CN219771686U

CN219771686U - Goods moving mechanism, fork device and transfer robot

Info

Publication number: CN219771686U
Application number: CN202320701662.6U
Authority: CN
Inventors: 王思哲; 任旭升; 钟俊成
Original assignee: Hai Robotics Co Ltd
Current assignee: Hai Robotics Co Ltd
Priority date: 2023-03-28
Filing date: 2023-03-28
Publication date: 2023-09-29
Anticipated expiration: 2033-03-28

Abstract

The utility model relates to a cargo transferring mechanism, a fork device and a transfer robot. The goods moving mechanism comprises a power output part, a transmission mechanism and a first goods moving piece; the power output part is fixedly arranged relative to the telescopic arm, and is in transmission connection with the first goods moving part through the connecting rod mechanism; when the power output part rotates towards a first rotation direction, the power output part is used for driving the first goods moving part to be unfolded relative to the telescopic arm through the link mechanism; when the power output part rotates towards the second rotation direction, the power output part is used for driving the first goods moving part to fold relative to the telescopic arm through the connecting rod mechanism, wherein the folded height of the goods moving mechanism is lower than the plane where the highest position of the fork device is located, and the connecting rod mechanism is a four-connecting rod mechanism. The scheme provided by the utility model is beneficial to improving the storage density of the warehouse in the vertical direction, thereby improving the space utilization rate of the warehouse space.

Description

Goods moving mechanism, fork device and transfer robot

Technical Field

The utility model relates to the technical field of storage, in particular to a goods transferring mechanism, a fork device and a transfer robot.

Background

Along with the rapid development of artificial intelligence technology, automation technology and information technology, the intelligent degree of terminal logistics is also continuously improved, an intelligent logistics terminal is a necessary trend of terminal logistics development, and a transfer robot is one of main equipment capable of realizing automatic transfer operation of the intelligent logistics terminal.

In the related art, a handling robot generally includes a fork device, where the fork device includes a fork base, a telescopic arm located on the fork base, and a mechanical finger located on the telescopic arm, where the mechanical finger is used to push out a cargo on the fork device when the telescopic arm is unfolded; when the telescopic arm is contracted, the mechanical finger is used for pulling the goods into the fork device. When the height of the goods is small and the width is large, there occurs a problem that the contact surface between the mechanical finger and the goods is small or the mechanical finger is difficult to contact the goods, and the related art generally solves the above problem by increasing the length of the mechanical finger.

However, when the length of the mechanical finger is increased, the height of the finger when the finger is retracted is higher than the plane at the highest position of the fork, so that the layer spacing of the goods shelf needs to be increased, which is not beneficial to improving the storage density of the warehouse in the vertical direction.

Disclosure of Invention

In order to solve or partially solve the problems in the related art, the utility model provides a goods transferring mechanism, a fork device and a transfer robot, wherein the folded height of the goods transferring mechanism is lower than the plane where the highest position of the fork device is located, the layer spacing of a goods shelf is not increased, the storage density in the vertical direction of a warehouse is improved, and the space utilization rate of the warehouse space is improved.

A first aspect of the present utility model provides a transfer mechanism for use with a transfer robot, the transfer robot comprising a fork assembly comprising a telescopic arm and a transfer mechanism provided on the telescopic arm,

the transfer mechanism includes:

a power output part, a link mechanism and a first goods moving part;

the power output part is fixedly arranged relative to the telescopic arm, and is in transmission connection with the first goods moving part through the connecting rod mechanism;

when the power output part rotates towards a first rotation direction, the power output part is used for driving the first goods moving part to be unfolded relative to the telescopic arm through the link mechanism; when the power output part rotates towards the second rotation direction, the power output part is used for driving the first goods moving part to fold relative to the telescopic arm through the connecting rod mechanism, wherein the folded height of the goods moving mechanism is lower than the plane where the highest position of the fork device is located; the connecting rod mechanism is a four-bar mechanism.

In one implementation, the telescopic arm further comprises a first rotating connection part fixedly arranged relative to the telescopic arm;

the connecting rod mechanism comprises a second goods moving part, a connecting piece and a connecting rod, wherein the connecting piece is provided with a second rotating connecting part, a third rotating connecting part and a fourth rotating connecting part;

the first end of the second goods moving piece is rotatably connected with the power output part, and the other end of the second goods moving piece is rotatably connected with the second rotating connecting part; one end of the connecting rod is rotatably connected with the first rotary connecting part, the other end of the connecting rod is rotatably connected with the third rotary connecting part, and the first goods moving piece is rotatably connected with the fourth rotary connecting part;

the linkage mechanism further comprises a gear mechanism, and the first goods moving part is in transmission fit with the second goods moving part through the gear mechanism.

In one implementation, the gear mechanism includes a first gear and a second gear, the first gear and the second gear being meshed;

the first gear is fixedly arranged on the first goods moving piece and is coaxial with the fourth rotary connecting part; the second gear is fixedly arranged on the second goods moving piece and is coaxial with the second rotating connecting part.

In one implementation mode, the telescopic power mechanism further comprises a fixing piece, wherein the fixing piece is used for being fixedly connected with the telescopic arm, and the power output part and the first rotating connecting part are arranged on the fixing piece; the fixing piece, the second goods moving piece, the connecting piece and the connecting rod form the four-bar mechanism.

In one implementation, the power output portion, the first rotation connecting portion, the second rotation connecting portion, and the third rotation connecting portion are located at four vertices of a virtual parallelogram.

In one implementation, in the unfolded state, the first and second transfer members are connected end to end along the same straight line in the length direction of the transfer mechanism; in the folded state, the first and second transfer pieces and the connecting rod are at least partially overlapped in a direction perpendicular to the length direction of the transfer mechanism.

In one implementation, the power output part is connected with the output end of the driving part, and the control device is used for controlling the driving part to operate so as to enable the power output part to rotate towards the first rotation direction or the second rotation direction.

In one implementation, the power output part comprises a power output shaft rotating relative to the telescopic arm, and the axial direction of the power output shaft is perpendicular to the telescopic direction of the telescopic arm; the second goods moving piece is fixedly connected with the power output shaft.

A second aspect of the present utility model provides a pallet fork device, which comprises a base body and a telescopic arm arranged on the base body, wherein the telescopic arm is provided with the goods moving mechanism according to the first aspect.

A third aspect of the utility model provides a transfer robot comprising a fork arrangement as described in the second aspect above.

The technical scheme provided by the utility model can comprise the following beneficial effects:

according to the cargo transferring mechanism provided by the embodiment, when the power output part rotates in the first direction or the second direction, the first cargo transferring member can be driven to be unfolded or folded relative to the four-bar mechanism through the four-bar mechanism, and the length of the cargo transferring mechanism is increased in an unfolded state; in the folded state, the length of the transfer mechanism is made shorter. Therefore, when the height of the goods is smaller and the width is larger, the problem that the contact surface between the goods moving mechanism and the goods is small or the goods are difficult to contact can be avoided. When in a folding state, the height of the goods transferring mechanism is lower than the plane where the highest position of the fork device is located, the layer spacing of the goods shelf is not increased, the storage density in the vertical direction of the warehouse is improved, and therefore the space utilization rate of the warehouse space is improved.

It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the utility model as claimed.

Drawings

The foregoing and other objects, features and advantages of the utility model will be apparent from the following more particular descriptions of exemplary embodiments of the utility model as illustrated in the accompanying drawings wherein like reference numbers generally represent like parts throughout the exemplary embodiments of the utility model.

FIG. 1 is a schematic view of a fork assembly according to one embodiment of the present utility model;

FIG. 2 is a schematic diagram of a cargo transferring mechanism according to an embodiment of the present utility model;

FIG. 3 is a cross-sectional view of a cargo transferring mechanism according to an embodiment of the utility model shown in a collapsed condition;

FIG. 4 is a cross-sectional view of a cargo transferring mechanism according to an embodiment of the utility model shown in an expanded state;

FIG. 5 is a schematic view showing the assembly of the cargo transferring mechanism with the telescoping arm in the unfolded state according to one embodiment of the present utility model;

fig. 6 is a schematic view showing an assembly of the cargo transferring mechanism with the telescopic arm in a folded state according to an embodiment of the present utility model.

Reference numerals: 100. a fork device; 110. a base; 120. a telescoping arm; 200. a transfer mechanism; 210. a fixing member; 211. a power output unit; 212. a first rotary connection; 220. a second pallet transfer; 230. a connecting piece; 231. a second rotational connection; 232. a third rotational connection; 233. a fourth rotational connection; 2311. a second gear; 2331. a first gear; 240. a connecting rod; 250. a first pallet transfer.

Detailed Description

Embodiments of the present utility model will be described in more detail below with reference to the accompanying drawings. While embodiments of the present utility model are illustrated in the drawings, it should be understood that the present utility model may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the utility model to those skilled in the art.

It should be understood that although the terms "first," "second," "third," etc. may be used herein to describe various information, these information should not be limited by these terms. These terms are only used to distinguish one type of information from another. For example, first information may also be referred to as second information, and similarly, second information may also be referred to as first information, without departing from the scope of the utility model. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more such feature. In the description of the present utility model, the meaning of "a plurality" is two or more, unless explicitly defined otherwise.

In the description of the present utility model, it should be understood that the terms "length," "width," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like indicate orientations or positional relationships based on the orientation or positional relationships shown in the drawings, merely to facilitate describing the present utility model and simplify the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and therefore should not be construed as limiting the present utility model.

Unless specifically stated or limited otherwise, the terms "mounted," "connected," "secured" and the like are to be construed broadly and may be, for example, fixedly connected or detachably connected or integrally formed; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communicated with the inside of two elements or the interaction relationship of the two elements. The specific meaning of the above terms in the present utility model can be understood by those of ordinary skill in the art according to the specific circumstances.

In the related art, after the length of the mechanical finger is increased, the height of the finger when the finger is retracted is higher than the plane at the highest position of the fork, so that the layer spacing of the goods shelf needs to be increased, and the vertical storage density of the warehouse is not facilitated to be improved. Aiming at the problems, the embodiment of the utility model provides a goods transferring mechanism, wherein the folded height of the goods transferring mechanism is lower than the plane where the highest position of a fork device is located, the interlayer spacing of a goods shelf is not increased, and the goods transferring mechanism is beneficial to improving the storage density of a warehouse in the vertical direction, so that the space utilization rate of a warehouse space is improved.

The following describes the technical scheme of the embodiment of the present utility model in detail with reference to the accompanying drawings.

FIG. 1 is a schematic view of a fork assembly according to one embodiment of the present utility model; fig. 2 is a schematic structural view of a cargo transferring mechanism according to an embodiment of the present utility model.

Referring to fig. 1 and 2, a cargo transferring mechanism 200 provided in an embodiment of the present utility model is applied to a transfer robot, where the transfer robot includes a fork device 100, the fork device 100 includes a telescopic arm 120 and a cargo transferring mechanism 200 disposed on the telescopic arm 120, and the cargo transferring mechanism 200 includes: the power output part 211, the link mechanism and the first goods moving part 250, wherein the link mechanism is a four-link mechanism; the power output part 211 is fixedly arranged relative to the telescopic arm 120, and the power output part 211 is in transmission connection with the first goods moving part 250 through the link mechanism; when the power output part 211 rotates towards the first rotation direction, the first cargo transferring member 250 is driven to be unfolded relative to the telescopic arm 120 by the link mechanism; when the power output portion 211 rotates in the second rotation direction, the link mechanism is used to drive the first cargo transferring member 250 to fold relative to the telescopic arm 120, where the folded height of the cargo transferring mechanism 200 is lower than the plane where the highest position of the fork device 100 is located.

In this embodiment, the first rotation direction may be the counterclockwise direction of fig. 3 and 4 and the second rotation direction may be the clockwise direction of fig. 3 and 4.

In the cargo transferring mechanism 200 according to the present embodiment, when the power output portion 211 rotates in the first direction or the second direction, the first cargo transferring member 250 can be driven to be unfolded or folded relative to the link mechanism by the link mechanism, and compared with the related art, the structure of the cargo transferring mechanism 200 is simplified, and the running stability of the cargo transferring mechanism 200 is better.

In the unfolded state, the length of the transfer mechanism 200 is increased; in the folded state, the length of the transfer mechanism 200 is made shorter. Therefore, when the width of the goods is smaller, the problem that the contact surface between the goods transferring mechanism 200 and the goods is small or the goods are difficult to contact can be avoided, and when in a folded state, the height of the goods transferring mechanism 200 is lower than the plane where the highest position of the fork device 100 is located, the interlayer spacing of the goods shelf is not increased, the storage density of the warehouse in the vertical direction is improved, and the space utilization rate of the warehouse space is improved.

Referring to fig. 5 and 6, in the present embodiment, the length of the cargo transferring mechanism 200 after being unfolded is longer than the length after being folded, and the power output portion 211 includes a power output shaft that rotates with respect to the telescopic arm 120, and the axial direction of the power output shaft is perpendicular to the telescopic direction X of the telescopic arm 120. In the folded state, the longitudinal direction of the transfer mechanism 200 is along the height direction Z of the fork device 100, i.e. after the transfer mechanism 200 is folded, the highest position of the transfer mechanism 200 is lower than the plane in which the highest position of the fork device 100 is located. In the unfolded state, the cargo transferring mechanism 200 rotates to the inner side of the telescopic arm 120, and at this time, the length direction of the cargo transferring mechanism 200 is perpendicular to the telescopic direction X of the telescopic arm 120.

In some embodiments, the linkage is a linkage, wherein the cargo transferring mechanism 200 further comprises a power take-off 211 fixedly arranged with respect to the telescopic arm 120.

The link mechanism comprises a second moving part 220, a connecting part 230 and a link 240, wherein the second moving part 220, the connecting part 230 and the link 240 are connected in turn in a head-tail rotatable manner, and a four-link mechanism is formed. The power output part 211 is used for driving the four-bar mechanism to move, so as to drive the first cargo transferring member 250 to be unfolded or folded relative to the four-bar mechanism. The four-bar linkage is adopted in the embodiment, so that the operation stability of the cargo transferring mechanism 200 during unfolding and folding can be improved, the structure is simpler, the size is smaller, and the visual effect of the fork device can be improved.

In this embodiment, the connecting member 230 is provided with a second rotation connecting portion 231, a third rotation connecting portion 232 and a fourth rotation connecting portion 233. One end of the second moving member 220 is rotatably connected to the power output part 211, and the other end is rotatably connected to the second rotation connecting part 231; one end of the connecting rod 240 is rotatably connected to the first rotation connection part 212, and the other end is rotatably connected to the third rotation connection part 232; the first movable member 250 is connected to the connecting member 230, and the power output portion 211 is provided at the power output portion 211.

Referring to fig. 4, in the present embodiment, the power output portion 211, the first rotation connecting portion 212, the second rotation connecting portion 231, and the third rotation connecting portion 232 are located at four vertices of the virtual parallelogram P, and therefore, the above-described link mechanism is also a parallelogram four-link mechanism.

In this embodiment, the second rotating connection portion 231, the third rotating connection portion 232, and the fourth rotating connection portion 233 are located at three vertices of a virtual triangle on the connection member 230, and two vertices of the virtual triangle are overlapped with two vertices of the parallelogram P.

When the transfer mechanism 200 is in the unfolded state, the first transfer member 250 and the second transfer member 220 are connected end to end along the same line in the length direction of the transfer mechanism 200, and the total length of the transfer mechanism 200 is equal to the sum of the lengths of the first transfer member 250 and the second transfer member 220. In the folded state, the first transferring member 250, the second transferring member 220 and the connecting rod 240 at least partially overlap in a direction perpendicular to the length direction of the transferring mechanism 200, and the total length of the transferring mechanism 200 is approximately equal to the length of the second transferring member 220 or the connecting rod 240, so that the folded height of the transferring mechanism 200 is lower than the plane where the fork device 100 is located at the highest position.

In this embodiment, the first cargo transferring member 250 is rotatably connected to the fourth rotating connection portion 233 of the connecting member 230. The linkage also includes a gear mechanism by which the first pallet mover 250 is in driving engagement with the second pallet mover 220. Because the first goods moving member 250 is in transmission fit with the second goods moving member 220 through the gear mechanism, the first goods moving member 250 moves under the combined action of the four-bar mechanism and the gear mechanism, so that folding and unfolding of the goods moving mechanism can be realized, and the folding interval between the second goods moving member 220 and the first goods moving member 250 can be reduced, so that the structure is more compact, and the volume is smaller.

In some embodiments, the gear mechanism includes a first gear 2331 and a second gear 2311, the first gear 2331 is fixedly disposed at an end of the first moving member 250 connected to the connecting member 230, the second gear 2311 is fixedly disposed at an end of the second moving member 220 connected to the connecting member 230, the first gear 2331 and the second gear 2311 are meshed, the first gear is coaxial with the fourth rotating connecting portion 233, and the second gear 2311 is coaxial with the second rotating connecting portion 231.

In some embodiments, the cargo transferring mechanism 200 further includes a fixing member 210, where the fixing member 210 is fixedly connected to the telescopic arm 120, and the power output portion 211 and the first rotation connection portion 212 are disposed on the fixing member; the fixing member 210, the second cargo transferring member 220, the connecting member 230 and the connecting rod 240 form a four-bar mechanism.

In this embodiment, a mounting hole is formed at one end of the second moving part 220, which is close to the fixing part 210, and the mounting hole of the second moving part 220 is sleeved on the power output shaft and is fastened and connected by a screw, when the power output shaft rotates, the second moving part 220 can be driven to rotate around the power output part 211, so that the four-bar mechanism can operate.

It should be understood that, in other embodiments, the power output portion 211 may be further in transmission connection with the first rotation connection portion 212, where the power output portion 211 is configured to drive the link 240 to rotate, thereby driving the four-bar mechanism to operate.

In some embodiments, the cargo transferring mechanism 200 further includes a driving member and a control device electrically connected to the driving member, where the power output portion 211 is connected to an output end of the driving member, and the control device is configured to control the driving member to operate so that the power output portion 211 rotates in the first rotation direction or the second rotation direction.

The operation principle of the cargo transferring mechanism in the unfolding and folding process of the embodiment is as follows:

referring to fig. 3, in the present embodiment, when the cargo transferring mechanism 200 is in the folded state, the length direction of the cargo transferring mechanism 200 is along the vertical direction, i.e. the height direction Z of the fork device 100, and during the unfolding process, when the power output portion 211 rotates 90 degrees along the first rotation direction (e.g. anticlockwise), the four-bar mechanism is driven to move, at this time, the second cargo transferring member 220 also rotates 90 degrees along the first rotation direction, under the driving action of the four-bar mechanism, the angle of the connecting member 230 will not rotate relative to the fixing member 210, and the position of the second cargo transferring member 220 relative to the connecting member 230 will rotate 90 degrees in the first rotation direction. Since the first and second transfer members 250 and 220 are engaged with each other by the gear mechanism, when the second transfer member 220 rotates 90 degrees in the first rotation direction, the first transfer member 250 rotates 90 degrees in the opposite direction, i.e., rotates 90 degrees in the second rotation direction (e.g., clockwise direction), so that the transfer mechanism 200 is fully unfolded, and after being unfolded, the length direction of the transfer mechanism 200 is along the horizontal direction Y, and the first and second transfer members 250 and 220 are connected in the horizontal direction Y, so that the length of the transfer mechanism 200 is increased.

Referring to fig. 4, in the folding process of the cargo transferring mechanism 200, when the power output portion 211 rotates 90 degrees in the second rotation direction (for example, clockwise direction), the four-bar mechanism is driven to move, at this time, the second cargo transferring member 220 also rotates 90 degrees in the second rotation direction, under the driving action of the four-bar mechanism, the angle of the connecting member 230 does not rotate relative to the fixing member 210, and the second cargo transferring member 220 rotates 90 degrees in the second rotation direction relative to the position of the connecting member 230. Because the first cargo transferring member 250 is in transmission fit with the second cargo transferring member 220 through the gear mechanism, when the second cargo transferring member 220 rotates 90 degrees along the second rotation direction, the first cargo transferring member 250 rotates 90 degrees along the opposite direction, i.e. rotates 90 degrees along the first rotation direction (e.g. anticlockwise direction), and finally the cargo transferring mechanism 200 is completely folded, after folding, the length direction of the cargo transferring mechanism 200 is along the vertical direction, and the first cargo transferring member 250 and the second cargo transferring member 220 are overlapped in the horizontal direction Y, so that the length of the cargo transferring mechanism 200 is shortened. Such that the height of the transfer mechanism 200 is below the plane in which the fork device 100 is highest.

The foregoing describes a cargo transferring mechanism 200 according to an embodiment of the present utility model, and correspondingly, the present utility model also provides a fork device 100 and a corresponding embodiment.

Referring to fig. 1, 5 and 6, a fork device 100 according to an embodiment of the present utility model includes a base 110 and a telescopic arm 120 disposed on the base 110, where the telescopic arm 120 is provided with a cargo transferring mechanism 200 as described in the above embodiment.

When the first cargo transferring member 250 of the cargo transferring mechanism 200 is unfolded, the first cargo transferring member 250 is used for contacting with the cargo, and the cargo transferring mechanism 200 has a sufficient length after being unfolded, so that the contact area between the cargo transferring member and the cargo is larger, and when the telescopic arm 120 stretches out, the first cargo transferring member 250 can push out the cargo on the carrying surface along the telescopic direction X of the telescopic arm 120; when the telescopic arm 120 is contracted, the first pallet moving member 250 can pull the load into the fork apparatus 100 in the telescopic direction X of the telescopic arm 120.

According to the fork device 100 provided by the embodiment, when the height of a cargo is small and the width is large, the problem that the contact surface between the cargo transferring mechanism 200 and the cargo is small or the cargo is difficult to contact can be avoided, when the cargo transferring mechanism is in a folded state, the height of the cargo transferring mechanism 200 is lower than the plane where the highest position of the fork device 100 is located, the layer spacing of a goods shelf is not increased, the storage density in the vertical direction of a warehouse is facilitated to be improved, and therefore the space utilization rate of the storage space is improved.

Correspondingly, the utility model further provides a transfer robot, which comprises the fork device 100 of the above embodiment, and the features of the fork device 100 are referred to the description of the above embodiment, and are not repeated herein.

The foregoing description of embodiments of the utility model has been presented for purposes of illustration and description, and is not intended to be exhaustive or limited to the embodiments disclosed. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the various embodiments described. The terminology used herein was chosen in order to best explain the principles of the embodiments, the practical application, or the improvement of technology in the marketplace, or to enable others of ordinary skill in the art to understand the embodiments disclosed herein.

Claims

1. A goods transferring mechanism is applied to a transfer robot, the transfer robot comprises a fork device, the fork device comprises a telescopic arm and a goods transferring mechanism arranged on the telescopic arm,

the utility model is characterized in that, the goods transferring mechanism includes:

the power output part, the connecting rod mechanism and the first goods moving piece, wherein the connecting rod mechanism is a four-connecting rod mechanism;

when the power output part rotates towards a first rotation direction, the power output part is used for driving the first goods moving part to be unfolded relative to the telescopic arm through the link mechanism; when the power output part rotates towards the second rotation direction, the power output part is used for driving the first goods moving part to fold relative to the telescopic arm through the connecting rod mechanism, wherein the folded height of the goods moving mechanism is lower than the plane where the highest position of the fork device is located.

2. The transfer mechanism of claim 1, wherein:

the telescopic arm further comprises a first rotary connecting part fixedly arranged relative to the telescopic arm;

the connecting rod mechanism comprises a second goods moving part, a connecting piece and a connecting rod, wherein the connecting piece is provided with a second rotating connecting part, a third rotating connecting part and a fourth rotating connecting part, and the power output part is used for driving the second goods moving part to rotate;

3. The transfer mechanism of claim 2, wherein:

the gear mechanism comprises a first gear and a second gear, and the first gear is meshed with the second gear;

4. The transfer mechanism of claim 2, wherein:

the telescopic arm is fixedly connected with the power output part, and the first rotary connecting part and the power output part are arranged on the fixing part; the fixing piece, the second goods moving piece, the connecting piece and the connecting rod form the four-bar mechanism.

5. The transfer mechanism of claim 2, wherein:

the power output part, the first rotating connecting part, the second rotating connecting part and the third rotating connecting part are positioned at four vertexes of the parallelogram.

6. The transfer mechanism of claim 2, wherein:

when in an unfolding state, the first goods moving piece and the second goods moving piece are connected end to end along the same straight line in the length direction of the goods moving mechanism; in the folded state, the first and second transfer pieces and the connecting rod are at least partially overlapped in a direction perpendicular to the length direction of the transfer mechanism.

7. The transfer mechanism of claim 1, wherein:

the device comprises a driving piece, a power output part and a control device, wherein the power output part is electrically connected with the driving piece, the control device is used for controlling the driving piece to run so as to enable the power output part to rotate towards the first rotation direction or the second rotation direction.

8. The transfer mechanism of claim 2, wherein:

the power output part comprises a power output shaft which rotates relative to the telescopic arm, and the axial direction of the power output shaft is perpendicular to the telescopic direction of the telescopic arm; the second goods moving piece is fixedly connected with the power output shaft.

9. A fork assembly, characterized in that:

the fork device comprises a base body and a telescopic arm arranged on the base body, wherein the telescopic arm is provided with the goods moving mechanism as claimed in any one of claims 1-8.

10. A transfer robot, characterized in that the transfer robot comprises a fork arrangement according to claim 9.