CN215853262U

CN215853262U - Finger assembly, fork device and carrying equipment

Info

Publication number: CN215853262U
Application number: CN202122369647.XU
Authority: CN
Inventors: 袁海平
Original assignee: Hai Robotics Co Ltd
Current assignee: Hai Robotics Co Ltd
Priority date: 2021-09-28
Filing date: 2021-09-28
Publication date: 2022-02-18
Anticipated expiration: 2031-09-28

Abstract

The application provides a finger assembly, a pallet fork device and carrying equipment, relates to the technical field of logistics, and is used for solving the technical problems that the storage density of a warehouse along the vertical direction is low and the visual effect is poor due to the fact that the finger assembly is high in the retracted state; the bracket is provided with a rotating shaft which is rotationally connected with the bracket, and the stop part is arranged on the rotating shaft and is driven by the rotating shaft to rotate relative to the bracket; the telescopic piece is connected with the stop piece, and actuating mechanism's one end is connected with the pivot, and actuating mechanism's the other end is connected with the telescopic piece, and when relative rotation between actuating mechanism and the stop piece, actuating mechanism drive telescopic piece moves relative stop piece. The fork device and the carrying equipment comprise the finger assembly. This application is used for pushing away, drawing not unidimensional packing box, can reduce the interlamellar spacing of goods shelves, is favorable to increasing goods shelves along the storage density of vertical direction, and can promote visual effect.

Description

Finger assembly, fork device and carrying equipment

Technical Field

The application relates to the technical field of logistics storage, in particular to a finger assembly, a fork device and carrying equipment.

Background

With the rapid development of artificial intelligence technology, automation technology and information technology, the intelligent degree of terminal logistics is continuously improved, an intelligent logistics terminal is the inevitable trend of terminal logistics development, and a transfer robot is one of main devices capable of realizing automatic transfer operation of the intelligent logistics terminal, so that heavy physical labor of human is reduced through the transfer robot.

In the related art, a transfer robot includes a fork device including a fork body, a telescopic arm provided on the fork body, and a finger provided on the telescopic arm, wherein when the telescopic arm is extended, the finger is used to push out a container on the fork body, and when the telescopic arm is contracted, the finger is used to pull the container into the fork body. Along with the increasingly complicated goods environment of getting of transfer robot, the width size difference of packing box is great.

However, in the related art, the size of the finger is large, which causes a problem that the storage density of the shelf in the vertical direction is low and the visual effect is poor.

SUMMERY OF THE UTILITY MODEL

In view of the above problem, the embodiment of the application provides a finger assembly, fork device and handling equipment for push away, draw not unidimensional packing box, can reduce the interlamellar spacing of goods shelves, be favorable to increasing goods shelves along the storage density of vertical direction, and can promote visual effect.

In order to achieve the above object, the embodiments of the present application provide the following technical solutions:

in a first aspect, an embodiment of the present application provides a finger assembly, which includes: the device comprises a bracket, a stop piece, a telescopic piece and a driving mechanism; the stop piece is arranged on the rotating shaft and driven by the rotating shaft to rotate relative to the bracket; the extensible member with the stop part is connected, actuating mechanism's one end with the pivot is connected, actuating mechanism's the other end with the extensible member is connected, works as actuating mechanism with when rotating relatively between the stop part, the actuating mechanism drive the extensible member is relative the stop part removes.

In the finger assembly, the stop member has a sliding groove along the extending direction thereof, and the telescopic member is movable along the sliding groove.

The finger assembly is characterized in that guide rails are arranged on two opposite groove walls of the sliding groove along the extending direction of the sliding groove, guide grooves matched with the guide rails are respectively arranged on two opposite side walls of the telescopic piece, and the guide rails move in the guide grooves relative to the extending direction of the guide grooves.

The finger assembly comprises a rotating wheel, a traction rope and an elastic part, wherein the rotating wheel is installed on the bracket, one end of the traction rope is wound on the rotating wheel, the other end of the traction rope is fixedly connected with the telescopic part, one end of the elastic part is abutted with one end of the sliding groove close to the rotating shaft, and the other end of the elastic part is abutted with one end of the telescopic part close to the stop part; when the rotary wheel and the stop piece rotate relatively, the elastic piece drives the telescopic piece to move in a direction away from the stop piece; or the traction rope is wound on the rotary wheel so as to draw the telescopic piece to move towards the direction close to the stop piece.

According to the finger assembly, the rotary wheel is fixedly arranged on the rotating shaft and driven by the rotating shaft to rotate relative to the bracket; the bracket is also provided with a limiting piece, when the rotating shaft drives the stopping piece to rotate to a first direction or a second direction, the stopping piece is abutted against the limiting piece, and the rotating shaft continues to drive the rotating wheel to rotate so as to enable the telescopic piece to move relative to the stopping piece; wherein the first direction is perpendicular to the second direction.

As mentioned above, the limiting member includes a first limiting portion and a second limiting portion connected to the first limiting portion, the first limiting portion extends along the first direction, and the second limiting portion extends along the second direction; when the stop piece rotates to a first direction, the stop piece is abutted against the first limiting part; when the stop piece rotates to the second direction, the stop piece is abutted to the second limiting part.

As with the finger assembly described above, the swivel wheel is stationary relative to the frame.

According to the finger assembly, the rotating shaft is provided with the bearing, the rotating wheel is installed on the bearing, and the rotating shaft drives the stop piece to rotate relative to the rotating wheel.

According to the finger assembly, the rotary wheel is provided with the winding groove, the winding groove is circumferentially surrounded along the rotary wheel, and the traction rope is wound in the winding groove.

As for the finger component, the traction rope is a steel wire rope.

The finger assembly, actuating mechanism still include motor and shaft coupling as above, the output of motor has the output shaft, the shaft coupling connect the output shaft with the pivot, so that the motor drive the pivot is rotated.

As the finger assembly, the elastic member is a spring.

Compared with the related art, the finger assembly provided by the embodiment of the application has at least the following advantages:

in the finger assembly provided by the embodiment of the application, the telescopic piece is connected with the stop piece in a sliding manner, when the rotary wheel and the stop piece rotate relatively, the driving mechanism drives the telescopic piece to move towards the direction away from the stop piece, so that the length of the stop piece is compensated through the telescopic piece, and the stop piece can push and pull containers with different width sizes; or the driving mechanism drives the telescopic piece to move towards the direction close to the stop piece, so that the telescopic piece is contracted towards the direction close to the stop piece, the overall length of the stop piece and the telescopic piece is shortened, and the problem that the distance between the layers of the corresponding goods shelf along the vertical direction is large due to the fact that the size of the stop piece and the telescopic piece is too large when the stop piece and the telescopic piece rotate to the vertical direction is avoided, so that the storage density of the warehouse along the vertical direction can be increased while the finger assembly pushes and pulls the goods shelves with different width sizes; in addition, the visual effect can be improved.

In a second aspect, an embodiment of the present application provides a fork device, which includes: the fork assembly comprises a fork body, a fork arm positioned on the fork body and the finger assembly, wherein the finger assembly is positioned at the front end of the fork arm, and when the finger assembly is in an unfolded state, the finger assembly is used for pushing out a container on the fork body or pulling the container into the fork body.

According to the fork device, the number of the fork arms is two, the two fork arms are oppositely arranged on two opposite sides of the fork body, and the finger assembly is arranged at the front end of each fork arm.

In a third aspect, an embodiment of the present application provides a carrying apparatus, which includes an apparatus body and the fork device of the second aspect, where the fork device is mounted on the apparatus body.

The beneficial effect of the fork device and the haulage equipment that this application embodiment provided is the same with the beneficial effect of above-mentioned finger subassembly, and no longer gives unnecessary details here.

In addition to the technical problems, technical features constituting technical solutions, and advantages brought by the technical features of the technical solutions described above, other technical problems, technical features included in technical solutions, and advantages brought by the technical features that can be solved by the finger assembly, the fork device, and the carrying apparatus provided by the embodiments of the present application will be described in further detail in specific embodiments.

Drawings

In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative efforts.

FIG. 1 is a schematic structural diagram of a finger assembly according to an embodiment of the present disclosure;

FIG. 2 is a schematic structural view of a finger assembly in an expanded state according to an embodiment of the present disclosure;

FIG. 3 is a schematic structural view of a finger assembly in a retracted state according to an embodiment of the present disclosure;

fig. 4 is a right side view of a finger assembly provided by an embodiment of the present application.

Reference numerals:

100-a finger assembly; 110-a scaffold; 111-a rotating shaft; 120-a stop member; 130-a telescoping member;

140-a drive mechanism; 141-a turret wheel; 1411-winding slots; 142-a pull cord;

143-an elastic member; 150-a motor; 160-a coupler; 170-a stop; 171-a first limiting part; 172-second limiting part.

Detailed Description

In the related art, the transfer robot includes a fork device, the fork device includes a fork body, a telescopic arm located on the fork body, and a finger located on the telescopic arm, the finger can rotate from a horizontal unfolded state to a vertical folded state relative to the telescopic arm, or from the vertical folded state to the horizontal unfolded state, when the finger is in the horizontal unfolded state and extends out along with the telescopic arm, the finger can push the container out of the fork body; or the fingers in the horizontal unfolding state are used for drawing the cargo box into the pallet fork body along with the contraction of the telescopic arms; and along with the more and more complicated environment of getting and putting goods of transfer robot, the width size difference of packing box is great, consequently, the length size of finger is great relatively to make the finger can push, draw the great packing box of width size, also can push, draw the less packing box of width size. However, if the fingers have a large dimension and a large length, the height of the fingers is far higher than the highest surface of the fork device when the fingers are in a vertical retracted state, so that on one hand, the inter-layer distance of the goods shelves corresponding to the goods shelves picked and placed by the fork device is large, and the storage density of the warehouse in the vertical direction is low; on the other hand, the fingers are visually poor in the stowed state.

In view of the above technical problems, an embodiment of the present application provides a finger assembly, a fork device and a carrying device, wherein the finger assembly is configured such that a retractable member is slidably connected to a stop member, and when a rotary wheel and the stop member rotate relatively, a driving mechanism drives the retractable member to move in a direction away from the stop member, so as to compensate for the length of the stop member via the retractable member, and thus the stop member can push and pull containers with different width dimensions; or the driving mechanism drives the telescopic piece to move towards the direction close to the stop piece, so that the telescopic piece is contracted towards the direction close to the stop piece, the overall length of the stop piece and the telescopic piece is shortened, and the problem that the distance between the layers of the corresponding goods shelf along the vertical direction is large due to the fact that the size of the stop piece and the telescopic piece is too large when the stop piece and the telescopic piece rotate to the vertical direction is avoided, so that the storage density of the warehouse along the vertical direction can be increased while the finger assembly pushes and pulls the goods shelves with different width sizes; in addition, the visual effect can be improved.

In order to make the aforementioned objects, features and advantages of the embodiments of the present application more comprehensible, embodiments of the present application are described in detail below with reference to the accompanying drawings. It is to be understood that the described embodiments are merely a few embodiments of the present application and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

Example one

FIG. 1 is a schematic structural diagram of a finger assembly according to an embodiment of the present disclosure; FIG. 2 is a schematic structural view of a finger assembly in an expanded state according to an embodiment of the present disclosure; fig. 3 is a schematic structural diagram of the finger assembly in a contracted state according to the embodiment of the present disclosure.

Referring to fig. 1 to 3, a finger assembly 100 according to an embodiment of the present application includes: bracket 110 and stop 120. The stop piece 120 is mounted on the rotating shaft 111, and can rotate to a horizontal unfolded state relative to the bracket 110 under the driving of the rotating shaft 111, so that the stop piece 120 in the unfolded state can push and pull the cargo box; or, the rotating shaft 111 is rotated reversely to drive the stopper 120 to rotate to the vertical retracted state relative to the bracket 110.

In order to meet the requirement that the finger assembly 100 can take and place containers with different width dimensions, in the embodiment of the present application, the finger assembly 100 further includes a telescopic member 130, the telescopic member 130 is slidably connected with the stopper 120, it can be understood that the telescopic member 130 can slide relative to the stopper 120, when the stopper 120 needs to push and pull a container, the telescopic member 130 slides along the extending direction of the length of the stopper 120 and in the direction away from the stopper 120, so that the length of the stopper 120 can be compensated by the telescopic member 130, so as to push and pull a container with a smaller width dimension; or, when the stop member 120 needs to be retracted, the telescopic member 130 can slide toward a direction close to the stop member 120, so as to shorten the overall length of the stop member 120 and the telescopic member 130, and avoid that the overall height of the stop member 120 and the telescopic member 130 is higher when the stop member 120 is retracted, which results in a larger inter-layer distance between shelves corresponding to picking and placing containers, so that in the application, the telescopic member 130 is extended or retracted relative to the stop member 120, so as to be suitable for containers with different width sizes, and on the one hand, the inter-layer distance between shelves can be reduced, and the storage density of the warehouse along the vertical direction is increased; on the other hand, the visual effect can be improved.

It is understood that the finger assembly 100 further includes a driving mechanism 140, one end of the driving mechanism 140 is connected to the rotating shaft 111, and the other end of the driving mechanism 140 is connected to the telescopic member 130, that is, the driving mechanism 140 is a power source for rotating the rotating shaft 111, and the driving mechanism 140 is a power source for sliding the telescopic member 130 relative to the stopper 120.

It is understood that the driving mechanism 140 can drive the rotating shaft 111 to rotate forward or backward, so that the rotating shaft 111 drives the stopper 120 to be in the extended state or the retracted state, and when there is relative rotation between the driving mechanism 140 and the stopper 120, the driving mechanism 140 drives the telescopic member 130 to move away from or close to the stopper 120, so as to achieve the extension or reduction of the overall length of the stopper 120 and the telescopic member 130.

Wherein, the stopper 120 may include, but is not limited to, a stopper rod; the telescoping member 130 may include, but is not limited to, a telescoping rod.

In summary, in the embodiment of the present application, by slidably connecting the telescopic member 130 with the stopper 120, when the rotary wheel 141 and the stopper 120 rotate relatively, the driving mechanism 140 drives the telescopic member 130 to move in a direction away from the stopper 120, so as to compensate the length of the stopper 120 through the telescopic member 130, so that the stopper 120 can push and pull containers with different width dimensions; or the driving mechanism 140 drives the telescopic member 130 to move towards the direction close to the stop member 120, so that the telescopic member 130 contracts towards the direction close to the stop member 120, so as to shorten the overall length of the stop member 120 and the telescopic member 130, and avoid that the size of the stop member 120 and the telescopic member 130 is too large when rotating to the vertical direction, which results in that the layer interval of the corresponding shelf along the vertical direction is larger, so that the finger assembly 100 can increase the storage density of the warehouse along the vertical direction while pushing and pulling containers with different width sizes; in addition, the visual effect can be improved.

As an alternative embodiment, the stopper 120 has a sliding groove along the extending direction thereof, and the telescopic member 130 moves in the sliding groove along the extending direction of the sliding groove, so that the overall length dimension of the stopper 120 and the telescopic member 130 can be extended and contracted, so as to facilitate pushing and pulling of containers with different width dimensions.

In order to improve the guiding reliability between the extensible member 130 and the stop member 120, in the embodiment of the present application, along the extending direction of the sliding groove, two opposite walls of the sliding groove are provided with guide rails, two opposite walls of the extensible member 130 are respectively provided with guide grooves matched with the guide rails, and the guide rails are located in the guide grooves and move relative to the extending direction of the guide grooves, so as to improve the guiding reliability of the extensible member 130 sliding relative to the stop member 120, and avoid the driving member from deflecting to cause the locking phenomenon when the driving member drives the extensible member 130 to extend and retract.

With continued reference to fig. 1 to 3, in the embodiment of the present application, the driving mechanism 140 includes a rotating wheel 141, a pulling rope 142 and an elastic member 143, the rotating wheel 141 is mounted on the bracket 110, one end of the pulling rope 142 is wound on the rotating wheel 141, the other end of the pulling rope 142 is fixedly connected to the telescopic member 130, one end of the elastic member 143 abuts against one end of the sliding chute close to the rotating shaft 111, and the other end of the elastic member 143 abuts against one end of the telescopic member 130 close to the stopper 120.

The elastic member 143 may include, but is not limited to, a spring, and may be, for example, a cylindrical coil spring, a truncated cone-shaped coil spring, or the like.

In a specific implementation, when the stopper 120 is turned from a vertical retracted state to a horizontal extended state, and when there is a relative rotational motion between the caster 141 and the stopper 120, the pulling rope 142 winds out of the caster 141, the elastic member 143 drives the extensible member 130 to move in a direction away from the stopper 120 through its own elastic force, so as to compensate the length of the stopper 120 through the extensible member 130, and increase the length of the integral structure formed by the stopper 120 and the extensible member 130, so as to push and pull containers with different width dimensions.

When the stopper 120 is turned from the unfolded state to the vertical folded state, and when the rotary wheel 141 has a relative rotation motion with respect to the stopper 120, the pulling rope 142 is wound on the rotary wheel 141 to pull the extensible member 130 to contract in a direction close to the stopper 120 by the pulling force of the pulling rope 142 wound on the rotary wheel 141, and the extensible member 130 extrudes the elastic member 143 to make the elastic member 143 in a compressed state, so that the length of the integral structure formed by the stopper 120 and the extensible member 130 is shortened, and the height of the stopper 120 and the height of the extensible member 130 when the stopper 120 and the height of the extensible member 130 rotate to the folded state are prevented from being too high, therefore, by setting the extensible member 130 to be extensible with respect to the stopper 120, while pushing and pulling containers with different width sizes, the layer spacing of the shelves can be prevented from being too large, so that the storage density of the warehouse in the vertical direction can be increased; in addition, the visual effect can be improved.

As an alternative embodiment, with continued reference to fig. 1, the turning wheel 141 is fixedly installed on the rotating shaft 111, and is driven by the rotating shaft 111 to rotate relative to the bracket 110; the bracket 110 is provided with a limiting member 170, when the rotating shaft 111 drives the stopping member 120 to rotate to a first direction (e.g., an expanded state) or a second direction (e.g., a retracted state), the stopping member 120 abuts against the limiting member 170, and the rotating shaft 111 continues to drive the rotating wheel 141 to rotate, so that the expansion member 130 moves relative to the stopping member 120, wherein the first direction is perpendicular to the second direction. For example, the first direction may be a horizontal direction, and the second direction may be a vertical direction perpendicular to the horizontal direction.

It can be understood that one end of the stop member is provided with a mounting hole, the stop member is sleeved on the rotating shaft through the mounting hole, the rotating shaft drives the stop member to rotate through the friction force between the rotating shaft and the stop member, and when the stop member is stopped by the stop member, the rotating shaft overcomes the friction force between the rotating shaft and the stop member to continue to rotate.

The rotating wheel 141 and the rotating shaft 111 can rotate synchronously with the rotating shaft 111 by interference fit, key (e.g., flat key, spline) connection, and the like.

It should be noted that the limiting member 170 includes a first limiting portion 171 disposed horizontally and a second limiting portion 172 disposed vertically, when the stopping member 120 rotates to the horizontally extended state, the first limiting portion 171 limits the movement of the stopping member 120 along the second direction, and when the stopping member 120 rotates to the vertically retracted state, the second limiting portion 172 limits the movement of the stopping member 120 along the first direction.

As shown in fig. 3, when the rotating shaft 111 drives the stopper 120 to rotate from the expanded state to the retracted state (i.e. from the first direction to the second direction), the rotating wheel 141 and the stopper 120 rotate synchronously with the rotating shaft 111, when the stopper 120 rotates to the retracted state, the stopper 120 abuts against the second limiting portion 172, the second limiting portion 172 is used for limiting the stopper 120 in the first direction, when the rotating shaft 111 continues to rotate, the stopper 120 and the rotating shaft 111 start to slip, i.e. the stopper 120 does not rotate with the rotating shaft 111, but the rotating wheel 141 continues to rotate with the rotating shaft 111, at this time, there is relative rotation between the rotating wheel 141 and the stopper 120, the rotating wheel 141 rotates relative to the stopper 120, so that the pulling rope 142 winds the rotating wheel 141, the pulling rope 142 pulls the extensible member 130 to move towards a direction close to the rotating wheel 141, so that the elastic member 143 is pressed by the extensible member 130 to be in a compressed state, thereby realize the shrink of extensible member 130, shorten the length dimension of the overall structure that stopper 120 and extensible member 130 formed, when avoiding high and influence visual effect, lead to the low problem of warehouse density along vertical direction.

With continued reference to fig. 1 and 2, when the rotation shaft 111 rotates the stopper 120 from the retracted state to the extended state (i.e. from the second direction to the first direction), the rotation wheel 141 and the stopper 120 rotate synchronously with the rotation shaft 111, when the stopper 120 rotates to the retracted state, the stopper 120 abuts against the first limiting portion 171, the first limiting portion 171 is used for limiting the stopper 120 in the second direction, when the rotation shaft 111 continues to rotate, the stopper 120 and the rotation shaft 111 start to slip, i.e. the stopper 120 does not rotate with the rotation shaft 111, and the rotation wheel 141 continues to rotate with the rotation shaft 111, at this time, there is relative rotation between the rotation wheel 141 and the stopper 120, the rotation wheel 141 rotates relative to the stopper 120, so that the traction rope 142 winds from the rotation wheel 141, at this time, the elastic member 143 drives the expansion member 130 to move towards the end away from the stopper 120 by its own elastic force, to compensate for the length of the stopper 120 and thereby increase the length dimension of the integral structure formed by the stopper 120 and the telescopic member 130, so as to push and pull cargo containers with different width dimensions, and increase the application range of the finger assembly 100.

As another alternative, the swivel wheel 141 is stationary relative to the support 110. In one example, swivel wheels 141 may be fixedly mounted on the support 110. In another example, a bearing (e.g., a support bearing) is disposed on the rotating shaft 111, the rotating wheel 141 is mounted on the bearing, and the rotating shaft 111 can rotate relative to the bearing, such that when the rotating shaft 111 drives the stop member 120 to rotate, the rotating wheel 141 is stationary relative to the stop member 120, and therefore, when the rotating shaft 111 drives the stop member 120 to rotate, the pulling rope 142 can rotate synchronously with the stop member 120, such that the pulling rope 142 can wind around a portion of the outer circumference of the rotating wheel 141, so as to enable the pulling rope 142 to pull the telescopic member 130 to contract in a direction close to the stop member 120; alternatively, the traction rope 142 is wound from the pulley 141 such that the elastic member 143 drives the extension member 130 to extend away from the end of the stopper 120 to compensate the length of the stopper 120.

It is understood that the telescopic distance of the telescopic member 130 is the same as the size of the winding circumference of the traction rope 142 on the caster 141 when rotating with the stopper 120, so that different telescopic distances of the telescopic member 130 can be realized by configuring the caster 141 with different diameters, for example, when the telescopic distance of the telescopic member 130 is large, the caster 141 with a sufficiently large diameter can be configured.

Referring to fig. 4, the rotating wheel 141 is provided with a winding groove 1411, the winding groove 1411 is circumferentially wound around the rotating wheel 141, and the traction rope 142 is wound in the winding groove 1411.

It can be appreciated that the dimensional accuracy of the telescopic distance of the telescopic member 130 is improved by providing the winding groove 1411 on the rotary wheel 141 to provide guidance when the traction rope 142 is wound on the rotary wheel 141.

The hauling rope 142 may include, but is not limited to, a steel rope.

In addition, the driving mechanism 140 further includes a motor 150 and a coupling 160, an output end of the motor 150 has an output shaft, and the coupling 160 connects the output shaft with the rotating shaft 111, so that the motor 150 drives the rotating shaft 111 to rotate.

It is understood that the power source of the rotating shaft 111 is located at the motor 150, and the motor 150 rotates forward or backward to realize forward or backward rotation of the rotating shaft 111.

In addition, one end of the coupling 160 is connected to an output shaft of the motor 150, and the other end of the coupling 160 is connected to the rotating shaft 111, so that the motor 150 drives the rotating shaft 111 to rotate through the coupling 160.

Example two

The embodiment of the application further provides a fork device, which comprises a fork body, a fork arm positioned on the fork body and the finger assembly in the first embodiment, wherein the finger assembly is positioned at the front end of the fork arm; when the finger assembly is in an unfolded state (namely, a horizontal state), the finger drilling is used for pushing out the container on the fork body or pulling the container into the fork body so as to realize the taking and placing of the container.

Wherein, the fork arm can be two, and two relative settings of fork arm are in the relative both sides of fork body, and the front end of each fork arm all is equipped with the finger subassembly.

It can be understood that when the finger assemblies on the two fork arms are rotated to the unfolded state, the finger assemblies on the two fork arms are simultaneously rotated to the direction close to each other, so that the two finger assemblies are horizontally positioned between the two fork arms to jointly push and pull the cargo box; and when the finger assemblies on the two fork arms are rotated toward the stowed position, the finger assemblies on the two fork arms are simultaneously rotated in a direction away from each other.

The structure and the operation principle of the finger assembly have been described in detail in the first embodiment, and are not described herein again.

The structure of the fork body and the fork arm can refer to the structure in the related art, and the details are not repeated herein.

EXAMPLE III

The carrying equipment provided by the embodiment of the application comprises an equipment body and the fork device provided by the second embodiment, wherein the fork device is arranged on the equipment body.

The carrying equipment provided by the embodiment of the application can include, but is not limited to, a carrying robot.

The beneficial effect of the fork device and the handling equipment in this application embodiment is the same as the beneficial effect of the finger assembly in the first embodiment, and the description is omitted here.

The embodiments or implementation modes in the present specification are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments may be referred to each other.

In the description herein, references to the description of the terms "one embodiment," "some embodiments," "an illustrative embodiment," "an example," "a specific example," or "some examples" or the like mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present application. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

Finally, it should be noted that: the above embodiments are only used for illustrating the technical solutions of the present application, and not for limiting the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A finger assembly, comprising: the device comprises a bracket, a stop piece, a telescopic piece and a driving mechanism; the stop piece is arranged on the rotating shaft and driven by the rotating shaft to rotate relative to the bracket; the extensible member with stop part sliding connection, actuating mechanism's one end with the pivot is connected, actuating mechanism's the other end with the extensible member is connected, works as actuating mechanism with when rotating relatively between the stop part, the actuating mechanism drive the extensible member is to keeping away from or being close to the direction of stop part removes.

2. The finger assembly of claim 1, wherein said stop member has a slide slot along its direction of extension, said telescoping member being movable along said slide slot.

3. The finger assembly of claim 2, wherein, along the extending direction of the sliding slot, two opposite slot walls of the sliding slot are provided with guide rails, two opposite side walls of the telescopic member are respectively provided with guide slots matched with the guide rails, and the guide rails move in the guide slots relative to the extending direction of the guide slots.

4. The finger assembly of claim 2, wherein said driving mechanism comprises a rotary wheel, a traction rope and an elastic member, said rotary wheel is mounted on said support, one end of said traction rope is wound on said rotary wheel, the other end of said traction rope is fixedly connected with said telescopic member, one end of said elastic member is abutted with one end of said sliding chute close to the rotating shaft, and the other end of said elastic member is abutted with one end of said telescopic member close to said stop member;

when the rotary wheel and the stop piece rotate relatively, the elastic piece drives the telescopic piece to move in a direction away from the stop piece; or the traction rope is wound on the rotary wheel so as to draw the telescopic piece to move towards the direction close to the stop piece.

5. The finger assembly of claim 4, wherein the rotary wheel is fixedly mounted on the rotating shaft and driven by the rotating shaft to rotate relative to the bracket;

the bracket is also provided with a limiting piece, when the rotating shaft drives the stopping piece to rotate to a first direction or a second direction, the stopping piece is abutted against the limiting piece, and the rotating shaft continues to drive the rotating wheel to rotate so as to enable the telescopic piece to move relative to the stopping piece; wherein the first direction is perpendicular to the second direction.

6. The finger assembly of claim 5, wherein said retaining member comprises a first retaining portion and a second retaining portion connected to said first retaining portion, said first retaining portion extending along said first direction and said second retaining portion extending along said second direction;

when the stop piece rotates to a first direction, the stop piece is abutted against the first limiting part; when the stop piece rotates to the second direction, the stop piece is abutted to the second limiting part.

7. The finger assembly of claim 4, wherein said swivel wheel is stationary relative to said support.

8. The finger assembly of claim 7, wherein said shaft is provided with a bearing, said wheel is mounted on said bearing, and said shaft rotates said stop member relative to said wheel.

9. The finger assembly according to any one of claims 4-8, wherein said wheel is provided with a winding groove, said winding groove is circumferentially wound around said wheel, and said traction cord is wound in said winding groove.

10. The finger assembly of claim 9, wherein said pull cord is a steel cord.

11. The finger assembly of any one of claims 1-8, wherein said driving mechanism further comprises a motor and a coupling, wherein an output end of said motor has an output shaft, and said coupling connects said output shaft with said spindle, so that said motor drives said spindle to rotate.

12. The finger assembly of any one of claims 4-8, wherein said resilient member is a spring.

13. A pallet fork arrangement comprising a pallet fork body, a pallet fork arm on the pallet fork body, and the finger assembly of any one of claims 1-12 above, the finger assembly being located at a forward end of the pallet fork arm, the finger assembly being configured to push a container on the pallet fork body out or pull the container into the pallet fork body when the finger assembly is in an extended position.

14. The fork apparatus of claim 13, wherein the fork arms are two, the two fork arms being disposed opposite each other on opposite sides of the fork body, and the finger assembly being disposed at a front end of each fork arm.

15. A handling apparatus comprising an apparatus body and a fork arrangement as claimed in claim 13 or 14, said fork arrangement being mounted to said apparatus body.