The invention relates to a movement device, a pallet fork device, a control method, a controller and a transfer robot. The motion device comprises a base body, the base body comprises a base and a rotating assembly rotatably installed on the base, and the rotating assembly comprises a rotating supporting piece; the mechanical arm assembly comprises a fixed plate and a mechanical arm; the fixed plate is fixedly connected with the rotary supporting piece; the mechanical arm is movably installed on the fixing plate and can stretch out or retract back relative to the fixing plate. The driving mechanism comprises a driving piece and a differential mechanism in transmission connection with the driving piece, and the differential mechanism is provided with a power input part, a first power output part and a second power output part; the power input part is in transmission connection with the driving piece, the first power output part is in transmission connection with the rotating assembly, and the second power output part is in transmission connection with the mechanical arm; the driving mechanism is configured to selectively drive the rotary supporting piece to rotate relative to the base through the first power output part. The output power of the driving part can be fully utilized.

    本申请涉及一种运动装置、货叉装置、控制方法、控制器及搬运机器人。该运动装置包括基体,包括基座、及可转动地安装于基座的旋转组件,旋转组件包括旋转支撑件;机械臂组件,包括固定板、及机械臂;固定板与旋转支撑件固定连接;机械臂可移动地安装于固定板,且可相对于固定板伸出或缩回;驱动机构,包括驱动件以及与驱动件传动相连的差速器,差速器设有动力输入部、第一动力输出部及第二动力输出部;动力输入部与驱动件传动相连,第一动力输出部与旋转组件传动相连,第二动力输出部与机械臂传动相连;驱动机构被配置为选择性地通过第一动力输出部驱动旋转支撑件相对于基座旋转。本申请能够充分利用驱动件的输出功率。


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    Title :

    Movement device, pallet fork device, control method, controller and transfer robot


    Additional title:

    运动装置、货叉装置、控制方法、控制器及搬运机器人


    Contributors:
    SHE QIAO (author) / ZHAN QINGXIN (author) / AN LI (author)

    Publication date :

    2024-03-26


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B66F HOISTING, LIFTING, HAULING, OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD , Hub-, Verhol- oder Schubvorrichtungen, soweit nicht anderweitig vorgesehen, z.B. Vorrichtungen mit unmittelbarer Krafteinwirkung auf die Last / G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen



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