CN218145701U

CN218145701U - Motion device, fork device and transfer robot

Info

Publication number: CN218145701U
Application number: CN202222482011.0U
Authority: CN
Inventors: 佘俏; 詹庆鑫; 安利
Original assignee: Hai Robotics Co Ltd
Current assignee: Hai Robotics Co Ltd
Priority date: 2022-09-19
Filing date: 2022-09-19
Publication date: 2022-12-27
Anticipated expiration: 2032-09-19

Abstract

The application relates to a motion device, a pallet fork device, a controller and a transfer robot. The exercise device includes: the base body comprises a base and a rotating assembly which is rotatably arranged on the base, wherein the rotating assembly comprises a rotating support piece; the mechanical arm assembly comprises a fixing plate and a mechanical arm; the fixed plate is fixedly connected with the rotary supporting piece; the mechanical arm is movably arranged on the fixing plate and can extend or retract 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 part, 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 drive mechanism is configured to selectively drive the rotary support to rotate relative to the base via the first power output. This application can make full use of the output of driving piece.

Description

Motion device, fork device and transfer robot

Technical Field

The application relates to the technical field of warehousing robots, in particular to a moving device, a pallet fork device and a transfer robot.

Background

In the related art, the rotation and the telescopic movement of the fork device of the transfer robot are controlled by two independent driving devices respectively, when the fork device is in the rotation movement or the telescopic movement, only the output power of one driving device can be utilized, and the other driving device is in a standby state, so that the rotation and the telescopic movement of the fork device are slow and low in efficiency.

SUMMERY OF THE UTILITY MODEL

In order to solve or partially solve the problems existing in the related art, the application provides a moving device, a pallet fork device and a transfer robot, which can make full use of the output power of a driving piece.

A first aspect of the present application provides an exercise device comprising:

the base body comprises a base and a rotating assembly which is rotatably arranged on the base, wherein the rotating assembly comprises a rotating supporting piece;

the mechanical arm assembly comprises a fixing plate and a mechanical arm; the fixed plate is fixedly connected with the rotary supporting piece; the mechanical arm is movably arranged on the fixing plate and can extend or retract 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 part, 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 drive mechanism is configured to selectively drive the rotary support to rotate relative to the base via the first power output or drive the robotic arm to extend or retract relative to the fixed plate via the second power output.

In one embodiment, the driving member is connected with the power input part of the differential mechanism through a first gear transmission mechanism; and/or

The first power output part of the differential mechanism is connected with the rotating assembly through a second gear transmission mechanism; and/or

And the second power output part of the differential mechanism is connected with the mechanical arm through a third gear transmission mechanism.

In one embodiment, the driving member is in transmission connection with the power input part of the differential mechanism through a first gear mechanism; the power input part comprises a first fluted disc, the first tooth transmission mechanism comprises transmission teeth arranged on the first fluted disc and a first gear arranged on an output shaft of the driving piece, and the first gear is meshed with the first fluted disc; the first gear transmission mechanism is a bevel gear mechanism; and/or the presence of a gas in the atmosphere,

the first power output part of the differential mechanism is in transmission connection with the rotating assembly through a second gear transmission mechanism; the rotating assembly comprises a second fluted disc, the second gear transmission mechanism comprises transmission teeth arranged on the second fluted disc and a second gear arranged on the first power output part of the differential mechanism, and the second gear is meshed with the second fluted disc; the second gear transmission mechanism is a bevel gear mechanism; and/or the presence of a gas in the gas,

the second power output part of the differential mechanism is in transmission connection with the mechanical arm through a synchronous belt mechanism; hold-in range mechanism includes the synchromesh area and locates the third gear of differential mechanism's second power take off portion, the third gear with the synchromesh area meshes mutually, arm fixed connection in the synchromesh area.

In one embodiment, the output shaft of the driving member is disposed in a first direction, the rotational axes of the first and second power outputs of the differential are disposed in a second direction, and the rotational axis of the rotary support is disposed in a third direction;

the first direction is a horizontal direction and is parallel to the telescopic direction of the mechanical arm assembly, the third direction is a vertical direction, and the second direction is perpendicular to the first direction and the third direction.

In one embodiment, the second power output part of the differential mechanism is in transmission connection with the mechanical arm through a synchronous belt mechanism;

the synchronous belt mechanism comprises a first tensioning wheel and a second tensioning wheel which are rotatably arranged on the fixing plate, a synchronous toothed belt wound on the first tensioning wheel and the second tensioning wheel, and a third gear arranged on a second power output part of the differential mechanism, the third gear is meshed with the synchronous toothed belt, the synchronous toothed belt is provided with a linear motion part along the first direction, and the mechanical arm is fixed on the linear motion part through a fixing piece;

the synchronous belt mechanism further comprises two third tensioning wheels, the two third tensioning wheels are abutted to the outer surface of the synchronous toothed belt, a third gear of the differential is meshed with the inner teeth of the synchronous toothed belt, and the third gear is arranged between the two third tensioning wheels along the first direction.

In one embodiment, the device comprises two driving mechanisms and two mechanical arm assemblies; the two mechanical arms of the two mechanical arm assemblies are connected;

the two mechanical arm assemblies are respectively arranged at two sides of the rotary supporting piece in the second direction, and the two driving mechanisms are respectively arranged at two sides of the rotary supporting piece in the second direction;

the driving mechanism is arranged between each mechanical arm component and the rotary supporting piece; the first power output parts of the two differentials of the two driving mechanisms are in transmission fit with two ends of the rotating support piece in the diameter direction respectively, and the second power output parts of the two differentials are in transmission fit with the mechanical arms on the same side respectively.

In one embodiment, two output shafts of two driving pieces of the two driving mechanisms extend along a first direction and are respectively arranged on two sides of the rotary supporting piece in a second direction;

the two output shafts are arranged on the same side or different sides of the rotary support member in the first direction.

In one embodiment, the differential includes:

the power input part is fixed on the shell, and the two half shaft gears and the two planetary gears are arranged in the shell;

one of the two side gears is connected with a first half shaft as a first power output part, and the other side gear is connected with a second half shaft as a second power output part;

the two planetary gears are fixed to the housing and are meshed with the two side gears.

In one embodiment, when two driving members of the two driving mechanisms are controlled to cooperatively operate in the first mode, two second power output parts of the two differentials are in a locked-rotation state, and the two differentials drive the rotating assembly to rotate forwards or reversely relative to the base through the two first power output parts together.

In one embodiment, when two driving members of two driving mechanisms are controlled to cooperatively operate in the second mode, two first power output parts of two differentials are in a locked-rotor state, and the two differentials drive corresponding mechanical arms to synchronously extend or retract through the two second power output parts respectively.

In one embodiment, when the two driving members of the two driving mechanisms are controlled to cooperatively operate in the first mode, the two second half shafts of the two differentials rotate in opposite directions, so that the two second half shafts output opposite torques to the two mechanical arms, the two first half shafts of the two differentials output opposite directions, and the two first half shafts of the two differentials drive the rotary supporting component to rotate forwards or backwards relative to the base together;

when two driving pieces of the two driving mechanisms are controlled to operate in a second mode in a matched mode, the rotating directions of the two first half shafts of the two differentials are the same, so that the two first half shafts are in a locked-rotor state, the two second half shafts of the two differentials output rotation in the same direction, and the two second half shafts respectively drive the corresponding mechanical arms to synchronously extend or retract.

A second aspect of the present application provides a fork device for a transfer robot, the fork device having the features of the moving device according to the first aspect, wherein the rotary support is a pallet for carrying a load.

A third aspect of the present application provides a transfer robot having the fork device as described in the second aspect above.

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

the motion device provided by the embodiment of the application comprises a base body, a rotating support part and a rotating mechanism, wherein the base body comprises a base and the rotating support part which is rotatably arranged on the base; the mechanical arm assembly comprises a fixing plate and a mechanical arm; the fixed plate is fixedly connected with the rotary supporting piece; the mechanical arm is connected with the fixing plate in a sliding mode and can extend or retract 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 part, the first power output part is in transmission connection with the rotary supporting part, and the second power output part is in transmission connection with the mechanical arm; the drive mechanism is configured to selectively drive the rotary support to rotate relative to the base via the first power output or drive the robotic arm to extend or retract relative to the fixed plate via the second power output. According to the moving device provided by the embodiment, the power of the driving piece can be respectively output to the rotary supporting piece and the mechanical arm through the differential mechanism, the rotary supporting piece can be driven to rotate, the mechanical arm can also be driven to extend or retract the fixing plate, and the problem that the power of the driving piece of the moving device in the related art is difficult to be fully utilized is solved.

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 application.

Drawings

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

FIG. 1 is a schematic diagram of an internal structure of a sporting device according to an exemplary embodiment of the present disclosure;

FIG. 2 is a schematic structural diagram illustrating another perspective of a motion device according to an embodiment of the present application;

FIG. 3 is a schematic diagram illustrating a mechanical arm assembly of a motion device according to one embodiment of the present application;

FIG. 4 is a schematic illustration of a drive member of the motion device shown in an embodiment of the present application engaged with a differential;

fig. 5 is a schematic structural diagram of a differential of a motion device according to an embodiment of the present application.

FIG. 6 is a schematic diagram of a motion device according to an embodiment of the present application;

fig. 7 is a side view of the exercise apparatus shown in the embodiment of fig. 6.

Reference numerals: 100. a substrate; 110. a base; 200. a synchronous belt mechanism; 300. a drive mechanism; 400. a mechanical arm assembly; 111. a second fluted disc; 3111. a first fluted disc; 210. a synchronous toothed belt; 211. a fixing member; 220a, a first tensioning wheel; 220b, a second tensioning wheel; 230. a third tension pulley; 310. a differential mechanism; 3110. a housing; 322. a planetary gear; 320. a drive member; 311. a power input section; 312. a first half shaft; 313. a second half shaft; 3201. an output shaft; 3211. a first gear; 3121. a second gear; 3131. a third gear; 410. a mechanical arm; 510. a rotating support; 520. and (7) fixing the plate.

Detailed Description

Embodiments of the present application will be described in more detail below with reference to the accompanying drawings. While embodiments of the present application are illustrated in the accompanying drawings, it should be understood that the present application 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 disclosure to those skilled in the art.

The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. As used in this application and the appended claims, the singular forms "a", "an", and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It should also be understood that the term "and/or" as used herein refers to and encompasses any and all possible combinations of one or more of the associated listed items.

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 to 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 present application. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present application, "a plurality" means two or more unless specifically limited otherwise.

In the related art, the rotation and the telescopic motion of the motion device of the transfer robot are controlled by two independent driving devices respectively, when the motion device is in the rotation motion or the telescopic motion, only the output power of one driving device can be utilized, and the other driving device is in a standby state, so that the rotation and the telescopic motion of the motion device are slow and low in efficiency.

In view of the above problems, embodiments of the present application provide a motion device, which can fully utilize the output power of a driving member.

The technical solutions of the embodiments of the present application are described in detail below with reference to the accompanying drawings.

Referring to fig. 1 to 6, an embodiment of the present application provides a sports apparatus including:

a base 100 including a base 110 and a rotation member rotatably mounted to the base 110, the rotation member including a rotation support 510;

a robot arm assembly 400 comprising a stationary plate 520, and a robot arm 410; the fixing plate 520 is fixedly connected with the rotary support 510; the robot arm 410 is movably mounted to the fixed plate 520 and may extend or retract relative to the fixed plate 520; the robotic arm 410 is, for example, slidably mounted to the mounting plate 520.

The driving mechanism 300 comprises a driving member 320 and a differential 310 in transmission connection with the driving member 320, wherein the differential 310 is provided with a power input part 311, a first power output part and a second power output part; the power input part 311 is in transmission connection with the driving part 320, 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 410;

the driving mechanism 300 is configured to selectively drive the rotary support 510 to rotate relative to the base 110 through the first power output portion or drive the robot arm 410 to extend or retract relative to the fixed plate 520 through the second power output portion.

In the moving device provided in this embodiment, the power of the single driving member 320 can be output to the rotary support 510 and the mechanical arm 410 through the differential 310, respectively, so as to rotate the rotary support 510, or extend or retract the mechanical arm 410 relative to the fixed plate 520, so that the power of the driving member can be fully utilized; on the other hand, the number of driving parts is reduced, and cost reduction is facilitated.

In some embodiments of the transfer robot, the driving member 320 is a driving motor, such as a reduction motor capable of rotating in forward and reverse directions.

Referring to fig. 4, in the present embodiment, the driving member 320 is in driving connection with the power input portion 311 of the differential 310 through a first gear transmission mechanism, and the driving member 320 can transmit power to the power input portion 311 of the differential 310 through the first gear transmission mechanism.

In some embodiments, the power input portion 311 includes a first gear plate 3111, the first gear mechanism includes a gear disposed on the first gear plate 3111 and a first gear 3211 disposed on the output shaft 3201 of the driving member 320, the first gear 3211 is engaged with the first gear plate 3111, the first gear mechanism is a bevel gear mechanism, that is, the first gear 3211 is a bevel gear, and the first gear plate 3111 is a bevel gear, when the first gear 3211 rotates, the first gear plate 3111 is driven to rotate, and further, the input half shaft of the differential 310 is driven to rotate.

In one implementation, the output shaft 3201 of the driver 320 is disposed along the first direction X, the rotational axes of the first and second power outputs of the differential 310 are on the same axis along the second direction Y, and the rotational axis L of the rotary support 510 is along the third direction Z.

In some embodiments, the first direction X is horizontal and parallel to the telescopic direction of the robot arm assembly 400, the third direction Z is vertical, and the second direction Y is perpendicular to the first direction X and the third direction Z.

Referring to fig. 5, the differential 310 includes a case 3110, in which two side gears 321 and two planetary gears 322 are provided, one of the two side gears 321 being connected to a first half shaft 312 as a first power output portion, and the other being connected to a second half shaft 313 as a second power output portion; the two planetary gears 322 are fixed to the case 3110 and mesh with the two side gears 321. The housing 3110 is fixed to the first gear plate 3111, and when the housing 3110 rotates along with the first gear plate 3111, the two planetary gears 322 are driven to rotate, and the two planetary gears 322 can drive the two half-axle gears 321 to rotate, respectively.

In some embodiments, the first axle 312 of the differential 310 is drivingly connected to the rotating component via a second geared transmission; the rotating assembly includes a second toothed plate 111, and the second toothed plate 111 is coaxially and fixedly connected to the rotating support 510. The second gear transmission mechanism comprises transmission teeth arranged on the second gear disc 111 and a second gear 3121 arranged on the first power output part of the differential 310, and the second gear 3121 is meshed with the second gear disc 111; the second gear mechanism is a bevel gear mechanism, and the first half shaft 312 of the differential 310 can drive the second gear disc 111 to rotate through the second gear mechanism.

In this embodiment, the second gear plate 111 is rotatably mounted to the base 110, the robot arm 410 is slidably mounted to the fixing plate 520, and the rotating support 510 is fixedly connected to the fixing plate 520, so that the positions of the robot arm assembly 400 and the rotating support 510 are relatively fixed. When the first shaft 312 of the differential 310 rotates, the second gear 3121 drives the second gear 111 to rotate, and the second gear 111 drives the rotary support 510 and the robot arm assembly 400 to rotate integrally.

The axes of rotation of the first and

second half shafts

312, 313 of the differential 310 are collinear along the second direction Y, and in some embodiments, the direction of telescopic operation of the mechanical arm 410 is perpendicular to the axes of rotation of the first and

second half shafts

312, 313 of the differential 310.

In some embodiments, the second power output of the differential is drivingly connected to the mechanical arm through a third gear drive.

In one embodiment, the third gear mechanism comprises a timing belt mechanism 200, the timing belt mechanism 200 comprises a timing belt 210 and a third gear 3131 disposed at the second power output portion of the differential, the third gear 3131 is engaged with the timing belt 210, and the mechanical arm 410 is fixedly connected to the timing belt 210.

Referring to fig. 3 and 4, the robot arm 410 is disposed at one side of the second rack gear 111, and the driving mechanism 300 is disposed between the robot arm 410 and the second rack gear 111. The output end of the second half shaft 313 of the differential 310 is provided with a third toothed wheel 3131, and the mechanical arm 410 is fixed to the timing belt 210, so that the timing belt 210 can drive the mechanical arm 410 to extend and contract relative to the fixed plate 520 when the third toothed wheel 3131 drives the timing belt 210 to operate.

In some embodiments, the timing belt mechanism 200 includes first and second tension pulleys 220a and 220b rotatably mounted to the fixed plate 520, a timing belt 210 wound around the first and second tension pulleys 220a and 220b, and a third gear 3131 provided to the second half shaft 313 of the differential 310, the third gear 3131 being engaged with the timing belt 210, the timing belt 210 having a linear motion portion along the first direction X, the robot arm 410 being fixed to the linear motion portion by a fixing member 211; the timing belt 210 is connected to the mechanical arm 410 through a fixing member 211, and when the second half shaft 313 of the differential mechanism 310 rotates, the timing belt 210 is driven to move by the third gear 3131, so that the mechanical arm 410 moves linearly in the first direction X, thereby extending and retracting the mechanical arm 410.

Referring to fig. 3, in some embodiments, the timing belt mechanism 200 further includes two third tension pulleys 230, the two third tension pulleys 230 abut against the outer surface of the timing belt 210, a third gear 3131 of the differential 310 meshes with the inner teeth of the timing belt 210, and a third gear 3131 is disposed between the two third tension pulleys 230 in the first direction X. The two third tension pulleys 230 are used to bring the driving teeth of the timing belt 210 into close contact with the third toothed gear 3131, and enable the power of the second axle shaft 313 to be efficiently transmitted to the timing belt 210 through the third toothed gear 3131.

In some embodiments, two third tension pulleys 230 are disposed at the middle position of the timing belt 210 in the length direction, and the second half shaft 313 of the differential 310 is also disposed corresponding to the middle position of the timing belt 210.

It is understood that in other embodiments, the third gear transmission mechanism may further include a rack disposed along the first direction X, the mechanical arm 410 is fixed to the rack, and the third gear 3131 of the second half shaft 313 of the differential 310 is engaged with the rack, so that when the third gear 3131 rotates, the rack is driven to move linearly along the first direction X, and the mechanical arm 410 is driven to extend and retract.

Referring to fig. 1 and 2, in some embodiments, the motion device includes two drive mechanisms 300 and two robotic arm assemblies 400; the two robot arms 410 of the two robot arm assemblies 400 are connected by a connecting plate 420; the two robot arm assemblies 400 are respectively disposed at two sides of the rotating support 510 in the second direction Y, and the two driving mechanisms 300 are respectively disposed at two sides of the rotating support 510 in the second direction Y; a driving mechanism 300 is respectively arranged between each mechanical arm assembly 400 and the rotary support 510 along the second direction Y; the first power output parts of the two differentials 310 of the two driving mechanisms 300 are respectively in transmission fit with the two ends in the diameter direction of the rotary support member 510, and the second half shafts 313 of the two differentials 310 are respectively in transmission fit with the mechanical arms 410 on the same side. The power of each driving member 320 is respectively and correspondingly output to the rotating assembly and the mechanical arm assembly 400 through the first power output part and the second power output part of the differential 310, so that the stretching and rotating motion of the moving device is driven by the two driving members 320 together, the rotating and stretching driving power of the mechanical arm assembly 400 is increased, the rotating speed and stretching speed of the mechanical arm assembly 400 are increased, and the goods taking and placing speed and efficiency are further improved.

In some embodiments, the two output shafts 3201 of the two driving members 320 of the two driving mechanisms 300 extend along the first direction X and are respectively disposed on two sides of the rotating support 510 in the second direction Y; the two output shafts 3201 are arranged on the same side of the rotating support 510 in the first direction X; alternatively, in other embodiments, the two output shafts 3201 may be disposed on different sides of the rotary support 510 in the first direction X.

In some embodiments, the motion device is symmetrically disposed about the center line of the second toothed disc 111 along the second direction Y, which enables the mechanical arm assembly 400 to be more evenly stressed during rotation.

In some embodiments of the present application, the moving device may be configured to selectively drive the rotary support to rotate relative to the base via the first power output of the differential or drive the two mechanical arms to extend or retract relative to the fixed plate via the second power output of the differential by controlling the driving members of the two driving mechanisms according to a predetermined pattern.

Referring to fig. 1 to 7, when the two drivers 320 of the two driving mechanisms 300 are controlled to cooperatively operate in the first mode, the two second power outputs of the two differentials 310 are in a locked state, and the two differentials 310 drive the rotating assembly to rotate forward or backward relative to the base 110 through the two first power outputs.

In some embodiments, when the two drivers 320 of the two drive mechanisms 300 are controlled to cooperatively operate in the first mode, the two second half-shafts 313 of the two differentials 310 rotate in opposite directions and output opposite torques to the two mechanical arms 410, such that the two second half-shafts 313 are locked in rotation and the two first half-shafts 312 of the two differentials 310 output opposite rotations, which together drive the rotating assembly to rotate in either a forward or reverse direction relative to the base 110.

In one implementation, the first mode may be a forward rotation of one of the two drivers 320 and a reverse rotation of the other. When one of the driving members 320 rotates in forward direction and the other driving member 320 rotates in reverse direction, for example, when the left driving member rotates in forward direction and the right driving member rotates in reverse direction in fig. 1, the second half shaft 313 of the differential 310 engaged with the left driving member 320 rotates in forward direction and the second half shaft 313 of the differential 310 engaged with the right driving member 320 rotates in reverse direction, that is, the rotation directions of the two second half shafts 313 are opposite, so that the acting forces of the two second half shafts 313 on the two mechanical arms 410 connected as a whole are opposite. At this time, the second half shafts 313 of the two differentials 310 do not rotate although outputting torque, that is, a stalling phenomenon occurs, and the two mechanical arms 410 do not operate; meanwhile, the rotation directions of the first half shafts 312 of the two differentials 310 are opposite, the acting forces applied to the two sides of the second gear disc 111 in the diameter direction by the two first half shafts 312 are opposite, and the first half shafts 312 of the two differentials 310 can drive the second gear disc 111 to rotate in the forward direction, so that the rotating assembly and the mechanical arm assembly 400 rotate in the forward direction integrally.

When one of the driving members 320 rotates in reverse and the other driving member 320 rotates in forward, for example, when the left driving member rotates in reverse and the right driving member rotates in forward in fig. 1, the second half shaft 313 of the differential 310 engaged with the left driving member 320 rotates in reverse, and the second half shaft 313 of the differential 310 engaged with the right driving member 320 rotates in forward, that is, the two second half shafts 313 rotate in opposite directions, a stalling phenomenon occurs, and the two mechanical arms do not run; meanwhile, the first half shafts 312 of the two differentials 310 are in opposite rotation directions, and the first half shafts 312 of the two differentials 310 can drive the second gear disc 111 to rotate in the opposite direction, so that the rotating assembly and the mechanical arm assembly 400 integrally rotate in the opposite direction.

In some embodiments, when the two driving members 320 of the two driving mechanisms 300 are controlled to cooperatively operate in the second mode, the two first power outputs of the two differentials 310 are in a locked-rotor state, and the two differentials 310 respectively drive the corresponding mechanical arms 410 to synchronously extend or retract through the two second power outputs.

In some embodiments, when the two drivers 320 of the two driving mechanisms 300 are controlled to cooperatively operate in the second mode, the two first half shafts 312 of the two differentials 310 rotate in the same direction, so that the two first half shafts 312 are in a locked state, and the two second half shafts 313 of the two differentials 310 output the same rotation, each driving the corresponding mechanical arms 410 to synchronously extend or retract.

In one particular implementation, the second mode may be simultaneous forward or simultaneous reverse rotation of the two drivers 320. When the two driving members 320 rotate forward simultaneously, the first half shafts 312 and the second half shafts 313 of the two differentials 310 rotate in the same direction and along the forward direction, because the first half shafts 312 of the two differentials 310 are in transmission fit with two sides of the second gear 111 in the diameter direction, the acting forces applied to the two sides of the second gear 111 in the diameter direction by the two first half shafts 312 have the same direction, the two first half shafts 312 output torque but do not drive the second gear 111 to rotate, and the first half shafts 312 of the two differentials 310 are locked. At the same time, the same-direction forward rotation of the two second half shafts 313 of the two differentials 310 drives the two mechanical arms to extend synchronously.

When the two drivers 320 rotate in opposite directions, the first half shafts 312 and the second half shafts 313 of the two differentials 310 rotate in the same direction and in opposite directions, and the first half shafts 312 of the two differentials 310 output torque but do not rotate along the second toothed disc 111, so that the locked-rotor phenomenon also occurs. The counter-rotation in the same direction of the two second half-shafts 313 of the two differentials 310 drives the two mechanical arms to retract synchronously.

The above describes the motion device provided by the present application, which may be applied to a fork device, for example, wherein the above-mentioned rotary support 510 may be a pallet for carrying goods. The fork apparatus of the embodiments of the present application may be used, for example, but not limited to, for a self-propelled transfer robot, which may include a mobile base having a column, a lift mechanism that is liftable along the column, and a fork apparatus mounted to the lift mechanism. The fork assembly may be mounted to the lift mechanism by the base 100.

Correspondingly, the application also provides a control method. The control method is applied to the moving device as in the above embodiment.

The present application also provides a transfer robot having the pallet fork apparatus of the above embodiment.

Having described embodiments of the present application, the foregoing description is intended to be exemplary, not exhaustive, and not limited to the disclosed embodiments. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments. The terminology used herein is chosen in order to best explain the principles of the embodiments, the practical application, or improvements made to the technology in the marketplace, or to enable others of ordinary skill in the art to understand the embodiments disclosed herein.

Claims

1. An exercise device, comprising:

the base body comprises a base and a rotating assembly which is rotatably arranged on the base, wherein the rotating assembly comprises a rotating support piece;

the drive mechanism is configured to selectively drive rotation of the rotary support relative to the base via the first power output or extension or retraction of the robotic arm relative to the fixed plate via the second power output.

2. The exercise device of claim 1, wherein:

the driving piece is connected with the power input part of the differential mechanism through a first gear transmission mechanism; and/or

3. The exercise device of claim 1, wherein:

the driving piece is in transmission connection with the power input part of the differential mechanism through a first gear mechanism; the power input part comprises a first fluted disc, the first tooth transmission mechanism comprises transmission teeth arranged on the first fluted disc and a first gear arranged on an output shaft of the driving piece, and the first gear is meshed with the first fluted disc; the first gear transmission mechanism is a bevel gear mechanism; and/or the presence of a gas in the gas,

the first power output part of the differential mechanism is in transmission connection with the rotating assembly through a second gear transmission mechanism; the rotating assembly comprises a second fluted disc, the second tooth transmission mechanism comprises transmission teeth arranged on the second fluted disc and a second gear arranged on the first power output part of the differential mechanism, and the second gear is meshed with the second fluted disc; the second gear transmission mechanism is a bevel gear mechanism; and/or the presence of a gas in the gas,

the second power output part of the differential mechanism is in transmission connection with the mechanical arm through a synchronous belt mechanism; hold-in range mechanism includes the synchro-toothed belt and locates the third gear of differential mechanism's second power take off portion, the third gear with the synchro-toothed belt meshes mutually, arm fixed connection in the synchro-toothed belt.

4. The exercise device of claim 2, wherein:

the output shaft of the driving piece is arranged along a first direction, the rotation axes of the first power output part and the second power output part of the differential mechanism are arranged along a second direction, and the rotation axis of the rotary supporting piece is arranged along a third direction;

5. The exercise device of claim 1, wherein:

the second power output part of the differential mechanism is in transmission connection with the mechanical arm through a synchronous belt mechanism;

the synchronous belt mechanism comprises a first tensioning wheel and a second tensioning wheel which are rotatably arranged on the fixing plate, a synchronous toothed belt wound on the first tensioning wheel and the second tensioning wheel, and a third gear arranged on a second power output part of the differential mechanism, the third gear is meshed with the synchronous toothed belt, the synchronous toothed belt is provided with a linear motion part along the first direction, and the mechanical arm is fixed on the linear motion part through a fixing part;

6. Vehicle according to one of claims 1 to 5, characterized in that it comprises two of said drive mechanisms and two of said robot arm assemblies; the two mechanical arms of the two mechanical arm assemblies are connected;

7. Vehicle according to claim 6, characterized in that:

two output shafts of two driving pieces of the two driving mechanisms extend along a first direction and are respectively arranged on two sides of the rotary supporting piece in a second direction;

8. The exercise device of claim 6, wherein the differential comprises:

9. The exercise device of claim 6, wherein:

when two driving pieces of the two driving mechanisms are controlled to cooperatively operate in a first mode, two second power output parts of the two differentials are in a locked-rotor state, and the two differentials drive the rotating assembly to rotate forwards or reversely relative to the base through the two first power output parts.

10. The exercise device of claim 6, wherein:

when two driving pieces of the two driving mechanisms are controlled to cooperatively operate in a second mode, two first power output parts of the two differentials are in a locked-rotor state, and the two differentials drive corresponding mechanical arms to synchronously extend or retract through the two second power output parts respectively.

11. Vehicle according to claim 8,

when two driving pieces of the two driving mechanisms are controlled to cooperatively operate in a first mode, the two second half shafts of the two differentials are controlled to rotate in opposite directions, and opposite torque is output to the two mechanical arms, so that the two second half shafts are in a locked rotation state, and the two first half shafts of the two differentials output reverse rotation to jointly drive the rotating assembly to rotate forwards or reversely relative to the base;

12. A pallet fork arrangement for a handling robot, characterized in that it has the features of the kinematic arrangement according to any of claims 1 to 11, wherein the rotary support is a pallet for carrying goods.

13. A transfer robot having the fork apparatus of claim 12.