CN116062300A

CN116062300A - Mobile device, balanced bearing equipment and control method thereof

Info

Publication number: CN116062300A
Application number: CN202111276094.1A
Authority: CN
Inventors: 方晶
Original assignee: Jiangsu Goldwind Science and Technology Co Ltd
Current assignee: Jiangsu Goldwind Science and Technology Co Ltd
Priority date: 2021-10-29
Filing date: 2021-10-29
Publication date: 2023-05-05
Also published as: WO2023071019A1

Abstract

The application relates to a mobile device, balanced bearing equipment and a control method thereof, wherein the mobile device comprises: a support frame; the locking component is arranged on the support frame and comprises an installation body and a rotating body, the rotating body is rotationally connected with the installation body through a first rotating pair, and the installation body is connected with the support frame; the walking component is rotationally connected with the rotating body through a second revolute pair; the rotation axes of the first revolute pair are parallel to and distributed at intervals with the rotation axes of the second revolute pair. According to the mobile device, the balance bearing equipment and the control method thereof, the mobile device can be matched with the structure of the bearing belt conveying component to meet the conveying requirement of the component to be conveyed, and meanwhile, the conveying safety of the component to be conveyed can be guaranteed.

Description

Mobile device, balanced bearing equipment and control method thereof

Technical Field

The present disclosure relates to the field of transportation technologies, and in particular, to a mobile device, a balanced bearing device, and a control method thereof.

Background

The transportation equipment has very wide application, can transport the part to be transported which is positioned at the A position to the B position according to the requirement, and can influence the safety of the part to be transported if the part to be transported is in the working condition such as inclination in the transportation process.

Taking the technical field of wind power as an example, at present, component parts of a wind generating set need to be transported according to a preset construction area of the wind generating set, and balance of the component parts needs to be ensured in the transportation process of the component parts, so that the component parts are always in a horizontal state.

Disclosure of Invention

The embodiment of the application provides a mobile device, balanced bearing equipment and a control method thereof, wherein the mobile device can be matched with a structure of a bearing belt conveying part to meet the conveying requirement of the part to be conveyed, and meanwhile, the conveying safety of the part to be conveyed can be ensured.

In one aspect, according to an embodiment of the present application, there is provided a mobile device, including: a support frame; the locking component is arranged on the support frame and comprises an installation body and a rotating body, the rotating body is rotationally connected with the installation body through a first rotating pair, and the installation body is connected with the support frame; the walking component is rotationally connected with the rotating body through a second revolute pair; the rotation axes of the first revolute pair are parallel to and distributed at intervals with the rotation axes of the second revolute pair.

According to an aspect of the embodiments of the present application, the walking member includes a walking wheel and a clamping protrusion rotatably connected to the walking wheel, and the clamping protrusion is at least partially protruded from an outer circumferential surface of the walking wheel.

According to an aspect of the embodiment of the application, at least one end of the travelling wheel in the axial direction of the travelling wheel is provided with clamping bulges, and each clamping bulge is in running fit with the travelling wheel through a second revolute pair.

According to an aspect of the embodiment of the application, the installation body comprises an installation plate, and a first through hole and a second through hole which are arranged on the installation plate, wherein the first through hole and the second through hole are distributed at intervals, the first rotating pair is inserted into the first through hole, and the second rotating pair is inserted into the second through hole.

According to an aspect of the embodiments of the present application, the rotating body includes a first rotating body and a second rotating body, the mounting body is located between the first rotating body and the second rotating body, the first rotating pair is fixedly connected with the first rotating body and the second rotating body and is rotationally connected with the mounting body, and the walking component is rotationally connected with the first rotating body through the second rotating pair.

According to an aspect of the embodiment of the present application, the locking member further includes a driving assembly that drives the rotation body to rotate relative to the mounting body with the first rotation pair as a rotation center.

According to one aspect of the embodiments of the present application, the driving assembly includes an adjusting screw and a nut, the adjusting screw passes through the first rotating body, the nut is in threaded connection with the adjusting screw, and the nut can move along the axial direction of the adjusting screw and press the first rotating body to drive the rotating body to rotate relative to the mounting body with the first rotating pair as a center.

According to an aspect of the embodiments of the present application, the first rotating body includes a main body portion and a protruding portion protruding from the main body portion, the first revolute pair and the second revolute pair are disposed at intervals on the main body portion, the adjusting screw passes through the protruding portion and is connected with the nut, and the nut moves along an axial direction of the adjusting screw and presses the protruding portion.

According to one aspect of the embodiment of the present application, the extension of the protrusion in the axial direction of the adjusting screw is smaller than the extension of the main body, and the surface of the protrusion, which cooperates with the nut, is a plane.

According to one aspect of the embodiments of the present application, the driving assembly includes an electric driving member, one end of the electric driving member is connected to the supporting frame, and the other end of the electric driving member is matched with the second rotating body, so as to drive the rotating body to rotate relative to the mounting body integrally centering on the first rotating pair.

According to one aspect of the embodiments of the present application, the electric driving member includes a telescopic member, the telescopic member is connected to the second rotating body, and the telescopic member extends or shortens to drive the second rotating body to drive the first rotating body and the walking member to rotate around the first rotating pair.

According to an aspect of the embodiment of the application, the number of the walking components is multiple, and each walking component is correspondingly provided with a locking component.

According to an aspect of the embodiments of the present application, the locking member further includes a plug portion detachably connected to the walking portion, the mounting body, and the rotating body.

On the other hand, according to the embodiment of the application, a balanced bearing device is provided, including more than two moving assemblies arranged in a stacked manner, each moving assembly includes: the base is provided with an arc-shaped guide rail; the moving part comprises the moving device, the moving device is connected with the supporting body through the supporting frame and is movably matched with the guide rail through the walking part, the extending directions of the guide rails of the two adjacent moving assemblies are intersected, and the base of one moving assembly is connected with the moving part of the other moving assembly.

According to still another aspect of the present invention, there is provided a control method for a balancing load-bearing apparatus, the balancing load-bearing apparatus including two or more moving assemblies stacked together, each moving assembly including a base and a moving member, the moving member including a carrier and the moving device described above, the moving device being connected to the carrier via a support frame and being movably engaged with a guide rail via a traveling member, a rotating body including a first rotating body and a second rotating body, an installation body being located between the first rotating body and the second rotating body, a first rotating pair being fixedly connected to the first rotating body and the second rotating body and being rotatably connected to the installation body, the traveling member being connected to the first rotating body via a second rotating pair, the locking member further including a driving assembly including an electric driving member, one end of the electric driving member being connected to the support frame and the other end being engaged with the second rotating body, the control method comprising:

detecting the inclined working condition of transportation equipment where the balanced bearing equipment is located;

when the inclination working condition exceeds the preset threshold range, the electric driving piece is controlled to act and drive the whole rotating body to rotate relative to the mounting body by taking the first rotating pair as a center, so that the relative position of the walking part and the guide rail is locked.

According to yet another aspect of the embodiments of the present application, the control method further includes: when the inclined working condition of the balance bearing equipment is detected to be restored to the range of a preset threshold value, the electric driving piece is controlled to act reversely, the whole driving rotating body reversely rotates relative to the installation body by taking the first rotating pair as the center and is restored to the initial position, so that the walking component is unlocked, and the walking component can move along the guide rail.

According to the mobile device, the balance bearing equipment and the control method thereof, which are provided by the embodiment of the application, the mobile device comprises the support frame, the locking part and the walking part, the locking part can be connected with equipment for bearing the part to be transported through the support frame, the locking part comprises the installation body and the rotation body, the locking part can be connected with the support frame through the installation body, and the support is provided for the installation of the rotation body and the walking part. The walking part is rotationally connected with the rotating body through the second revolute pair, so that the walking part can rotate relative to the rotating body by taking the second revolute pair as a rotation center, and the whole moving device is driven to move along a preset track.

Simultaneously, the rotor is connected with the installation body through first revolute pair rotation, the rotor can drive the walking part wholly and regard first revolute pair as the rotation center relative installation body rotation, because the axis of rotation of first revolute pair is parallel with the axis of rotation of second revolute pair and the interval sets up, that is to say first revolute pair skew walking wheel's rotation center for the rotor is with first revolute pair pivoted in-process, and the walking part is eccentric motion, can increase the frictional force between the supporting surface of walking part and contact, in the transportation, can drive the walking part through driving the rotor when taking place dangerous operating mode such as slope and rotate, with restriction walking part walking, realize locking demand, guarantee safe transportation demand.

Drawings

Features, advantages, and technical effects of exemplary embodiments of the present application will be described below with reference to the accompanying drawings.

FIG. 1 is a schematic view of a balanced load carrying apparatus according to one embodiment of the present application disposed on a transport apparatus;

FIG. 2 is an isometric view of a balancing load-bearing apparatus according to one embodiment of the present application;

FIG. 3 is a schematic diagram of a mobile assembly according to one embodiment of the present application;

FIG. 4 is a schematic diagram of a mobile device according to one embodiment of the present application;

FIG. 5 is an exploded schematic view of a mobile device according to one embodiment of the present application;

FIG. 6 is a front view of a mobile device according to one embodiment of the present application;

FIG. 7 is a rear view of a mobile device according to one embodiment of the present application;

FIG. 8 is a side view of a mobile device according to one embodiment of the present application;

FIG. 9 is a side view of a mobile device according to another embodiment of the present application;

FIG. 10 is a partial structural schematic diagram of a mobile device according to one embodiment of the present application;

FIG. 11 is an exploded schematic view of a mobile device according to yet another embodiment of the present application;

FIG. 12 is a schematic view of a balancing load apparatus according to yet another embodiment of the present application disposed on a transport apparatus;

FIG. 13 is a schematic view of a tilt state of a balancing load apparatus according to yet another embodiment of the present application when disposed on a transport apparatus;

FIG. 14 is a flow chart of a method of controlling a balanced load carrying device according to one embodiment of the present application;

wherein:

100-balancing a load bearing device;

1-a moving assembly;

10-a base; 11-guiding rails; 12-top surface; 13-bottom surface; 14-an arc-shaped guide groove;

20-moving parts;

21-a carrier;

22-a mobile device;

221-supporting frame;

222-a walking component; 2221-road wheels; 2222-snap-fit protrusions;

223-a locking member; 2231-mount; 2232-rotor; 2232 a-a first rotator; 2232 b-a second rotator; 22321-body portion; 22322-protrusions; 2233-a first rotating pair; 2234-a second revolute pair; 2235-drive assembly; 2235 a-adjusting screw; 2235 b-nut; 2235 c-an electric drive; 2236-plug-in portion;

2-switching components; 201-a transition platform; 202-supporting rods;

a 3-detector; 4-a controller;

200-transportation equipment; 300-parts to be transported;

x-direction of extension; y-stacking direction.

In the drawings, like parts are designated with like reference numerals. The figures are not drawn to scale.

Detailed Description

Features and exemplary embodiments of various aspects of the present application are described in detail below. In the following detailed description, numerous specific details are set forth in order to provide a thorough understanding of the present application. It will be apparent, however, to one skilled in the art that the present application may be practiced without some of these specific details. The following description of the embodiments is merely intended to provide a better understanding of the present application by showing an example of the present application. In the drawings and the following description, at least some well-known structures and techniques are not shown in order to avoid unnecessarily obscuring the present application; also, the dimensions of some of the structures may be exaggerated for clarity. Furthermore, the described features, structures, or characteristics may be combined in any suitable manner in one or more embodiments.

The azimuth terms appearing in the following description are all directions shown in the drawings, and do not limit the specific structures of the mobile device, the balanced bearing apparatus and the control method thereof in the present application. In the description of the present application, it should also be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; can be directly connected or indirectly connected. The specific meaning of the terms in the present application can be understood as appropriate by one of ordinary skill in the art.

At present, component parts of a wind generating set need to be transported according to a preset construction area of the wind generating set, and balance of the component parts needs to be ensured in the transportation process, so that the component parts are always in a horizontal state. Especially for the transportation of offshore wind generating set, because the water depth reason of transportation cost and sea area leads to current offshore wind turbine transport ship less to in offshore wind generating set installation and lift by crane the in-process, because the rocking of transport ship leads to spare part such as host computer to lose balance, either take place the security risk, perhaps prolong the time of lifting by crane from the transport ship, can't realize and guarantee the high efficiency of offshore wind turbine and lift by crane, greatly increased wind generating set's installation cost.

The existing solution mode generally adopts a six-degree-of-freedom mechanical arm for compensation, the six-degree-of-freedom control is complex, the balance adjustment is difficult, and the cost is high.

In order to solve the above-mentioned and time-consuming problems, the application provides a balanced bearing device, and balanced bearing device can satisfy the balanced demand when waiting to transport the part transportation, and can guarantee the security performance when transporting.

Referring to fig. 1 to 3, an embodiment of a balanced load-bearing apparatus 100 is provided, which includes more than two moving assemblies 1 stacked together, each moving assembly 1 includes a base 10 and a moving member 20, the base 10 has an arc-shaped guiding rail 11, the moving member 20 includes a carrier 21 and a moving device 22, and the moving device 22 is disposed on the carrier 21 and movably connected with the guiding rail 11 of the base 10.

The balance bearing device 100 can be arranged on the transport device 200 such as a transport vehicle and a transport ship when in use, the balance bearing device 100 comprises more than two moving assemblies 1 which are arranged in a stacked manner, each moving assembly 1 comprises a base 10 and a moving piece 20, the extending directions X of the guide rails 11 of two adjacent moving assemblies 1 are intersected, the base 10 of one moving assembly 1 is connected with the moving piece 20 of the other moving assembly, and when the component 300 to be transported is transported, the moving assembly 1 positioned at the topmost layer can be connected with the component 300 to be transported through the moving piece 20 in the stacking direction Y of the more than two moving assemblies 1.

Since the base 10 is provided with the arc-shaped guide rail 11, the moving piece 20 is arranged on the base 10 and can move along the extending track of the guide rail 11, so that when the transportation equipment 200 is inclined, the corresponding moving piece 20 of the moving assembly 1 can move along the extending track of the guide rail 11 matched with the moving piece 20 under the action of gravity, and the moving piece 20 connected with the part 300 to be transported is always in a balanced position, thereby being beneficial to control. Meanwhile, as the number of the moving assemblies 1 is more than two, the extending directions X of the guide rails 11 of the two adjacent moving assemblies 1 are intersected, the base 10 of one moving assembly is connected with the moving piece 20 of the other moving assembly, the tilting of the transporting equipment 200 in different directions can be adapted, the moving assemblies 1 are simple in structure and can be designed in a modularized mode, and the overall cost of the balanced bearing equipment 100 can be reduced.

Alternatively, the number of the moving assemblies 1 is not particularly limited, and may be two, three or even more.

Alternatively, in each of the moving assemblies 1, the extending directions X of the guide rails 11 on the base 10 of any two moving assemblies 1 intersect.

Alternatively, in the stacking direction Y, the arcuate guide rail 11 on the base 10 of the moving assembly 1 located at the top layer is recessed in the direction of the moving assembly 1 located at the bottom layer. In the stacking direction Y, the arc-shaped guide rails 11 of each moving assembly 1 are recessed in the same direction, and each recess toward the side of the moving assembly 1 of the bottom layer. The arc-shaped guide rail 11 may be a circular arc-shaped guide rail 11 or an elliptical arc-shaped guide rail 11.

The moving assembly 1 located at the topmost layer may be the moving assembly 1 disposed furthest from the transporting apparatus 200 in the stacking direction Y when the balancing load apparatus 100 is placed on the transporting apparatus 200 to operate.

Alternatively, the carrier 21 may be a solid base structure, or may be a hollow shelf structure, and the carrier 21 may be provided with a connection interface to facilitate connection with the component 300 to be transported or with the base 10 of an adjacent carrier assembly.

Alternatively, the number of the moving devices 22 may be two, three or even more, alternatively, the moving devices 22 are arranged in pairs, and the moving devices 22 arranged in pairs are symmetrically distributed on the carrier 21, so as to ensure the transportation safety of the carrier 21.

In some alternative embodiments, the balancing load apparatus 100 provided in the embodiments of the present application further includes a switching component 2, and the switching component 2 is connected between two adjacent moving components 1. That is, two adjacent moving assemblies 1 are indirectly connected with each other through the switching assembly 2, so as to facilitate the connection requirement between the two moving assemblies.

As an alternative implementation manner, in the balancing load-bearing apparatus 100 provided in this embodiment of the present application, the adapting component 2 includes a transition platform 201 and a support rod 202, where the transition platform 201 is located between two adjacent moving components 1, the base 10 of one of the two adjacent moving components 1 is provided with an arc-shaped guide slot 14, the transition platform 201 is connected with the moving member 20 of one of the two adjacent moving components 1 and with the base 10 of the other, and one end of the support rod 202 is hinged with the transition platform 201 and the other end is movably connected with the arc-shaped guide slot 14. The switching component 2 adopts the structure, and is beneficial to the connection between two adjacent movable components 1. And the overall stability of the two adjacent layers of moving assemblies 1 can be ensured when one moving member 20 drives the other moving member to move.

In order to ensure the safety of the component 100 to be transported in the event of an excessively large inclination of the transport device 200, the present application also provides a new displacement device 22, which displacement device 22 can be produced or sold as a separate product and can also be used for balancing the load-carrying device 100 and as an integral part of the load-carrying device 100.

Referring to fig. 4 to 8, the mobile device 22 provided in the embodiment of the present application includes a support frame 221, a locking member 223 and a traveling member 222, wherein the locking member 223 is disposed on the support frame 221, the locking member 223 includes an installation body 2231 and a rotation body 2232, the rotation body 2232 is rotatably connected with the installation body 2231 through a first rotation pair 2233, and the installation body 2231 is connected to the support frame 221. The traveling part 222 is rotatably connected with the rotator 2232 through a second rotating pair 2234; wherein the rotation axis of the first rotating pair 2233 is parallel to and spaced apart from the rotation axis of the second rotating pair 2234.

When the mobile device 22 provided in the embodiment of the present application is used for balancing the bearing device 100, the mobile device 22 may be connected with the carrier 21 through the supporting frame 221, and may be fixedly connected or detachably connected. And is movably connected with the guide rail 11 through the traveling member 222, the locking member 223 includes a mounting body 2231 and a rotating body 2232, and can be connected with the supporting frame 221 through the mounting body 2231 to provide support for mounting the rotating body 2232 and the traveling member 222. Since the traveling member 222 is rotatably connected to the rotator 2232 through the second rotating pair 2234, the traveling member 222 can rotate relative to the rotator 2232 with the second rotating pair 2234 as a rotation center, so as to drive the moving device 22 to move along a predetermined track as a whole.

Meanwhile, the rotating body 2232 is rotationally connected with the installation body 2231 through the first rotating pair 2233, the rotating body 2232 can drive the whole walking component 222 to rotate relative to the installation body 2231 by taking the first rotating pair 2233 as a rotation center, and the rotating axes of the first rotating pair 2233 and the rotating axes of the second rotating pair 2234 are parallel and are arranged at intervals, that is, the first rotating pair 2233 deviates from the rotation center of the walking component 222, so that the walking component 222 eccentrically moves in the process of rotating by taking the first rotating pair 2233 as the rotation center, friction force between the supporting surface contacted by the walking component 222 can be increased, and in the process of transportation, the running component 222 can be driven to rotate by driving the rotating body 2232 when dangerous working conditions such as tilting occur, so that the running component 222 is limited to walk, the locking requirement is met, and the safe transportation requirement is ensured.

Alternatively, the support 221 may be in a frame structure, and the support 221 is provided with a connection interface for connecting with the carrier 21, optionally detachably.

Alternatively, the support frame 221 may be a hollow frame structure with the locking member 223 at least partially positioned within the hollow cavity of the support frame 221. Through the arrangement, the cooperation between the locking part 223 and the supporting frame 221 is facilitated, and meanwhile, the whole structure of the mobile device 22 can be compact, and the occupied space is small.

Alternatively, the first rotating pair 2233 may include a first rotating shaft and a first limiting cap disposed at least one end of the first rotating shaft in an axial direction, wherein the first rotating shaft may be fixedly connected with the rotating body 2232 and rotatably connected with the mounting body 2231, and the first limiting cap is used for limiting the first rotating shaft from being separated from the mounting body 2231 in an axial direction thereof.

Optionally, the second revolute pair 2234 may include a second rotating shaft and a second limiting cap disposed on at least one end of the second rotating shaft in the axial direction, where the second rotating shaft may be fixedly connected to one of the traveling member 222 and the rotator 2232 and rotatably connected to the other, and the second limiting cap is used to limit the second rotating shaft from being separated from the traveling wheel 2221 or the rotator 2232 in the axial direction thereof.

As an alternative embodiment, the traveling member 222 includes a traveling wheel 2221 and a clamping projection 2222 rotatably connected to the traveling wheel 2221, the clamping projection 2222 being provided at least partially protruding from the outer peripheral surface of the traveling wheel 2221.

Alternatively, when the walking component 222 adopts the above structure, the top surface 12 of the base 10 may be an arc surface, the guide rail 11 is an arc groove formed by recessing from the top surface 12 toward the side near the bottom surface 13, and the clamping protrusion 2222 may be clamped in the guide rail 11 and may move along the extending direction X of the guide rail 11.

Through the above arrangement, the traveling part 222 can limit the traveling part 222 to move along the extending track of the guide rail 11 through the cooperation between the clamping protrusion 2222 and the guide rail 11, so that the traveling part 222 is prevented from deviating relative to the guide rail 11, the traveling wheel 2221 is in rolling cooperation with the top surface 12 of the base 10, the movement of the traveling part 222 is facilitated, and meanwhile, the pressure born by the moving device 22 can be shared through the top surface 12.

Alternatively, the road wheel 2221 may be provided with a click projection 2222 at least one end in the self axial direction.

Referring to fig. 8, as an alternative embodiment, the travelling wheel 2221 may be provided with engaging protrusions 2222 at both ends in the axial direction thereof, respectively, and each engaging protrusion 2222 is rotatably engaged with the travelling wheel 2221 by the second rotating pair 2234. Through the above arrangement, the uniformity of stress at two ends of the travelling wheel 2221 in the axial direction can be ensured, and the smoothness of the whole moving device 22 during movement can be ensured on the basis that the movement track is limited by the clamping protrusions 2222.

It is understood that the two ends of the traveling wheel 2221 in the axial direction thereof are respectively provided with the engaging projections 2222, which is just one alternative embodiment.

Referring to fig. 9, in some embodiments, only one end of the running wheel 2221 in the axial direction may be provided with the engaging protrusion 2222, so long as the limit requirement can be met.

As an alternative implementation manner, the moving device 22 provided in the embodiment of the present application is a plate-shaped structure body of the installation body 2231 and has a first through hole, and the first rotating pair 2233 is inserted into the first through hole. The installation body 2231 adopts the above-mentioned form, has simple structure and low cost, and is convenient to be matched with the first rotating pair 2233.

Referring to fig. 4 to 9, in some alternative embodiments, the rotating body 2232 includes a first rotating body 2232a and a second rotating body 2232b, the mounting body 2231 is located between the first rotating body 2232a and the second rotating body 2232b, and the first rotating pair 2233 is fixedly connected to the first rotating body 2232a and the second rotating body 2232b and is rotatably connected to the mounting body 2231, and the walking member 222 is rotatably connected to the first rotating body 2232a through the second rotating pair 2234.

The rotor 2232 adopts the above-described structure, so that the stability of rotation can be ensured when the rotor 2232 rotates with the first rotating pair 2233 as a rotation center, and connection with the traveling member 222 is facilitated.

In some alternative embodiments, the moving device 22 provided in the embodiments of the present application further includes a driving assembly 2235, where the driving assembly 2235 drives the rotating body 2232 to rotate relative to the mounting body 2231 with the first rotating pair 2233 as a rotation center. With the above arrangement, the rotator 2232 can be driven to rotate by the driving assembly 2235. When the traveling member 222 needs to be locked, the driving assembly 2235 can drive the rotating body 2232 to rotate, so that the friction force between the traveling wheel 2221 and the contact supporting surface can be increased during the rotation process of the rotating body 2232 by taking the first rotating pair 2233 as the rotation center, so as to limit the traveling member 222 to travel, and the locking requirement is realized.

As an alternative embodiment, the driving assembly 2235 includes an adjusting screw rod 2235a and a nut 2235b, the adjusting screw rod 2235a passes through the first rotating body 2232a, the nut 2235b is screwed with the adjusting screw rod 2235a, and the nut 2235b can move along the axial direction of the adjusting screw rod 2235a and press the first rotating body 2232a to drive the rotating body 2232 to rotate relative to the mounting body 2231 about the first rotating pair 2233 as a whole.

The moving device 22 provided in this embodiment of the present application, by defining the driving assembly 2235 to include the adjusting screw rod 2235a, can enable one end of the adjusting screw rod 2235a to be connected to the base 10, the adjusting screw rod 2235a passes through the first rotating body 2232a, and the nut 2235b is located on the side of the rotating body facing away from the base 10 in the stacking direction Y. One end of the adjustment screw 2235 may be connected to the base, for example, its end cap may be snapped into the guide groove of the guide rail 11. When the traveling member 222 needs to be locked, the nut 2235b may be screwed to move the nut 2235b along the axial direction of the adjusting screw 2235a and press the first rotating body 2232a, so as to drive the rotating body 2232 to rotate relative to the mounting body 2231 about the first rotating pair 2233 as a center, thereby achieving the locking of the traveling member 222.

In some alternative embodiments, the moving device 22 provided in the embodiments of the present application, the driving assembly 2235 includes an electric driving member 2235c, where one end of the electric driving member 2235c is connected to the supporting frame 221 and the other end of the electric driving member 2235c is matched with the second rotating body 2232b, so as to drive the rotating body 2232 to rotate relative to the mounting body 2231 about the first rotating pair 2233 as a whole.

When the traveling member 222 needs to be locked, the electric driving member 2235c may be controlled to drive the second rotating body 2232b to rotate, and the second rotating body 2232b is fixedly connected with the first rotating body 2232a through the first rotating pair 2233, and the first rotating pair 2233 is rotatably connected with the mounting body 2231, so that when the second rotating body 2232b rotates, the first rotating body 2232a is driven to rotate by the first rotating pair 2233 with the first rotating pair 2233 as a rotation center, and the traveling member 222 can be locked.

Referring to fig. 10, in some alternative embodiments, the first rotating body 2232a includes a main body 22321 and a protruding portion 22322 protruding from the main body 22321, and the first rotating pair 2233 and the second rotating pair 2234 are disposed at intervals on the main body 22321, and the adjusting screw 2235a passes through the protruding portion 22322 and is connected with the nut 2235b, and the nut 2235b moves along the axial direction of the adjusting screw 2235a and presses the protruding portion 22322.

The first rotating body 2232a adopts the above structure, which can be matched with the adjusting screw rod 2235a and the nut 2235b, so as to ensure the rotation requirement.

As an alternative embodiment, in the axial direction of the adjustment screw 2235a, the extension of the protrusion 22322 is smaller than the extension of the main body 22321, and the surface of the protrusion 22322 that mates with the nut 2235b is planar.

By the above arrangement, the interference between the adjustment screw rod 2235a and the nut 2235b and the base 10 when the first rotating body 2232a is driven to rotate around the first rotating pair 2233 can be effectively avoided, and the rotation of the first rotating body 2232a is facilitated.

In some alternative embodiments, the electric driving member 2235c includes a telescopic member connected to the second rotating body 2232b, and the telescopic member is extended or shortened to drive the second rotating body 2232b to rotate the first rotating body 2232a and the walking member 222 around the first rotating pair 2233.

The electric driving member 2235c adopts the above-mentioned structure, has a simple structure, facilitates control, and can ensure the driving requirement for the second rotating body 2232 b.

As an alternative embodiment, the telescoping direction of the electric driver 2235c may be perpendicular to the stacking direction Y, or the telescoping direction may be perpendicular to the axial direction of the adjustment screw 2235 a. And the double adjustment is facilitated.

Alternatively, the second rotating body 2232b may be a bar-shaped structure, and the driving end of the electric driving member 2235c may be connected to one side of the second rotating body 2232b and drive the second rotating body 2232b to rotate.

In the mobile device 22 provided in this embodiment, the mode of driving the first rotating body 2232a to rotate by matching the adjusting screw rod 2235a with the nut 2235b to drive the traveling component 222 to rotate to lock and the mode of driving the second rotating body 2232b to drive the first rotating body 2232a to rotate with the traveling component 222 by adopting the electric driving piece 2235c are parallel, when the mobile device 22 is in a working state, the mode of driving the locking by adopting the electric driving piece 2235c can be adopted to ensure safe implementation, and when the mobile device 22 is in a non-working state or fails, the mode of locking by matching the adjusting screw rod 2235a with the nut 2235b can be adopted to lock the traveling component 222.

In some alternative embodiments, the moving device 22 provided in the embodiments of the present application, the locking component 223 further includes a plug-in portion 2236, where the plug-in portion 2236 is detachably connected to the walking component 222, the mounting body 2231, and the rotating body 2232. The locking requirement can be further satisfied.

As an alternative implementation manner, in the mobile device 22 provided in the embodiment of the present application, the number of the walking members 222 is plural, and each of the walking members 222 is correspondingly provided with the locking member 223. Through the above arrangement, the movement requirement of the moving device 22 can be ensured, and the locking requirement of each traveling part 222 can be ensured, so that the safety performance is improved.

Alternatively, the number of the walking members 222 connected to the same support frame 221 may be more than two, for example, two walking members 222 may be spaced apart in the extending direction X of the guide rail 11, each walking member 222 may be correspondingly provided with one locking member 223, the mounting body 2231 of each locking member 223 is connected to the support frame 221, and the mounting bodies 2231 of the locking members 223 connected to the same support frame 221 may be in an integral structure.

Referring to fig. 11, in some embodiments, the mounting body 2231 of each locking member 223 connected to the same supporting frame 221 may be a split structure.

In some alternative embodiments, the above embodiments of the present application provide a balanced transportation apparatus 200, where the number of moving assemblies 1 is two, and the extending tracks of the guide rails 11 of the two moving assemblies 1 are perpendicular to each other. By the above arrangement, the moving device 22 can drive the component 300 to be transported to adjust balance in two mutually perpendicular directions by using gravity. Simple structure, and can satisfy the regulation demand.

Referring to fig. 12 and fig. 13, in some alternative embodiments, the balanced transportation device 200 provided in the embodiments of the present application further includes a detector 3 and a controller 4, the detector 3 is configured to detect a tilting condition of the transportation device 200 where the balanced carrier device 100 is located, and the controller 4 is configured to control the electric driving member 2235c to act when the tilting condition exceeds a preset threshold range, so as to drive the rotating body 2232 to rotate relative to the mounting body 2231 about the first rotating pair 2233 as a whole.

Alternatively, the detector 3 may include an inclination sensor, and the detector 3 may be provided on the transporting apparatus 200.

Alternatively, the tilt conditions referred to throughout the present application above may include a tilt angle a of the transport apparatus 200 relative to the horizontal.

Alternatively, when the tilt condition includes the tilt angle A of the transport apparatus 200 relative to the horizontal, the preset threshold range includes-7 A.ltoreq.7. That is, the transporting apparatus 200 may be inclined forward by 7 ° or less, or inclined backward by 7 ° or less. When the angle A is inclined and when A is less than-7 DEG or A is more than 7 DEG, the preset threshold range is exceeded.

Referring to fig. 1 to 14, on the other hand, the present application further provides a control method of the balancing load apparatus 100, where the balancing load apparatus 100 may include two or more moving assemblies 1 stacked, each moving assembly 1 includes a base 10 and a moving member 20, the moving member 20 includes a carrier 21 and the moving device 22, the moving device 22 is connected to the carrier 21 through a supporting frame 221 and movably engaged with the guide rail 11 through a traveling member 222, the rotating body 2232 includes a first rotating body 2232a and a second rotating body 2232b, the mounting body 2231 is located between the first rotating body 2232a and the second rotating body 2232b, the first rotating pair 2233 is fixedly connected to the first rotating body 2232a and the second rotating body 2232b and is rotatably connected to the mounting body 2231, the traveling member 222 is connected to the first rotating body 2232a, the locking member 223 further includes a driving assembly 2235, the driving member 2235 includes an electric driving member 2235c, one end of the electric driving member 2235c is connected to the supporting frame 221 and the other end of the driving member 2232b is engaged with the second rotating body 2232b, and the control method includes:

s100, detecting the inclined working condition of the transportation equipment 200 where the balanced bearing equipment 100 is located;

s200, when the tilting condition exceeds the preset threshold range, the electric driving member 2235c is controlled to act and drive the rotating body 2232 to rotate relative to the mounting body 2231 about the first rotating pair 2233, so as to lock the relative position of the walking member 222 and the guide rail 11.

In step S200, the electric driver 2235c is controlled to rotate the entire rotating body 2232 relative to the mounting body 2231 about the first rotating pair 2233. Specifically, the electric driving member 2235c may be controlled to be powered, so that the electric driving member 2235c is shortened to drive the second rotating body 2232b, so that the second rotating body 2232b drives the first rotating body 2232a and the traveling member 222 to rotate relative to the mounting body 2231 with the first rotating pair 2233 as a center, friction force between the traveling member 222 and a supporting surface in contact with the traveling member is increased, the traveling member 222 is limited to travel, and the relative position of the traveling member 222 and the guide rail 11 is locked, thereby realizing the locking requirement.

When the inclination condition of the balance bearing device 100 is detected to be restored to the preset threshold range, the electric driving member 2235c can be controlled to reversely move, so that the whole driving rotating body 2232 reversely rotates relative to the mounting body 2231 around the first rotating pair 2233 and is restored to the initial position, and the traveling member 222 is unlocked, so that the traveling member 222 can move along the guide rail 11.

For example, the electric driving member 2235c may be controlled to extend to pull the second rotating body 2232b to move reversely, so as to reduce the friction force between the traveling member 222 and the contact supporting surface, and release the locking, so that the traveling wheel 2221 can rotate with the second rotating pair 2234 as the rotation center, thereby meeting the movement requirement.

According to the control method of the balance bearing device 100, when the inclination working condition of the transportation device 200 exceeds the preset threshold range, the electric driving piece 2235c can be controlled to lock the walking component 222, so that the transportation device is locked and cannot operate temporarily, separation from matched components such as the base 10 is avoided, and safety performance is improved.

It will be appreciated that the above is exemplified by the application of the mobile device 22 to the balancing load apparatus 100, which is an alternative field of application, but is not limited to the above field, and in some examples, it may be used for transporting trolleys in factories, etc., which are not exemplified here.

While the present application has been described with reference to a preferred embodiment, various modifications may be made and equivalents may be substituted for elements thereof without departing from the scope of the present application. In particular, the technical features mentioned in the respective embodiments may be combined in any manner as long as there is no structural conflict. The present application is not limited to the specific embodiments disclosed herein, but encompasses all technical solutions falling within the scope of the claims.

Claims

1. A mobile device (22), comprising:

a support (221);

a locking member (223) provided on the support frame (221), wherein the locking member (223) comprises an installation body (2231) and a rotation body (2232), the rotation body (2232) is rotatably connected with the installation body (2231) through a first rotation pair (2233), and the installation body (2231) is connected with the support frame (221);

a traveling member (222), wherein the traveling member (222) is rotatably connected with the rotating body (2232) through a second rotating pair (2234);

wherein the rotation axis of the first rotating pair (2233) is parallel to and spaced apart from the rotation axis of the second rotating pair (2234).

2. The mobile device (22) of claim 1, wherein the walking member (222) comprises a walking wheel (2221) and a clamping projection (2222) rotatably connected to the walking wheel (2221), the clamping projection (2222) being at least partially protruding from an outer peripheral surface of the walking wheel (2221).

3. The mobile device (22) according to claim 2, wherein the travelling wheel (2221) is provided with the clamping projection (2222) at least one end in the axial direction thereof, and the clamping projection (2222) is in a rotating fit with the travelling wheel (2221) through the second revolute pair (2234).

4. The mobile device (22) according to claim 1, wherein the rotating body (2232) comprises a first rotating body (2232 a) and a second rotating body (2232 b), the mounting body (2231) is located between the first rotating body (2232 a) and the second rotating body (2232 b), the first rotating pair (2233) is fixedly connected with the first rotating body (2232 a) and the second rotating body (2232 b) and is rotatably connected with the mounting body (2231), and the traveling member (222) is rotatably connected with the first rotating body (2232 a) through the second rotating pair (2234).

5. The mobile device (22) of claim 4, wherein the locking member (223) further comprises a drive assembly (2235), the drive assembly (2235) driving the rotator (2232) to rotate relative to the mounting body (2231) about the first rotation pair (2233) as a center of rotation.

6. The mobile device (22) according to claim 5, wherein the driving assembly (2235) comprises an adjusting screw (2235 a) and a nut (2235 b), the adjusting screw (2235 a) passing through the first rotating body (2232 a), the nut (2235 b) being screwed with the adjusting screw (2235 a), the nut (2235 b) being movable in an axial direction of the adjusting screw (2235 a) and pressing the first rotating body (2232 a) to drive the rotating body (2232) as a whole to rotate with respect to the mounting body (2231) centering on the first rotating pair (2233).

7. The mobile device (22) according to claim 6, wherein the first rotating body (2232 a) includes a main body (22321) and a protruding portion (22322) protruding from the main body (22321), the first rotating pair (2233) and the second rotating pair (2234) are disposed at intervals on the main body (22321), the adjusting screw (2235 a) passes through the protruding portion (22322) and is connected to the nut (2235 b), and the nut (2235 b) moves in an axial direction of the adjusting screw (2235 a) and presses the protruding portion (22322).

8. The mobile device (22) according to claim 7, wherein an extension of the protrusion (22322) in an axial direction of the adjusting screw (2235 a) is smaller than an extension of the main body (22321), and a surface of the protrusion (22322) to be mated with the nut (2235 b) is planar.

9. The mobile device (22) according to claim 5, wherein the driving assembly (2235) comprises an electric driving member (2235 c), one end of the electric driving member (2235 c) being connected to the support frame (221) and the other end being engaged with the second rotating body (2232 b) to drive the rotating body (2232) as a whole to rotate with respect to the mounting body (2231) centering on the first rotating pair (2233).

10. The mobile device (22) according to claim 9, wherein the electric driving element (2235 c) comprises a telescopic element connected to the second rotating body (2232 b), and the telescopic element is lengthened or shortened to drive the second rotating body (2232 b) to rotate the first rotating body (2232 a) and the travelling member (222) around the first rotating pair (2233).

11. The mobile device (22) according to any one of claims 1 to 10, wherein the number of walking members (222) is plural, each walking member (222) being provided with the locking member (223) respectively.

12. The mobile device (22) according to any one of claims 1 to 10, wherein the locking member (223) further comprises a plug-in portion (2236), the plug-in portion (2236) being detachably connected to the running member (222), the mounting body (2231) and the rotating body (2232).

13. Balanced load-bearing apparatus (100), characterized by comprising more than two moving assemblies (1) arranged in a stack, each of said moving assemblies (1) comprising:

a base (10), the base (10) having an arcuate guide rail (11);

-a mobile element (20) comprising a carrier (21) and a mobile device (22) according to any one of claims 1 to 12, said mobile device (22) being connected to said carrier (21) by means of said support (221) and being in movable engagement with said guide rail (11) by means of said travelling member (222);

the extending directions (X) of the guide rails (11) of two adjacent moving assemblies (1) are intersected, and the base (10) of one moving assembly is connected with the moving piece (20) of the other moving assembly.

14. A control method of a balancing carrier device (100), the balancing carrier device (100) comprising more than two moving assemblies (1) arranged in a stacked manner, each moving assembly (1) comprising a base (10) and a moving member (20), the moving member (20) comprising a carrier (21) and a moving device (22) according to any one of claims 1 to 12, the moving device (22) being connected to the carrier (21) by means of the support frame (221) and being movably engaged with the guide rail (11) by means of the running member (222), the rotating body (2232) comprising a first rotating body (2232 a) and a second rotating body (2232 b), the mounting body (2231) being located between the first rotating body (2232 a) and the second rotating body (2232 b), the first rotating pair (2233) being fixedly connected to the first rotating body (2232 a) and the second rotating body (2232 b) and being in movable engagement with the mounting body (222), the second rotating body (2235) comprising a driving member (2235 c) and the driving member (223 c) comprising a driving member (223 c), -one end of the electric driving member (2235 c) is connected to the supporting frame (221) and the other end cooperates with the second rotating body (2232 b), characterized in that the control method comprises:

detecting the inclination working condition of the transportation equipment (200) where the balanced bearing equipment (100) is located;

when the inclination working condition exceeds a preset threshold range, the electric driving piece (2235 c) is controlled to act and drive the whole rotating body (2232) to rotate relative to the mounting body (2231) by taking the first rotating pair (2233) as a center so as to lock the relative position of the walking component (222) and the guide rail (11).

15. The control method according to claim 14, characterized in that the control method further comprises:

when the inclination working condition of the balance bearing equipment (100) is detected to be restored to be within the preset threshold range, the electric driving piece (2235 c) is controlled to act reversely, the whole rotating body (2232) is driven to rotate reversely relative to the installation body (2231) by taking the first rotating pair (2233) as a center and restore to an initial position, so that the walking component (222) is unlocked, and the walking component (222) can move along the guide rail (11).