CN216425625U - Finger mechanism, fork device and carrying equipment - Google Patents

Abstract

The application provides a finger mechanism, a fork device and carrying equipment, relates to the technical field of logistics equipment, and is used for solving the technical problem that the storage density of a warehouse in the vertical direction is low; the driving assembly is arranged on the bracket and connected with the stop piece, and one end of the stop piece, which is far away from the driving assembly, is pivoted with the folding piece; when the driving component drives the stop component to drive the folding component to rotate, the connecting rod component drives the folding component to unfold or fold relative to the stop component. The fork device and the carrying device comprise the finger mechanism. According to the method and the device, the storage density of the warehouse in the vertical direction can be improved.

Description

Finger mechanism, fork device and carrying equipment

Technical Field

The application relates to the technical field of logistics equipment, in particular to a finger mechanism, a pallet 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 located on the fork body, and a finger mechanism located on the telescopic arm, and when the telescopic arm is extended, the finger mechanism is used to push out a load on the fork body, and when the telescopic arm is contracted, the finger mechanism is used to pull the load 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 finger mechanism is high in height in the stowed state, resulting in a low storage density of the warehouse in the vertical direction.

SUMMERY OF THE UTILITY MODEL

In view of the above problems, embodiments of the present application provide a finger mechanism, a fork device, and a carrying apparatus, in which the finger mechanism can be folded in a stowed state to achieve the purpose of shortening the overall size of the finger mechanism, thereby improving the storage density of a warehouse in the vertical direction.

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 mechanism, which includes: the folding device comprises a bracket, a stop piece, a folding piece, a connecting rod assembly and a driving assembly; the driving assembly is mounted on the bracket and connected with the stop piece, and one end of the stop piece, which is far away from the driving assembly, is pivoted with the folding piece; when the driving component drives the stop component to drive the folding component to rotate, the connecting rod component drives the folding component to unfold or fold relative to the stop component.

In an optional embodiment, the folding member is pivoted to the stopper through a first rotating shaft, the link assembly is pivoted to the folding member through a second rotating shaft, the first rotating shaft and the second rotating shaft are arranged in parallel, and the second rotating shaft and the link assembly are located on the same side of the first rotating shaft.

In an optional implementation manner, the link assembly includes a first link and a connecting unit, a first end of the first link is pivotally connected to the bracket, a second end of the first link is pivotally connected to the connecting unit, one side of the connecting unit away from the first link is pivotally connected to the folding member through a second rotating shaft, and the stopper is pivotally connected to the connecting unit.

In an optional implementation manner, the connection unit includes a connection element and a second connection rod, the second end of the first connection rod is pivoted with the connection element, the connection element deviates from one side of the first connection rod through a third rotation shaft and the first end of the second connection rod is pivoted, the second end of the second connection rod passes through the second rotation shaft and the folding piece is pivoted, and the third rotation shaft is located the deviation of the second rotation shaft from one side of the first rotation shaft.

In an alternative embodiment, when the stopper rotates, the first link pulls the second link via the connecting member to rotate the second link in a direction opposite to a rotation direction of the stopper, and the second link is used to pull the folding member to unfold or fold relative to the stopper.

In an optional embodiment, the stop member includes a stop portion and a connecting portion connected to the stop portion, the connecting portion is disposed at an end of the stop member away from the driving assembly, and the connection between the stop portion and the connecting portion is at the pivot joint of the connecting member; one end of the connecting part, which is far away from the stopping part, is pivoted with the folding part through the first rotating shaft.

In an alternative embodiment, an end of the folding member close to the stopper is provided with an extension portion, and the extension portion is pivotally connected to the second end of the second link via the second rotating shaft.

In an alternative embodiment, the first link has a length greater than the length of the second link.

In an optional embodiment, the connecting rod assembly further includes a fixing seat, the fixing seat is fixedly mounted on the bracket, and the first end of the first connecting rod is pivoted to the fixing seat.

In an optional embodiment, the driving assembly includes a rotating member and a motor connected to the rotating member, the rotating member is mounted on the bracket and can rotate relative to the bracket, one end of the rotating member is connected to the motor, and the other end of the rotating member is fixedly connected to the stop member, so that the motor drives the rotating member to drive the stop member to rotate relative to the bracket.

In a second aspect, an embodiment of the present application provides a fork device, including a fork body, a fork arm located on the fork body, and the finger mechanism provided by the first aspect, where the finger mechanism is located at a front end of the fork arm, and when the finger mechanism is in a horizontal unfolding state, the finger mechanism is used to push out a container on the fork body or pull the container into the fork body.

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

Compared with the prior art, the finger mechanism, the fork device and the carrying equipment provided by the embodiment of the application have the advantages that:

the finger mechanism provided by the embodiment of the application comprises a support, a stop part, a folding part, a connecting rod assembly and a driving assembly, wherein the driving assembly is installed on the support and connected with the stop part, one end, far away from the driving assembly, of the stop part is pivoted with the folding part, and when the driving assembly drives the stop part to drive the folding part to rotate, the connecting rod assembly drives the folding part to unfold or fold relative to the stop part; in addition, the visual effect can be improved.

In addition to the technical problems, technical features constituting technical solutions, and advantageous effects brought by the technical features of the technical solutions described above, other technical problems, technical features included in technical solutions, and advantageous effects brought by the technical features that can be solved by the finger mechanism, 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 mechanism according to an embodiment of the present disclosure;

FIG. 2 is a schematic structural diagram of another perspective of the finger mechanism according to the embodiment of the present disclosure;

FIG. 3 is a schematic diagram of a finger mechanism according to an embodiment of the present application in a folded state;

FIG. 4 is a schematic illustration of a finger mechanism in a folded state from another perspective as provided by an embodiment of the pending application;

fig. 5 is a partially exploded view of a finger mechanism according to an embodiment of the present application.

Reference numerals:

100-finger mechanism; 110-a scaffold; 120-a stop member;

121-a stop; 122-a connecting portion; 130-a fold;

131-an extension; 140-a linkage assembly; 141-a first link;

142-a connecting unit; 1421-connecting piece; 1422 — second link;

143-fixed seat; 150-a drive assembly; 151-a swivel;

152-motor.

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 mechanism located on the telescopic arm, the finger mechanism can rotate from a horizontal unfolded state to a vertical folded state relative to the telescopic arm, or from the vertical folded state to a horizontal unfolded state, when the finger mechanism is in the horizontal unfolded state and extends out along with the telescopic arm, the finger mechanism can push out a container on the fork body; or the finger mechanism in a horizontal unfolding state is used for drawing the cargo box into the pallet fork body along with the contraction of the telescopic arm; 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 mechanism is great relatively to make finger mechanism can push, draw the great packing box of width size, also can push, draw the less packing box of width size. However, if the finger mechanism has a large dimension and length, the height of the finger mechanism is much higher than the highest surface of the fork device when the finger mechanism is in a vertically retracted state, so that on one hand, the inter-floor distance of the warehouse corresponding to the container taken 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 finger mechanism is visually poor in the stowed state.

In view of the above technical problems, an embodiment of the present application provides a finger mechanism, a fork device and a carrying device, where the finger mechanism is pivotally connected between a folding member and a stop member, and when a driving assembly drives the stop member to rotate, a connecting rod assembly can drive the folding member to unfold or fold relative to the stop member, so that when the finger mechanism is in a vertically retracted state, the folding member is folded relative to the stop member, so as to shorten an overall height dimension of the finger mechanism in the retracted state, so as to meet cargo containers with different width dimensions, and at the same time, to improve storage density of a warehouse in a vertical direction; 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 mechanism according to an embodiment of the present disclosure; FIG. 2 is a schematic structural diagram of another perspective of the finger mechanism according to the embodiment of the present disclosure; FIG. 3 is a schematic diagram of a finger mechanism according to an embodiment of the present application in a folded state; FIG. 4 is a schematic illustration of a finger mechanism in a folded state from another perspective as provided by an embodiment of the pending application; fig. 5 is a partially exploded view of a finger mechanism according to an embodiment of the present application.

Referring to fig. 1 to 5, a finger mechanism 100 according to an embodiment of the present application includes: bracket 110, stop 120, folding member 130, linkage assembly 140, and drive assembly 150.

The driving assembly 150 is mounted on the bracket 110, one end of the stopper 120 is connected to the driving assembly 150, and the other end (i.e., the end away from the driving assembly 150) of the stopper 120 is pivotally connected to the folder 130.

When the driving assembly 150 drives the stopper 120 to rotate the folding member 130, the stopper 120 drives the folding member 130 to unfold or fold relative to the stopper 120 via the connecting rod assembly 140.

It is understood that the driving assembly 150 may drive the rotation of the stopper 120 from the vertical stowed state to the horizontal deployed state, or the driving assembly 150 may drive the rotation of the stopper 120 from the horizontal deployed state to the vertical stowed state.

In a specific implementation, for example, when the driving assembly 150 drives the stopper 120 to rotate to the horizontal unfolded state, the stopper 120 drives the folding member 130 to rotate in a direction opposite to the rotation direction of the stopper 120 via the link assembly 140, so that the folding member 130 is unfolded relative to the stopper 120, and the length of the stopper 120 is compensated by the folding member 130, so that the stopper 120 with a sufficient length can push and pull a container with a large width dimension, and can push and pull a container with a small width dimension, thereby satisfying a complex cargo taking and placing environment.

When the driving assembly 150 drives the stopping member 120 to rotate towards the vertical retracted state, the stopping member 120 drives the folding member 130 to rotate towards the direction opposite to the rotating direction of the stopping member 120 via the connecting rod assembly 140, so that the folding member 130 is folded relative to the stopping member 120, and thus, the overall height of the finger mechanism 100 in the vertical direction can be reduced, the layer distance of a corresponding warehouse for storing containers in the vertical direction can be reduced, and the storage density of the warehouse in the vertical direction can be improved.

In addition, when the folding member 130 is folded relative to the stop member 120, the overall height of the finger mechanism 100 in the vertical direction is reduced, so that the finger mechanism 100 is prevented from being higher than the highest surface of the fork device in the vertical direction, the structural compactness of the fork device is improved, and the visual effect is improved.

Therefore, in the embodiment of the application, by configuring the folding piece 130 to be unfolded or folded relative to the stop piece 120, the layer spacing of the storage warehouse corresponding to the containers in the vertical direction can be reduced while the containers with different width sizes are taken and placed, and the storage density of the warehouse in the vertical direction can be improved; in addition, when the fingers are in a vertically retracted state, the folding member 130 is folded relative to the stop member 120, so that the highest point of the finger mechanism 100 is lower than the highest plane of the fork device, thereby improving the overall structural compactness of the fork device and further improving the visual effect.

The stopper 120 may include, but is not limited to, a stopper rod, and a cross-sectional shape of the stopper rod in a direction perpendicular to an extending direction of the stopper rod may be rectangular, circular, elliptical, or any other shape.

The folding member 130 may also include, but is not limited to, a folding rod, and the cross-sectional shape of the folding rod along the direction perpendicular to the extending direction of the folding rod may be rectangular, circular, oval, etc.

In an alternative embodiment, the folding member 130 is pivotally connected to the stopper 120 via a first rotating shaft, the connecting rod assembly 140 is pivotally connected to the folding member 130 via a second rotating shaft, the first rotating shaft and the second rotating shaft are disposed in parallel, and the second rotating shaft and the connecting rod assembly 140 are located on the same side of the first rotating shaft.

The first rotating shaft and the second rotating shaft can be both rotating shafts with circular cross sections.

It can be understood that the folding member 130 is pivoted to the stopper 120 by the first rotating shaft, so that the folding member 130 can rotate relative to the stopper 120; the link assembly 140 and the folding member 130 are pivoted through the second rotating shaft, so that the folding member 130 can rotate relative to the link assembly 140, and in addition, by arranging the first rotating shaft and the second rotating shaft in parallel and positioning the second rotating shaft and the link assembly 140 at the same side of the first rotating shaft, when the stop member 120 rotates, the stop member 120 drives the folding member 130 to unfold or fold relative to the stop member 120 through the link assembly 140, thereby avoiding interference between the link assembly 140 and the stop member 120 when the folding member 130 is driven to rotate.

In an alternative embodiment, as shown in fig. 1, 2 and 5, the connecting rod assembly 140 includes a first connecting rod 141 and a connecting unit 142, a first end of the first connecting rod 141 is pivotally connected to the bracket 110, a second end of the first connecting rod 141 is pivotally connected to the connecting unit 142, a side of the connecting unit 142 away from the first connecting rod 141 is pivotally connected to the folder 130 through a second pivot, and the stopper 120 is pivotally connected to the connecting unit 142.

In a specific implementation, as shown in fig. 1 and 2, one end of the first link 141 is connected to the bracket 110 and can rotate relative to the bracket 110, and the bracket 110 is fixed, so that when the driving assembly 150 drives the stopper 120 to rotate to the horizontal unfolded state, the stopper 120 drives the connecting unit 142 to rotate, and one end of the connecting unit 142 close to the first link 141 is pulled by the first link 141, so that the connecting unit 142 does not rotate synchronously with the stopper 120, and meanwhile, as the stopper 120 continues to rotate, the connecting unit 142 rotates in a direction opposite to the rotating direction of the stopper 120 under the pulling of the first link 141, so that the connecting unit 142 drives the folder 130 to rotate in a direction opposite to the rotating direction of the stopper 120, thereby achieving the purpose of unfolding the folder 130 relative to the stopper 120.

When the stopping member 120 rotates in the vertical retracting state, the stopping member 120 drives the connecting unit 142 to rotate in the direction close to the first connecting rod 141, and since the connecting position between the first connecting rod 141 and the bracket 110 is fixed, when the stopping member 120 rotates in the vertical retracting state, the first connecting rod 141 pushes the connecting unit 142 to rotate in the direction opposite to the rotating direction of the stopping member 120, so that the connecting unit 142 pushes the folding member 130 to fold relative to the stopping member 120, thereby shortening the overall height dimension of the finger mechanism 100 in the retracting state, as shown in fig. 3 and 4.

Optionally, the connection unit 142 includes a connection member 1421 and a second connection rod 1422, the second end of the first connection rod 141 is pivoted with the connection member 1421, one side of the connection member 1421 departing from the first connection rod 141 is pivoted with the first end of the second connection rod 1422 through a third rotation shaft, the second end of the second connection rod 1422 is pivoted with the folding member 130 through the second rotation shaft, and the third rotation shaft is located on one side of the second rotation shaft departing from the first rotation shaft.

When the driving assembly 150 drives the stopper 120 to rotate, the first link 141 pulls the second link 1422 via the connecting member 1421, so that the second link 1422 rotates in a direction opposite to the rotation direction of the stopper 120, and the second link 1422 is used for pulling the folder 130 to unfold or fold relative to the stopper 120.

The connecting member 1421 may include, but is not limited to, a rectangular connecting plate.

In addition, for convenience of description, in the embodiment of the present application, as shown in fig. 3, the first link 141 is pivotally connected to the connecting member 1421, the pivotal point of the first link 1421 can be denoted by a, the connecting member 1421 is pivotally connected to the second link 1422, the pivotal point of the second link 1422 can be denoted by B, the stopper 120 is also pivotally connected to the connecting member 1421, and the pivotal point of the second link 1421 can be denoted by C, it is to be noted that the pivotal points A, B, C are all on the same surface of the connecting member 1421 perpendicular to the pivotal axis, and in addition, the three pivotal points A, B, C can be non-collinear on the connecting member 1421, for example, the three pivotal points A, B, C can form a triangle on the surface of the connecting member 1421.

For example, the first link 141 is pivotally connected to the connecting member 1421, the connecting member 1421 is pivotally connected to the second link 1422, and the connecting member 1421 is pivotally connected to the stopper 120, and the pivots can be pivotally connected through a rotating shaft.

In a specific implementation, for example, when the driving assembly 150 drives the stopper 120 to rotate towards the horizontal unfolding state, the stopper 120 drives the connecting member 1421 to rotate towards the horizontal unfolding state, because one end of the connecting member 1421 is pivotally connected to the first link 141, when the stopper 120 rotates, the connecting member 1421 is pulled by the first link 141, so that the connecting member 1421 rotates towards a direction opposite to the rotation direction of the stopper 120, and the connecting member 1421 drives the second link 1422 to rotate together, so that the second link 1422 pulls the folder 130 to rotate towards a direction opposite to the rotation direction of the stopper 120, so that the folder 130 unfolds relative to the stopper 120.

When the driving assembly 150 drives the stopper 120 to rotate toward the vertical retracted state, the stopper 120 drives the connecting member 1421 to rotate toward the vertical direction, and since the position of the connection point between the first connecting rod 141 and the bracket 110 is not changed, when the stopper 120 rotates toward the vertical direction, the first connecting rod 141 pushes the connecting member 1421 to rotate toward the direction opposite to the rotation direction of the stopper 120, so that the connecting member 1421 drives the second connecting rod 1422 to rotate, and the second connecting rod 1422 pushes the folder 130 to fold relative to the stopper 120.

In an alternative embodiment, the stopper 120 includes a stopping portion 121 and a connecting portion 122 connected to the stopping portion 121, the connecting portion 122 is disposed at an end of the stopper 120 away from the driving assembly 150, and a connection portion where the stopping portion 121 and the connecting portion 122 are connected is pivotally connected to the connecting member 1421; one end of the connecting portion 122 away from the stopping portion 121 is pivotally connected to the folding member 130 via a first rotating shaft.

It can be understood that, when the container is pushed and pulled, the stopping portion 121 of the stopping member 120 is used for pushing and pulling the container, and the connecting portion 122 connected to the stopping portion 121 is pivoted to the folding member 130 through the first rotating shaft, so that the folding member 130 can be located on the same straight line with the stopping portion 121 after being unfolded, thereby compensating the length of the stopping member 120 by the folding member 130.

For example, the stopper portion 121 and the connecting portion 122 may form an L-shape.

An extending portion 131 is disposed at an end of the folding member 130 close to the stopper 120, and the extending portion 131 is pivotally connected to a second end of the second connecting rod 1422 through a second rotating shaft.

In addition, in order to avoid the interference between the stopper 120 and the extending portion 131 of the folding member 130, in the embodiment of the present application, an avoiding space is provided at one end of the connecting portion 122 of the stopper 120 close to the folding member 130, so that when the folding member 130 rotates relative to the connecting portion 122, the avoiding space of the connecting portion 122 can avoid the extending portion 131 of the folding member 130.

In the embodiment of the present application, the length of the first link 141 is greater than the length of the second link 1422.

It is understood that the length of the first link 141 is related to the rotation angle of the folding member 130 relative to the stopper 120, and therefore, the length of the first link 141 can be determined according to the actual rotation angle of the folding member 130 relative to the stopper 120, and the embodiment is not particularly limited herein.

The connecting rod assembly 140 further includes a fixing seat 143, the fixing seat 143 is fixedly mounted on the bracket 110, and the first end of the first connecting rod 141 is pivotally connected to the fixing seat 143.

The fixing base 143 may include, but is not limited to, a rectangular plate to compensate for the structure of the bracket 110 through the fixing base 143, so as to achieve connection between the first link 141 and the bracket 110 at a designated position.

In addition, as shown in fig. 1, the driving assembly includes a rotating member 151 and a motor 152 connected to the rotating member 151, the rotating member 151 is mounted on the bracket 110 and can rotate relative to the bracket 110, one end of the rotating member 151 is connected to the motor 152, and the other end of the rotating member 151 is fixedly connected to the stopper 120, so that the motor 152 drives the rotating member 151 to drive the stopper 120 to rotate relative to the bracket 110.

It is understood that the rotary member 151 may be a rotary shaft. In addition, the driving assembly further includes a coupler for connecting an output shaft of the motor 152 and the rotating member 151, so that the motor 152 drives the rotating member 151 to rotate through the coupler, and the rotating member 151 drives the stopper 120 to rotate relative to the bracket 110.

The finger mechanism provided by the embodiment of the application comprises a support, a stop part, a folding part, a connecting rod assembly and a driving assembly, wherein the driving assembly is installed on the support and connected with the stop part, one end, far away from the driving assembly, of the stop part is pivoted with the folding part, and when the driving assembly drives the stop part to drive the folding part to rotate, the connecting rod assembly drives the folding part to unfold or fold relative to the stop part; in addition, the visual effect can be improved.

Example two

The fork device that this application embodiment provided, including the fork body, be located the fork arm on the fork body and the finger mechanism that above-mentioned embodiment provided, finger mechanism is located the front end of fork arm, and when finger mechanism was the level state of expanding, finger mechanism was used for pushing out the packing box on the fork body or pull-in the packing box on the fork body to realize getting of packing box and put.

The front end of the fork arm refers to the end of the fork arm close to the container when the fork device is used for taking and placing 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 finger mechanism.

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

The structure and the operation principle of the finger mechanism have been explained 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 implementation step two, wherein the fork device is arranged on the equipment body.

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 effects of the fork device and the handling equipment in this application embodiment are the same as the beneficial effects of the finger mechanism in the first embodiment, and are not repeated 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 (12)

1. A finger mechanism, comprising: the folding device comprises a bracket, a stop piece, a folding piece, a connecting rod assembly and a driving assembly;

the driving assembly is mounted on the bracket and connected with the stop piece, and one end of the stop piece, which is far away from the driving assembly, is pivoted with the folding piece;

when the driving component drives the stop component to drive the folding component to rotate, the connecting rod component drives the folding component to unfold or fold relative to the stop component.

2. The finger mechanism of claim 1, wherein said folding member is pivotally connected to said stop member by a first pivot, said linkage assembly is pivotally connected to said folding member by a second pivot, said first pivot and said second pivot are arranged in parallel, and said second pivot and said linkage assembly are located on the same side of said first pivot.

3. The finger mechanism of claim 2, wherein the link assembly comprises a first link and a connecting unit, a first end of the first link is pivotally connected to the bracket, a second end of the first link is pivotally connected to the connecting unit, a side of the connecting unit away from the first link is pivotally connected to the folder through a second pivot, and the stopper is pivotally connected to the connecting unit.

4. The finger mechanism of claim 3, wherein said connecting unit comprises a connecting member and a second connecting rod, the second end of said first connecting rod is pivotally connected to said connecting member, one side of said connecting member departing from said first connecting rod is pivotally connected to the first end of said second connecting rod through a third rotating shaft, the second end of said second connecting rod is pivotally connected to said folding member through said second rotating shaft, and said third rotating shaft is located on one side of said second rotating shaft departing from said first rotating shaft.

5. The finger mechanism of claim 4, wherein when said stopper is rotated, said first link pulls said second link via said connecting member to rotate said second link in a direction opposite to the rotation direction of said stopper, and said second link is used to pull said folder to unfold or fold with respect to said stopper.

6. The finger mechanism of claim 4, wherein said stop member comprises a stop portion and a connecting portion connected to said stop portion, said connecting portion is disposed at an end of said stop member away from said driving assembly, and a connection portion where said stop portion and said connecting portion are connected is pivotally connected to said connecting member; one end of the connecting part, which is far away from the stopping part, is pivoted with the folding part through the first rotating shaft.

7. The finger mechanism of claim 6, wherein an end of said folding member near said stop member is provided with an extension portion, said extension portion is pivotally connected to a second end of said second link via said second shaft.

8. The finger mechanism of anyone of claims 4 to 7, characterised in that said first link has a length greater than a length of said second link.

9. The finger mechanism of any one of claims 3 to 7, wherein said link assembly further comprises a holder, said holder being fixedly mounted on said support, said first end of said first link being pivotally connected to said holder.

10. The finger mechanism according to any one of claims 1 to 7, wherein said driving assembly comprises a rotating member and a motor connected to said rotating member, said rotating member is mounted on said support and can rotate relative to said support, one end of said rotating member is connected to said motor, and the other end of said rotating member is fixedly connected to said stop member, so that said motor drives said rotating member to drive said stop member to rotate relative to said support.

11. A pallet fork arrangement comprising a pallet fork body, a pallet fork arm on the pallet fork body and the finger mechanism of any one of claims 1 to 10 located at the forward end of the pallet fork arm for pushing a container out of the pallet fork body or pulling the container into the pallet fork body when the finger mechanism is in a horizontally deployed state.

12. A handling apparatus comprising an apparatus body and the fork device of claim 11 mounted to the apparatus body.

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