this example, the link mechanism 3 preferably includes: the lifting link 31, the swing link 32 and the pull rod 33, wherein the swing link 32 is provided with P, N, B angular ends extending towards three different directions so as to form triangular vertex-shaped distribution, a first end (namely a third driving end of the link mechanism 3) of the lifting link 31 is in driving connection with a lifting end of the lifting module 1, a second end is in rotating connection with a P angular end of the swing link 32, each rotating connection in the example can be understood as a rotating shaft connection, a first end of the connecting arm 23 is in rotating connection with an N angular end (namely a second driving end of the link mechanism 3) of the swing link 32, and a first end of the pull rod 33 is in rotating connection with a B angular end of the swing link 32.

Through the design, the N-angle end of the swing rod 32 can be smartly used as a supporting point capable of lifting and rotating, at the moment, when the swing rod 32 is lifted/lowered by the lifting module 1 connected with the P-angle end, the N-angle end can synchronously lift/lower, so that conditions are created for lifting/lowering the linkage fork unit 2, and as shown in fig. 9 to 10, the P-angle end of the swing rod 32 can swing with the N-angle end as the supporting point, namely between the P1 position point and the P2 position point, so that the transmission traction is carried out, on one hand, the fork unit 2 connected with the N-angle end can be lifted/lowered to be linked, meanwhile, the B-angle end can also be linked to swing between the B1 position point and the B2 position point by taking the N-angle end as the supporting point, and then the linkage pull rod 33 can stretch/retract to provide transmission conditions for the linkage roller unit 4.

Further, as shown in fig. 2 to 8, in order to realize that the roller unit 4 can be integrally linked together with the pallet fork unit 2 to retract/retract at the fork teeth 22, the present example provides an exemplary scheme of hiding the roller unit 4 in the fork teeth 22 so that the fork teeth 22 can stably support the tray, wherein the abdomen of the fork teeth 22 is provided with a linking groove 221 to at least partially receive the roller unit 4 and the pull rod 33, wherein the roller unit 4 includes: the wheel frame 41 and the roller 42, wherein the wheel frame 41 is provided with M, A, C angular ends extending to three different directions so as to form triangular vertex-shaped distribution.

The C-angle end of the wheel frame 41 is forked and is rotatably connected with the roller 42, wherein the roller 42 can adopt a roller group or a single-wheel structure in an alternative example, the M-angle end of the wheel frame 41 is rotatably connected with the support at the linkage groove 221 of the fork 22 to form a rotation pivot, as shown in fig. 8, the a-angle end of the wheel frame 41 is rotatably connected with the second end (i.e. the first transmission end of the link mechanism 3) of the pull rod 33, and the pull rod 33 is connected with the second end in a stretching/shrinking manner, so that the second end of the pull rod 33 can swing between the A1 position point and the A2 position point, and the C-angle end can swing between the C2 position point and the C1 position point by taking the M-angle end as the pivot, so as to drive the roller 42 to stretch/retract from the linkage groove 221.

It should be noted that, in order to avoid the interference of the pull rod 33 during the linkage process, and meanwhile, the movable wheel frame 41 can be greatly swung in the linkage groove 221 of the narrow fork tooth 22, as shown in fig. 6 and 8, wherein the pull rod 33 is accommodated in the linkage groove 221, the first end and the second end of the pull rod 33 have arc-shaped fall relative to the rod body of the pull rod 33, so as to allow the first end of the pull rod 33 to swing in an arc shape (swing between the positions B1 and B2) below the N-angle end of the swing rod 32 during the transmission, and the second end of the pull rod 33 swings in an arc shape (swing between the positions A1 and A2) below the M-angle end of the wheel frame 41. In order to ensure the consistency of the synchronization of the fork unit 2 and the roller unit 4, the link mechanism 3 is preferably arranged in parallel with the center line L1 of the B, N angular end of the swing link 32 equidistant from the center line L2 of the M, A angular end of the wheel frame 41.

Through the design, the link mechanism 3 can form swinging extension/retraction linkage between the pull rod 33 and the wheel frame 41 and the swing rod 32 in a narrow space so as to swing slightly, and after the pull rod 33 is driven to extend/retract, the wheel frame 41 is driven to swing greatly, so that the linkage roller unit 4 is retracted/released at the linkage groove 221 of the fork tooth 22, meanwhile, due to the floating form of the rod body of the pull rod 33, the pull rod 33 can be hidden in the abdomen of the fork tooth 22 in a smaller space, thereby greatly reducing the space setting requirement of the abdomen linkage groove 221 of the fork tooth 22, saving the cost, and ensuring that the abdomen of the fork tooth 22 is not blocked any more as long as the position of the hidden roller unit 4 at the front part of the fork tooth 22 is controlled to pass through the tray, so that a sufficient adjusting space is reserved for the extension of the fork tooth 22 into the tray.

In addition, in order to further improve the consistency of linkage synchronization of the link mechanism 3 and the reliability of the transmission structure, in an alternative example, the swing rods 32 are connected via a synchronization shaft 321 to form synchronization, and in a preferred example, two ends of the synchronization shaft 321 are respectively connected near the P-angle end of each swing rod 32.

Further, in order to enhance the stability of the transmission structure between the link mechanism 3 and the fork unit 2, as shown in fig. 9 to 14, in an alternative example, the fork assembly of the handling apparatus further includes: a guide mechanism, wherein examples of the guide mechanism include: the guide member and the guided member are exemplified by the guide wheel 5 and the roller slide rail 6 in this embodiment, and those skilled in the art may implement other equivalent alternatives, such as a slider and a ball guide scheme, so that other alternative embodiments of the guiding mechanism are within the scope of the disclosure without departing from the concept of the present invention.

As shown in fig. 11 to 14, the roller rail 6 may be fixed on a carrying device, where the carrying device may be a carrying device on which the fork assembly of the present invention may be installed, in which the roller rail 6 may be connected to a frame 8 on the carrying device, and the guide wheel 5 is connected to a first end of the lifting link 31, where the guide wheel 5 is coupled to the roller rail 6, so that the guide wheel 5 is constrained by the roller rail 6, and the first end of the lifting link 31 will move along the guiding direction of the guide member, so as to ensure that the moving track during the linkage of the first end will not deviate, so as to enhance the structural stability of the transmission mechanism.

Further, in order to prevent the link mechanism 3 from collapsing or damaging the structure due to excessive driving, in an alternative embodiment, as shown in fig. 13 to 14, the linkage arm 23 is further provided with a carrying table 231, and the position on the structure frame where the roller rail 6 is located on the lifting/lowering path of the carrying table 231, and when the fork unit 2 is lifted to the limit, the carrying table 231 is abutted against the roller rail 6.

Specifically, because the roller slide rail 6 is fixed in position on the structure frame, the guide wheel 5 at the first end of the lifting connecting rod 31 is ensured to be displaced at the position point between the S2 and the S1 in the lifting process by presetting the track length of the roller slide rail 6, so that the preset lifting limit distance is reserved between the bearing table 231 and the bottom of the roller slide rail 6 while the track cannot be separated, the roller slide rail 6 can be used as a safety limit, the guiding and limiting effects can be realized at the same time, the transmission limit is avoided, and the transmission reliability of the mechanism is improved.

Further, in order to better guide the lifting track of the fork unit 2, the stability of the transmission structure between the link mechanism 3 and the fork unit 2 is enhanced, in an alternative example, as shown in fig. 13 to 14, a bracket 211 is further provided on the back plate 21 of the fork unit 2, the guide wheel 5 is connected to one side of the bracket 211, the guide member is a double-sided roller sliding rail or is formed by attaching a pair of roller sliding rails 6 back to back, and the brackets 211 and the guide wheels 5 on the first end of the lifting link 31 are respectively matched with the sliding rails on the two sides of the double-sided roller sliding rail, so that each guide wheel 5 is constrained by the double-sided roller sliding rail, and the fork unit 2 and the first end of the link together move along the guiding direction of the double-sided roller sliding rail.

Further, since the top surface of the fork teeth 22 generates surface friction when the pallet is being fork-fetched, and thus, in order to skillfully utilize the retractable/setting characteristics of the roller unit 4, as shown in fig. 1 to 14, in an alternative example, a skylight 222 is provided on the fork teeth 22 at the position where the roller unit 4 is received, by setting the diameter size of the roller, when the roller unit 4 is received in the linkage groove 221, the roller 42 can be at least partially protruded from the skylight 222 to the outside of the fork teeth 22. Therefore, when the fork teeth 22 fork the tray to pass through the position of the skylight 222, the roller 42 is driven to rotate, so that the friction resistance between the fork teeth 22 and the tray is reduced, and the smooth insertion of the fork teeth 22 into the tray is facilitated.

In summary, through the fork assembly of the handling equipment provided by the invention, the linkage structure of the lifting module 1, the fork unit 2, the link mechanism 3 and the roller unit 4 is skillfully designed, so that the integrated linkage of the roller unit 4 and the fork unit 2 is realized in a compact space, the synergy of each linkage unit is ensured, and the reliability is superior to that of the linkage control scheme of a plurality of independent mechanisms. In addition, as shown in fig. 15 to 17, by this scheme, the fork unit 2 is in a non-lifted state, the roller unit 4 is in a contracted state, so that the fork teeth 22 can be in a suspended state when entering the field-shaped tray 7, and after the fork teeth 22 are in place, the fork unit 2 is lifted and adjusted at this time, the roller unit 4 can be integrally linked to extend out of the ground, so that the fork teeth 22 and the roller can be prevented from impacting with the field-shaped tray 7 during the loading/unloading operation, and the field-shaped tray is particularly adapted. In addition, after the fork unit 2 lifts the carrying tray, the roller unit 4 can also provide bearing support for the fork teeth 22, so as to further improve the freight operation stability.

The preferred embodiments of the invention disclosed above are intended only to assist in the explanation of the invention. The preferred embodiments are not exhaustive or to limit the invention to the precise form disclosed. Obviously, many modifications and variations are possible in light of the above teaching. The embodiments were chosen and described in order to best explain the principles of the invention and the practical application, to thereby enable others skilled in the art to best understand and utilize the invention. The invention is to be limited only by the following claims and their full scope and equivalents, and any modifications, equivalents, improvements, etc., which fall within the spirit and principles of the invention are intended to be included within the scope of the invention.

Claims (10)

1. A pallet fork assembly of a handling apparatus, comprising: lifting module, fork unit, link mechanism, gyro wheel unit, wherein be equipped with the link arm on the backplate of fork unit, link mechanism includes: the lifting link, the pendulum rod and the pull rod are arranged on the pendulum rod, the first end of the lifting link is in transmission connection with the lifting module, the second end of the lifting link is in rotary connection with the P-angle end of the pendulum rod, the first ends of the connecting arm and the pull rod are respectively in rotary connection with the N, B-angle end of the pendulum rod, the N-angle end is used as a supporting point capable of lifting and rotating, the lifting/lowering and swinging traction are carried out by the P-angle end to lift/lower the fork unit, the B-angle end is linked to swing by taking the N-angle end as a supporting point, so that the pull rod stretches/contracts, the rotating supporting point end of the roller unit is in rotary connection with the fork teeth of the fork unit, and the linking end is in rotary connection with the second end of the pull rod.

2. The pallet fork assembly of the handling apparatus of claim 1, further comprising: and the two ends of the synchronizing shaft are respectively connected to the P-angle position ends close to the swinging rods.

3. The pallet fork assembly of the handling apparatus of claim 1, further comprising: the guide piece is fixed on a structural frame of the carrying equipment, the guided piece is connected to the first end of the lifting connecting rod, and the guided piece is matched with the guide piece, so that the guided piece is constrained by the guide piece, and the first end of the lifting connecting rod moves along the guide direction of the guide piece.

4. A fork assembly of a handling apparatus according to claim 3, wherein the linkage arm is provided with a loading platform, the guide is located on the structural frame at a position on the lifting/lowering path of the loading platform, and the loading platform abuts against the guide when the fork unit is lifted to a limit.

5. The fork assembly of any one of claims 3 or 4, wherein the back plate of the fork unit is further provided with a bracket, the guided member is connected to one side of the bracket, and the guided member is coupled to the guide member, so that the guided member is constrained by the guide member, and the fork unit moves along the guiding direction of the guide member together with the first end of the link.

6. The pallet fork assembly of the handling apparatus of claim 5, wherein the guided member and guide are any of a guide wheel and roller track, a slider and a ball track.

7. The pallet fork assembly of the handling apparatus of claim 1, wherein the tine web is provided with a linkage slot to receive a roller unit, the roller unit comprising: the wheel carrier is provided with M, A, C angle ends extending in different directions, wherein the C angle end of the wheel carrier is rotationally connected with the wheel, the M angle end is rotationally connected with a support seat at a fork tooth linkage groove to form a rotating fulcrum, the A angle end is rotationally connected with a second end of the pull rod, and the pull rod is connected with the C angle end in a stretching/shrinking manner to enable the C angle end to swing by taking the M angle end as a fulcrum so as to drive the wheel to extend/retract from the linkage groove.

8. The pallet fork assembly of claim 7, wherein the center line L1 of the angular end of the swing link B, N is equidistant from and parallel to the center line L2 of the angular end of the wheel frame M, A.

9. The fork assembly of any one of claims 7 or 8, wherein the tie bar is received in the linkage slot, and the first and second ends of the tie bar are located at a drop height relative to the tie bar body to allow the first and second ends of the tie bar to swing under the N-angled end of the swing bar and the M-angled end of the wheel frame, respectively, during driving.

10. The pallet fork assembly of any one of claims 7 or 8, wherein the fork tines are provided with a skylight at a position where the roller units are received, and the roller wheels extend at least partially out of the fork tines from the skylight when the roller units are received in the interlocking slot.