WO2023071018A1 - 平衡承载装置及其控制方法、运输设备 - Google Patents

平衡承载装置及其控制方法、运输设备 Download PDF

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Publication number
WO2023071018A1
WO2023071018A1 PCT/CN2022/080627 CN2022080627W WO2023071018A1 WO 2023071018 A1 WO2023071018 A1 WO 2023071018A1 CN 2022080627 W CN2022080627 W CN 2022080627W WO 2023071018 A1 WO2023071018 A1 WO 2023071018A1
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WO
WIPO (PCT)
Prior art keywords
moving
guide rail
rotating body
balance
base
Prior art date
Application number
PCT/CN2022/080627
Other languages
English (en)
French (fr)
Inventor
方晶
Original Assignee
江苏金风科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 江苏金风科技有限公司 filed Critical 江苏金风科技有限公司
Priority to AU2022376005A priority Critical patent/AU2022376005A1/en
Priority to KR1020247011310A priority patent/KR20240058911A/ko
Publication of WO2023071018A1 publication Critical patent/WO2023071018A1/zh

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Classifications

    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
    • F03D—WIND MOTORS
    • F03D13/00—Assembly, mounting or commissioning of wind motors; Arrangements specially adapted for transporting wind motor components
    • F03D13/40—Arrangements or methods specially adapted for transporting wind motor components
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters

Definitions

  • the present application relates to the technical field of transportation, in particular to a balance carrying device, a control method thereof, and transportation equipment.
  • the transportation equipment has a wide range of uses. It can transport the parts to be transported at A to B according to the requirements. If the parts to be transported are tilted during the transportation process, the safety of the parts to be transported will be affected.
  • Embodiments of the present application provide a balance bearing device, a control method thereof, and transportation equipment, and the balance bearing device can meet the balance requirements of components to be transported.
  • a balance carrying device which is set on the transportation equipment, including: a moving assembly, two or more moving assemblies are stacked, each moving assembly includes a base, a moving part and an adjusting part, the base It has an arc-shaped guide rail, the moving part is set on the base and can move along the extended track of the guide rail under the action of gravity, and the adjusting part is connected between the moving part and the base and can limit the limit position of the moving part moving along the guide rail ;
  • the extension directions of the guide rails of two adjacent moving assemblies intersect and the base of one of them is connected with the moving part of the other, in the stacking direction of more than two moving assemblies, the moving assembly at the top can Connected to the parts to be transported via moving parts.
  • the moving part includes a carrier and a plurality of moving units, the plurality of moving units are distributed at intervals and connected to the carrier respectively, and each moving unit is movably connected to the guide rails.
  • each mobile assembly has more than two parallel and spaced guide rails, and each guide rail is movably connected to at least one mobile unit.
  • the mobile unit includes a support frame, a running part and a locking part
  • the running part is connected with the support frame through the locking part
  • the running part can move along the extended track of the guide rail
  • the locking part is used to lock the running part in the position on the base.
  • the base in the stacking direction, has a top surface and a bottom surface oppositely arranged, the top surface is an arc-shaped surface protruding toward the direction of the bottom surface, the guide rail is arranged on the arc-shaped surface, and the running parts are at least partially Supported on the top surface, one of the running part and the guide rail at least partially protrudes into the other and is movably connected to each other.
  • the guide rail is an arc-shaped groove body, and the guide rail is formed by indenting from the top surface to the side close to the bottom surface.
  • the wheel is supported on the top surface and is rotatably connected to the locking part, and the locking protrusion is locked in the guide rail and can move along the extending direction of the guide rail.
  • the guide rail is an arc-shaped protrusion
  • the guide rail is formed by protruding from the top surface to the side away from the bottom surface. Supported on the top surface, the card slot is engaged with the guide rail and can move along the extending direction of the guide rail.
  • the locking part includes a mounting body and a rotating body, the mounting body is connected to the support frame, the rotating body is rotationally connected to the mounting body through a first rotating pair, and the running part is rotationally connected to the rotating body through a second rotating pair , the rotation axis of the first rotation pair is parallel to and spaced apart from the rotation axis of the second rotation pair.
  • the rotating body includes a first rotating body and a second rotating body
  • the installation body is located between the first rotating body and the second rotating body, and the first rotating pair and the first rotating body and the second rotating body
  • the body is fixedly connected and rotatably connected with the mounting body, and the running part is connected to the first rotating body.
  • the locking component further includes a driving assembly, and the driving assembly drives the rotating body to rotate relative to the mounting body with the first rotating pair as a rotation center.
  • the driving assembly includes an adjusting screw and a nut, one end of the adjusting screw is connected to the base and the other end passes through the first rotating body, the nut is threadedly connected to the adjusting screw, and the nut can move along the adjusting screw. Axially move and squeeze the first rotating body to drive the entire rotating body to rotate relative to the mounting body centered on the first rotating pair.
  • the drive assembly includes an electric drive member, one end of the electric drive member is connected to the support frame and the other end is matched with the second rotating body, so as to drive the entire rotating body to face the mounting body with the first rotating pair as the center turn.
  • the electric driving part includes a telescopic part, and the telescopic part is connected with the second rotating body. Rotate for the center.
  • the locking part further includes an insertion part, and the insertion part is detachably connected to the running part, the installation body and the rotating body.
  • each running part is correspondingly provided with a locking part.
  • the balance carrying device further includes a transfer assembly, and a transfer assembly is connected between two adjacent moving assemblies.
  • the transfer assembly includes a transition platform and a support rod, the transition platform is located between two adjacent mobile assemblies, and an arc-shaped guide groove is provided on the base of one of the adjacent two mobile assemblies.
  • the transition platform is connected to the moving part of one of the two adjacent moving components and to the base of the other.
  • One end of the support rod is hinged to the transition platform and the other end is movably connected to the arc guide groove.
  • the adjusting member includes a telescopic cylinder, and one of the cylinder body and the cylinder rod of the telescopic cylinder is connected to the moving member and the other is connected to the base.
  • the adjusting member includes an elastic body, one end of the elastic body is connected to the moving member and the other end is connected to the base.
  • the adjusting member includes an electromagnetic component
  • the electromagnetic component includes a first electromagnetic part and a second electromagnetic part
  • the first electromagnetic part is connected to the moving part
  • the second electromagnetic part is connected to the base
  • the first electromagnetic part and the second electromagnetic part can generate magnetic force interaction with each other.
  • the extension tracks of the guide rails of the two moving assemblies are perpendicular to each other.
  • the balance bearing device further includes a detector and a controller, the detector is configured to detect the inclination condition of the transport equipment, and the controller is configured to, when the inclination condition is within a preset threshold range,
  • the moving parts are kept movable along the guide rails under the action of gravity, so that the moving parts for connecting with the parts to be transported are in an equilibrium position.
  • the inclination working condition includes an inclination angle A of the transport equipment relative to the horizontal plane
  • the preset threshold range includes -7° ⁇ 0.5° ⁇ A ⁇ 7° ⁇ 0.5°
  • the tilting condition also includes the displacement B of the moving part along the extension direction of the corresponding guide rail
  • the preset threshold range also includes B1-B2 ⁇ B ⁇ B1+B2, where B1 is used for connecting When the center of gravity of the moving part of the moving assembly of the part to be transported coincides with the center of gravity of the base in the stacking direction, the length dimension of the adjusting part in the extending direction of the guide rail, B2 is when the inclination angle A of the transport equipment reaches the preset threshold range , the offset dimension of the center of gravity of the moving part relative to the center of gravity of the base in the direction of extension of its guide rail for connecting the moving assembly of the parts to be transported.
  • the controller is further configured to control the adjusting member to provide a force opposite to the moving direction of the moving member to the moving member when the tilting condition exceeds a preset threshold range, and/or lock each The relative position of the mobile part of the mobile assembly to the base.
  • the embodiment of the present application also provides a method for controlling a balance bearing device, including:
  • the moving parts are kept able to move along the guide rail under the action of gravity, so that the moving parts used for connecting with the parts to be transported are in a balanced position.
  • control method further includes: when the tilt condition exceeds a preset threshold range, controlling the adjusting member to provide a force opposite to the moving direction of the moving member to the moving member, and/or locking each The relative position of the mobile part of the mobile assembly to the base.
  • the embodiment of the present application also provides a transportation device, which includes any one of the balance bearing devices described above.
  • the balance carrying device can be placed on transportation equipment such as transport vehicles and transport ships.
  • the balance carrying device includes more than two stacked mobile components, each moving The component includes a base, a moving part and an adjusting part, and the extension directions of the guide rails of two adjacent moving components intersect and the base of one of them is connected to the moving part of the other.
  • the moving component on the top layer is connected to the parts to be transported through the moving part. Since the base has an arc-shaped guide rail, the moving part is arranged on the base and can extend along the guide rail.
  • Track movement so that when the transport equipment is tilted, the corresponding moving parts can move along the extended track of the corresponding guide rail under the action of gravity, so that the moving parts connected with the parts to be transported are always in a balanced position, which is conducive to control and adjustment of corresponding settings
  • the parts can limit the extreme position of the moving part along the guide rail, avoid the separation of the moving part and the base, and ensure the safety of transportation. It is suitable for the transportation of parts under unstable working conditions such as sea.
  • Fig. 1 is a schematic structural view of a balance carrying device according to an embodiment of the present application arranged on a transportation device;
  • Fig. 2 is an axonometric view of a balanced bearing device according to an embodiment of the present application
  • Fig. 3 is an exploded schematic diagram of a balance bearing device according to an embodiment of the present application.
  • Fig. 4 is a top view of a balance bearing device according to an embodiment of the present application.
  • Fig. 5 is a schematic structural diagram of a mobile assembly according to an embodiment of the present application.
  • Fig. 6 is a schematic structural diagram of a mobile unit according to an embodiment of the present application.
  • Fig. 7 is an exploded schematic diagram of a mobile unit according to an embodiment of the present application.
  • Fig. 8 is the front view of the mobile unit of an embodiment of the present application.
  • Figure 9 is a rear view of a mobile unit according to an embodiment of the present application.
  • Figure 10 is a side view of a mobile unit according to an embodiment of the present application.
  • Fig. 11 is the side view of the mobile unit of another embodiment of the present application.
  • Fig. 12 is a side view of a mobile unit according to yet another embodiment of the present application.
  • FIG. 13 is a schematic diagram of a partial structure of a mobile unit according to an embodiment of the present application.
  • Fig. 14 is an exploded schematic diagram of a mobile unit according to yet another embodiment of the present application.
  • Fig. 15 is an axonometric view of a balance bearing device according to another embodiment of the present application.
  • Fig. 16 is an axonometric view of a balance carrying device according to yet another embodiment of the present application.
  • Fig. 17 is a schematic structural view of a balance carrying device set on a transportation device according to another embodiment of the present application.
  • Fig. 18 is a schematic diagram of a tilted state of a balance carrying device according to another embodiment of the present application when it is installed on a transportation device;
  • Fig. 19 is a flow chart of a control method of a balance bearing device according to an embodiment of the present application.
  • Fig. 20 is a control flow chart of a balance bearing device according to an embodiment of the present application.
  • Fig. 21 is a flowchart of locking the balance bearing device according to an embodiment of the present application.
  • 223-locking part 2231-mounting body; 2232-rotating body; 2232a-first rotating body; 2232b-second rotating body; 22321-main body; Two rotating pairs; 2235-drive assembly; 2235a-adjusting screw; 2235b-nut; 2235c-electric drive; 2236-socket part;
  • orientation words appearing in the following description are all directions shown in the figure, and are not intended to limit the specific structure of the balance bearing device, its control method, and transportation equipment of the present application.
  • the terms “installation” and “connection” should be understood in a broad sense, for example, it can be a fixed connection or a detachable connection, or Connected integrally; either directly or indirectly.
  • the specific meanings of the above terms in this application can be understood according to specific situations.
  • the component parts of the wind power generating set need to be transported according to the predetermined construction area of the wind power generating set.
  • the transportation of the parts it is necessary to ensure the balance of the parts so that they are always in a horizontal state.
  • the current offshore wind turbine transport ship is small, so that during the installation and lifting of offshore wind turbines, due to the shaking of the transport ship, the main engine and other components are lost. Balance, either a safety risk will occur, or the lifting time from the transport ship will be prolonged, and the high-efficiency lifting of the offshore wind turbine cannot be realized and guaranteed, which greatly increases the installation cost of the wind turbine.
  • the embodiment of the present application provides a balance bearing device, which can meet the balance requirements of the parts to be transported, and is low in cost and easy to control.
  • the balance carrying device 100 provided by the embodiment of the present application is set on the transportation equipment 200, and includes a moving assembly 1, and more than two moving assemblies 1 are stacked, and each moving assembly 1 includes a base 10, a moving 20 and an adjusting member 30, the base 10 has an arc-shaped guide rail 11, the moving member 20 is arranged on the base 10 and can move along the extension track of the guiding rail 11 under the action of gravity, and the adjusting member 30 is connected to the moving member 20 and Between the bases 10 and can limit the extreme position of the moving part 20 moving along the guide rail 11 .
  • the extension directions X of the guide rails 11 of two adjacent moving assemblies 1 intersect and the base 10 of one of them is connected to the moving piece 20 of the other.
  • the The uppermost mobile module 1 can be connected via the mobile part 20 to the part 300 to be transported.
  • the number of moving components 1 is not specifically limited, and may be two, three or even more.
  • each moving assembly 1 the extension directions X of the guide rails 11 on the bases 10 of any two moving assemblies 1 intersect.
  • the arc-shaped guide rail 11 on the base 10 of the mobile assembly 1 on the top layer is recessed toward the direction of the mobile assembly 1 on the bottom layer.
  • the arc-shaped guide rails 11 of each moving assembly 1 are recessed along the same direction, and they are all recessed toward the side where the bottom moving assembly 1 is located.
  • the arc-shaped guide rail 11 may be a circular-arc-shaped guide rail 11 or an elliptical-arc-shaped guide rail 11 .
  • the mobile assembly 1 on the top floor may be the mobile assembly 1 disposed farthest from the transportation equipment 200 in the stacking direction Y when the balance bearing device 100 is placed on the transportation equipment 200 for work.
  • the balance carrying device 100 provided in the embodiment of the present application can be installed on transportation equipment 200 such as a transport vehicle and a transport ship during use.
  • the balance carrying device 100 includes more than two stacked mobile assemblies 1, and each mobile assembly 1 includes a basic Seat 10, moving part 20 and adjusting part 30, and the extension direction X of the guide rail 11 of two adjacent moving assemblies 1 intersects and the base 10 of one of them is connected with the moving part 20 of the other.
  • the mobile component 1 on the top layer can be connected to the component 300 to be transported through the moving part 20 .
  • the moving part 20 is arranged on the base 10 and can move along the extended track of the guide rail 11, so that when the transportation device 200 tilts, the corresponding moving part 20 can move under the action of gravity.
  • Moving along the extension track of the corresponding guide rail 11 makes the moving part 20 connected with the component to be transported 300 always in a balanced position, which is convenient for control.
  • the correspondingly set adjusting part 30 can limit the limit position of the moving part 20 moving along the guide rail 11, avoid the separation of the moving part 20 and the base 10, meet the balance requirements of the parts 300 to be transported, and ensure the safety of transportation, which is suitable for marine Transportation of components under unstable working conditions.
  • the extension directions X of the guide rails 11 of two adjacent moving assemblies 1 intersect and the base 10 of one of them is connected with the moving piece 20 of the other, which can adapt to
  • the transportation device 200 is inclined in different directions, and the moving assembly 1 has a simple structure and can be designed in a modular manner, which can reduce the overall cost of the balancing bearing device 100 .
  • the moving part 20 includes a carrier body 21 and a plurality of mobile units 22, and the plurality of mobile units 22 are distributed at intervals and connected to The carrier body 21 is connected, and each mobile unit 22 is respectively movably connected with the guide rail 11 .
  • the mobile assembly 1 adopts the above-mentioned structural form, which can not only ensure the connection requirements with the parts to be transported 300 and two adjacent mobile assemblies 1, but also can pass multiple mobile units 22 and
  • the corresponding guide rails 11 cooperate so that when the transportation device 200 shakes and loses balance, it is beneficial for the moving part 20 to drive the connected adjacent mobile assembly 1 or the part to be transported 300 along the corresponding guide rails 11 under the action of gravity. Move to ensure the balance requirements of the parts 300 to be transported.
  • the carrier 21 can be a solid base structure, or of course a hollow shelf structure, and a connection interface can be provided on the carrier 21 to facilitate the connection with the component to be transported 300 or the connection with the adjacent carrier assembly.
  • the base 10 is connected.
  • the number of mobile units 22 may be two, three or even more.
  • the mobile units 22 can be arranged in pairs, and the mobile units 22 arranged in pairs are symmetrically distributed on the carrier 21 to ensure the force balance of the carrier 21 and thus ensure transportation safety.
  • the balanced carrying device 100 provided in the embodiment of the present application further includes a transfer assembly 2 , and the transfer assembly 2 is connected between two adjacent moving assemblies 1 . That is to say, two adjacent mobile assemblies 1 can be indirectly connected to each other through the adapter assembly 2, which facilitates the connection requirements between the two.
  • the transfer assembly 2 includes a transition platform 201 and a support rod 202.
  • the transition platform 201 is located between two adjacent mobile assemblies 1, and the two adjacent mobile assemblies 1
  • An arc-shaped guide groove 14 is provided on the base 10 of one of the two moving assemblies 1 , and the transition platform 201 is connected with the moving piece 20 of one of the two adjacent moving assemblies 1 and connected with the base 10 of the other.
  • One end of the support rod 202 is hinged to the transition platform 201 and the other end is movably connected to the arc guide slot 14 .
  • the adapter assembly 2 adopts the above structure, which facilitates the connection between two adjacent mobile assemblies 1 . And it can ensure the overall stability when the moving part 20 of one of the two adjacent moving assemblies 1 drives the other to move.
  • the adjustment member 30 may include a telescopic cylinder, one of the cylinder body and the cylinder rod of the telescopic cylinder is connected to the moving member 20 and the other is connected to the The base 10 is connected.
  • the adjusting part 30 is in the form of a telescopic cylinder, which can limit the limit position of the moving part 20 by limiting the stroke of the telescopic cylinder, so as to prevent the moving part 20 from being separated from the corresponding base 10 .
  • the telescopic cylinder can follow up, without affecting the movement of the movable part 20 under the action of gravity.
  • the adjusting member 30 is connected to the base 10 and the moving member 20 in a hinged manner.
  • the mobile unit 22 includes a support frame 221, a walking part 222 and a locking part 223, and the walking part 222 passes through the locking part 223 is connected to the support frame 221 , the running part 222 can move along the extension track of the guide rail 11 , and the locking part 223 is used to lock the position of the running part 222 on the base 10 .
  • the balance carrying device 100 provided by the embodiment of the present application, by making the mobile unit 22 include a support frame 221, a walking part 222 and a locking part 223, it can be connected with the carrier body 21 through the support frame 221, and the support frame 221 can also be a locking Part 223 provides connection and installation space.
  • the walking part 222 that is set correspondingly can drive the whole mobile part 20 to move along the arc track of guide rail 11, and the setting of locking part 223 can lock the position of walking part 222 on the base 10, makes when balance carrying device 100 is in non-working Lock the running part 222 under the condition or when the transportation equipment 200 is tilted at a large angle and is about to tip over, so as to prevent the moving part 20 from continuing to move along the guide rail 11, save energy, and improve the safety performance of the balance carrying device 100.
  • the support frame 221 may adopt a frame structure, and a connection interface is provided on the support frame 221 for connecting with the carrier body 21 .
  • the support frame 221 may be a hollow frame structure, and the locking member 223 is at least partially located in the hollow cavity of the support frame 221 .
  • the locking component 223 and the support frame 221 are facilitated, and at the same time, the overall structure of the mobile unit 22 can be made compact and occupies a small space.
  • the base 10 in the stacking direction Y, has a top surface 12 and a bottom surface 13 oppositely arranged, and the top surface 12 is an arc-shaped surface protruding toward the direction of the bottom surface 13, the guide rail 11 is arranged on the arc-shaped surface, the running part 222 is at least partly supported on the top surface 12, and one of the running part 222 and the guide rail 11 is at least partly stretched into the other.
  • the interior of the two and each other are movably connected.
  • the base 10 adopts the above-mentioned structural form, and the guide rail 11 is arranged on the arc-shaped surface, which facilitates the formation of the arc-shaped guide rail 11 .
  • Supporting the running part 222 at least partly on the top surface 12 can increase the contact area between the base 10 and the running part 222, share the pressure on the running part 222 through the arc surface, reduce the friction during walking, and ensure the movement of the running part 222 smoothness.
  • the running part 222 and the guide rail 11 at least partially extend into the other and be movably connected to each other, the running part 222 can be restricted from moving along the extension track of the guide rail 11 all the time, so as to prevent the running part 222 from facing each other.
  • the guide rail 11 is deflected.
  • the bottom surface 13 of the base 10 may be a plane, which is convenient for connecting with the moving part 20 of the adjacent moving assembly 1 .
  • the guide rail 11 is an arc-shaped groove body, and the guide rail 11 is formed by indenting from the top surface 12 to the side close to the bottom surface 13, and the running part 222 It includes a traveling wheel 2221 and a locking protrusion 2222 that is rotatably connected to the traveling wheel 2221.
  • the traveling wheel 2221 is supported on the top surface 12 and is rotatably connected to the locking member 223.
  • the locking protrusion 2222 is engaged in the guide rail 11 and can be The extension direction X of the guide rail 11 moves.
  • the movement of the running part 222 along the extension track of the guide rail 11 can be restricted by the cooperation between the snap-in protrusion 2222 and the guide rail 11, so as to avoid the deviation of the running part 222 relative to the guide rail 11, and the travel wheel 2221 and the top
  • the rolling fit of the surface 12 is beneficial to the movement of the running part 222 , and at the same time, the pressure on the moving unit 22 can be shared through the top surface 12 .
  • the engaging protrusion 2222 can be rotatably connected with the traveling wheel 2221 , and optionally, the engaging protrusion 2222 can rotate around the central axis of the traveling wheel 2221 .
  • the snap-in protrusions 2222 can be arranged in pairs and arranged on both sides of the running wheel 2221 in the axial direction. Of course, this is an optional implementation.
  • the number of locking protrusion 2222 can also be one and be arranged on one side of the traveling wheel 2221 in its axial direction.
  • the guide rail 11 can also be made into an arc-shaped protrusion, the guide rail 11 starts from the top surface 12 and protrudes to the side away from the bottom surface 13, and the walking part 222 includes The traveling wheels 2221 and the locking grooves 2221a provided on the traveling wheels 2221 , the traveling wheels 2221 are supported on the top surface 12 , the locking grooves 2221a are engaged with the guiding rail 11 and can move along the extending direction X of the guiding rail 11 . It can also meet the requirements of limiting the travel wheel 2221 and sharing the pressure through the top surface 12 .
  • the locking part 223 of the balance carrying device 100 may include a mounting body 2231 and a rotating body 2232 , the mounting body 2231 is connected to the support frame 221 , The rotating body 2232 is rotationally connected with the mounting body 2231 through the first rotating pair 2233, and the running part 222 is rotationally connected with the rotating body 2232 through the second rotating pair 2234, and the rotation axis of the first rotating pair 2233 is parallel to the rotation axis of the second rotating pair 2234 And interval distribution.
  • the locking part 223 adopts the above-mentioned structure, and can be connected with the support frame 221 through the installation body 2231 to provide support for the installation of the rotating body 2232 and the running part 222 . Because the rotating body 2232 is rotationally connected with the mounting body 2231 through the first rotating pair 2233, and the walking part 222 is rotatingly connected with the rotating body 2232 through the second rotating pair 2234, so that the running part 222 can take the second rotating pair 2234 as the rotation center relative to the rotating body 2232 rotates, and then drives the moving part 20 to move along the extension track of the guide rail 11 as a whole.
  • the rotating body 2232 can drive the running part 222 to rotate relative to the mounting body 2231 with the first rotating pair 2233 as the center of rotation. That is to say, the first rotating pair 2233 deviates from the center of rotation of the road wheel 2221, so that the rotating body 2232 rotates with the first rotating pair 2233, and the running part 222 moves eccentrically, which can increase the distance between the road wheel 2221 and the supporting surface in contact with it.
  • the frictional force between the running wheels 2221 and the top surface 12 is used to limit the running of the running part 222 and realize the locking requirement.
  • the first rotating pair 2233 may include a first rotating shaft and a first limit cap disposed at least one end of the first rotating shaft in the axial direction, and the first rotating shaft may be fixedly connected to the rotating body 2232 and rotatably connected to the mounting body 2231 , the first limiting cap is used to limit the separation of the first rotating shaft from the mounting body 2231 in its axial direction.
  • the second rotating pair 2234 may include a second rotating shaft and a second limit cap disposed on at least one end of the second rotating shaft in the axial direction, and the second rotating shaft may be fixedly connected to one of the road wheels 2221 and the rotating body 2232 It is also rotationally connected with the other, and the second limiting cap is used to limit the separation of the second rotating shaft from the traveling wheel 2221 or the rotating body 2232 in its own axial direction.
  • the rotating body 2232 includes a first rotating body 2232a and a second rotating body 2232b, and the mounting body 2231 is located on the first rotating body 2232a and the second rotating body Between 2232b, the first rotating pair 2233 is fixedly connected to the first rotating body 2232a and the second rotating body 2232b, and is rotationally connected to the mounting body 2231, and the running part 222 is connected to the first rotating body 2232a.
  • the rotating body 2232 adopts the above-mentioned structural form, so that when the rotating body 2232 rotates with the first rotating pair 2233 as the rotation center, the stability of the rotation can be ensured, and the connection with the running part 222 is facilitated.
  • the traveling wheel 2221 may be rotationally connected with the first rotating body 2232a through the second rotating pair 2234 .
  • the locking component 223 provided in the embodiment of the present application further includes a driving assembly 2235 , and 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.
  • the rotating body 2232 can be driven to rotate by the driving assembly 2235 .
  • the driving assembly 2235 can be used to drive the rotating body 2232 to rotate, so that the rotating body 2232 can increase the distance between the supporting surface where the running part 222 is in contact with during the rotation of the rotating body 2232 with the first rotating pair 2233 Inter-frictional force to restrict the walking part 222 from walking and realize the locking requirement.
  • the driving assembly 2235 includes an adjusting screw 2235a and a nut 2235b, one end of the adjusting screw 2235a is connected to the base 10 and the other end passes through the first rotating body 2232a, the screw cap 2235b is threaded with the adjusting screw 2235a Connected, the nut 2235b can move along the axial direction of the adjusting screw 2235a and press the first rotating body 2232a to drive the rotating body 2232 to rotate relative to the mounting body 2231 around the first rotating pair 2233 as a center.
  • the balance carrying device 100 defines that the driving assembly 2235 includes an adjusting screw 2235a, so that one end of the adjusting screw 2235a can be connected to the base 10, and the adjusting screw 2235a passes through the first rotating body 2232a, and in the stacking direction Y Above, the nut 2235b is located on the side of the rotating body 2232 away from the base 10 .
  • the nut 2235b can be screwed to move along the axial direction of the adjusting screw 2235a and squeeze the first rotating body 2232a to drive the rotating body 2232 as a whole with the first rotating pair 2233 as the The center rotates relative to the mounting body 2231 to realize the locking of the running part 222 .
  • the adjustment screw 2235a is separated from the base 10 and the nut 2235b is unlocked.
  • the adjusting screw 2235a may extend along the stacking direction Y, so as to facilitate driving the first rotating body 2232a.
  • the drive assembly 2235 may also include an electric drive member 2235c, one end of the electric drive member 2235c is connected to the support frame 221 and the other end is connected to the second rotating body 2232b to drive the rotating body 2232 to rotate relative to the mounting body 2231 around the first rotating pair 2233 as a center.
  • the electric drive member 2235c can also be controlled to drive the second rotating body 2232b to rotate, because 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 rotationally connected with the mounting body 2231, so when the second rotating body 2232b rotates, the first rotating body 2232a will be driven by the first rotating pair 2233 to rotate with the first rotating pair 2233 as the center of rotation, which can also be The locking of the running part 222 is realized.
  • the first rotating body 2232a includes a main body part 22321 and a protruding part 22322 protruding from the main body part 22321, the first rotating pair 2233 and the second
  • the rotating pair 2234 is arranged on the main body 22321 at intervals, the adjusting screw 2235a passes through the protruding part 22322 and is connected with the nut 2235b, and the nut 2235b moves along the axial direction of the adjusting screw 2235a and squeezes the protruding part 22322.
  • the first rotating body 2232a adopts the above structure, which can be beneficial to cooperate with the adjusting screw 2235a and the nut 2235b to ensure the rotation requirement.
  • the extension dimension of the protrusion 22322 is smaller than the extension dimension of the main body 22321, and the surface where the protrusion 22322 cooperates with the nut 2235b is a plane.
  • the electric driving part 2235c includes a telescopic part, which is connected to the second rotating body 2232b, and the telescopic part is extended or shortened to drive the second rotating body 2232b to drive the first rotating body 2232a and the walking part 222 Rotate with the first rotating pair 2233 as the center.
  • the electric driving part 2235c adopts the above-mentioned structural form, which is simple in structure and easy to control, and can ensure the driving requirement of the second rotating body 2232b.
  • the telescopic direction of the electric driver 2235c can be perpendicular to the stacking direction Y
  • the second rotating body 2232b can be a bar-shaped structure
  • the driving end of the electric driving member 2235c can be connected to the second rotating body 2232b and drives the second rotating body 2232b to rotate.
  • the locking part 223 further includes an insertion part 2236 , and the insertion part 2236 is detachably connected to the walking part 222 , the mounting body 2231 and the rotating body 2232 .
  • the locking requirement of the moving part 20 can be further satisfied.
  • each running part 222 is provided with a corresponding locking part 223 .
  • each running part 222 is provided with a corresponding locking part 223 .
  • the number of running parts 222 connected to the same support frame 221 can be more than two, taking two as an example, the two running parts 222 can be distributed at intervals in the extending direction X of the guide rail 11, each running part 222 can be provided with a locking part 223 correspondingly, and the mounting body 2231 of each locking part 223 is connected to the support frame 221, and the mounting body 2231 of each locking part 223 connected to the same support frame 221 can be an integrated structure.
  • the mounting body 2231 of each locking component 223 connected to the same support frame 221 can also be a split structure.
  • the number of moving assemblies 1 may be two, and the extending trajectories of the guide rails 11 of the two moving assemblies 1 are perpendicular to each other.
  • the balance carrying device 100 can drive the parts to be transported 300 to adjust the balance by gravity in two mutually perpendicular directions.
  • the structure is simple, and it can meet the requirement of self-adaptive regulation by using gravity.
  • the adjustment member 30 may also include an elastic body, one end of the elastic body is connected to the moving member 20 and the other end is connected to the base 10 . It can also meet the limit requirement, and at the same time, it will not affect the function of the moving part 20 moving along the extended track under the action of gravity.
  • the elastic body may comprise a spring.
  • the adjustment member 30 has a restoring force when the displacement is the largest, which can ease and reduce the inclination of the angle, and can also satisfy the limit effect.
  • the number of elastic bodies may be two, and the two elastic bodies are distributed on both sides of the moving member 20 at intervals along the extending direction X of the guide rail of the moving assembly 1 .
  • the adjusting member 30 may also include an electromagnetic component, the electromagnetic component includes a first electromagnetic part 301 and a second electromagnetic part 302, the first electromagnetic part 301 is connected to the moving part 20, and the second electromagnetic part
  • the two electromagnetic parts 302 are connected to the base 10 , and the first electromagnetic part 301 and the second electromagnetic part 302 can interact with each other in magnetic force.
  • the first electromagnetic part 301 and the second electromagnetic part 302 change the distance, the magnetic force will increase and decrease.
  • the distance is the shortest, the magnetic force is the largest and the suction force is the strongest.
  • the second electromagnetic part can
  • the part 302 is arranged at the limit point of the lock, and through forward and reverse energization, the attraction and repulsion of the magnetic force can be realized, and the limit requirement can also be met.
  • the balance locking device provided in the embodiment of the present application further includes a detector 3 and a controller 4, and the detector 3 is configured to detect the tilting of the transportation device 200.
  • the controller 4 is configured to keep each moving part 20 able to move along the guide rail 11 under the action of gravity when the tilting condition is within the preset threshold range, so that the moving parts 20 used to connect with the parts to be transported 300 in a balanced position.
  • the adjusting member 30 when the tilting condition is within the preset threshold range, the adjusting member 30 is in a follow-up state, and when the transportation device 200 is tilted, the moving member 20 in the corresponding tilting direction can move along the corresponding guide rail under the action of gravity. 11 to move along the extended track to adaptively adjust the balance of the parts to be transported 300 to ensure the safety of the parts to be transported 300 .
  • the equilibrium position mentioned above and below in this application means that the angle between the horizontal direction of the moving part 20 connected to the component 300 to be transported and the horizontal plane is 0°, that is, the angle between the horizontal direction and the horizontal plane is 0°.
  • the moving part 20 connected to the transport component 300 is used to support the surface of the transport component 300 to be in a horizontal state and the angle between it and the horizontal plane is 0°.
  • the detector 3 may include one of a displacement sensor and an inclination sensor, and the detector 3 may be disposed on the transportation device 200 .
  • the inclined working condition includes an inclined angle A of the transportation device 200 relative to the horizontal plane, and the preset threshold range includes -7° ⁇ 0.5° ⁇ A ⁇ 7° ⁇ 0.5°. That is to say, the transportation device 200 may be tilted forward at an angle of less than or equal to 7° ⁇ 0.5°, or at an angle of backward tilting of less than or equal to 7° ⁇ 0.5°.
  • the tilting condition may also include the displacement B of the moving member 20 along the extension direction X of the corresponding guide rail 11, and the preset threshold range may also include B1-B2 ⁇ B ⁇ B1+B2, wherein, B1 is the length dimension of the adjustment member 30 in the extension direction X of the guide rail 11 when the center of gravity of the moving part 20 of the moving assembly 1 used to connect the parts 300 to be transported coincides with the center of gravity of the base 10 in the stacking direction Y, B2 When the inclination angle of the transport equipment 200 reaches the preset threshold range, the offset dimension of the center of gravity of the moving part 20 for connecting the moving assembly 1 of the part 300 to be transported relative to the center of gravity of the base 10 in the direction of extension X of the guide rail 11 .
  • the controller 4 is also configured to control the adjusting part 30 to provide the moving part 20 with 20 forces acting in opposite directions of movement.
  • the control regulator 30 provides the moving member 20 with 20 forces acting in opposite directions of movement. In order to prevent the moving part 20 from continuing to move and be separated from the base 10 .
  • the control adjustment member 30 provides the moving member 20 with the movement of the moving member 20 Forces acting in opposite directions. In order to prevent the moving part 20 from continuing to move and be separated from the base 10 .
  • the controller 4 can also control and lock the relative positions of the moving parts 20 and the base 10 of each moving assembly 1 .
  • the rotating body 2232 can drive the running part 222 to rotate around the first rotating pair 2233 by controlling the electric driving part 2235c of the driving assembly 2235 to realize locking.
  • the present application also provides a control method for balancing the carrying device 100, including:
  • the inclination condition may include an inclination angle A of the transportation device 200 relative to the horizontal plane and/or a displacement B of the moving part 20 along the extension direction X of the corresponding guide rail 11 .
  • step S200 when the tilting condition is within the preset threshold range, the adjusting member 30 is in a follow-up state, and when the transportation equipment 200 tilts, the moving member 20 in the corresponding tilting direction can move along the It moves along the extension track of the corresponding guide rail 11 to adaptively adjust the balance of the parts to be transported 300 to ensure the safety of the parts to be transported 300 .
  • control method for balancing the carrying device 100 provided in the embodiment of the present application further includes controlling the adjusting part 30 to provide the moving part 20 with the moving part 20 when the tilting condition exceeds the preset threshold range.
  • the force acting in the opposite direction of movement, and/or, locks the relative position of the moving part 20 and the base 10 of each moving assembly 1 .
  • the inclined working condition may include the inclination angle A of the transportation device 200 relative to the horizontal plane and/or the displacement B of the moving member 20 along the extension direction X of the corresponding guide rail 11 .
  • the threshold range of the inclination angle A and the threshold range of the displacement B are the same as those defined in the balance carrying device 100 in the above-mentioned embodiments, and will not be repeated here.
  • control method provided in the embodiment of the present application further includes: detecting that the balance bearing device 100 is in a non-working state, and sending a locking signal.
  • the operator can control the driving assembly 2235 to drive the rotating body 2232 to rotate according to the locking signal, so as to realize the locking of the position of the moving part 20 .
  • the method of driving the first rotating body 2232a to rotate through the cooperation of the adjusting screw 2235a and the nut 2235b to achieve locking is simply called mechanical locking, and the second rotating body 2232b is driven by the electric drive 2235c to drive the first rotating body
  • the way of 2232a rotating to achieve locking is called electromagnetic locking for short.
  • the balance bearing device 100 can be made to include two sets of moving assemblies 1, the lower moving assembly connected to the transportation device 200, and the adjusting member 30 thereof is a lower adjusting member, which is set away from the transportation device 200 and is used to connect to the moving assembly of the parts 300 to be transported 1 is an upper-level moving assembly, and its adjusting part 30 is an upper-level adjusting part.
  • the inclination angle A of the transportation device 200 can be collected by the inclination sensor, and when the inclination angle A is less than or equal to 7 degrees, the adjustment member 30 at the corresponding position can effect.
  • the inclination angle A is the front and rear inclination angles, it is controlled by the lower adjustment member; when the left and right inclination angles are controlled by the upper layer adjustment member; The regulators are controlled simultaneously.
  • the inclination angle A of the moving part 20 exceeds 7° ⁇ 0.5° during the moving process, the relative positions of the moving part 20 and the base 10 of each moving assembly 1 are locked.
  • an electromagnetic locking method may be used to lock the running part 222 .
  • the electromagnetic lock is released and the adjustment is performed again.
  • the electromagnetic lock can be powered according to the working condition of the transportation equipment 200, through the electromagnetic lock
  • the locking mode locks the running part 222 and unlocks the mechanical locking structure.
  • the electromagnetic lock is unlocked.
  • the displacement sensor can be used to detect whether the displacement B of the moving part 20 along the extension direction X of the corresponding guide rail 11 is within the preset threshold range.
  • the electromagnetic locking method is used to lock the running parts 222.
  • the adjusting member 30 is in a follow-up state.
  • the method for controlling the balance carrying device 100 provided in the embodiment of the present application can meet the transportation requirements of the transport parts 300, and when it is detected that the inclination working condition of the transportation equipment 200 where the balance carrying device 100 is located is within the preset threshold range, each moving part is kept 20 can move along the guide rail 11 under the action of gravity, so that the moving part 20 for connecting with the part to be transported 300 is in a balanced position.
  • the effect of automatic balance adjustment under the action of gravity is realized, and when the tilting working condition exceeds the preset threshold range, the way of locking the walking part 222 is adopted to ensure safety.
  • the present application also provides a transportation device 200 on which the balance carrying device 100 is arranged.
  • the transport device 200 may be a transport vehicle, a transport ship, or the like.

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Abstract

一种平衡承载装置（100），设置于运输设备（200），包括：移动组件（1），两个以上移动组件（1）层叠设置，每个移动组件（1）包括基座（10）、移动件（20）以及调节件（30），基座（10）具有弧形的引导轨（11），移动件（20）设置于基座（10）并能够在重力作用下沿引导轨（11）的延伸轨迹移动，调节件（30）连接于移动件（20）与基座（10）之间并能够限制移动件（20）沿引导轨（11）移动的极限位置；其中，相邻两个移动组件（1）的引导轨（11）的延伸方向（X）相交设置且其中一者的基座（10）与另一者的移动件（20）连接，在两个以上移动组件（1）的层叠方向（Y），位于最顶层的移动组件（1）能够通过移动件（20）与待运输部件（300）连接。能够满足待运输部件（300）的平衡需求，保证运输安全。还涉及一种平衡承载装置控制方法、运输设备（200）。

Description

平衡承载装置及其控制方法、运输设备
相关申请的交叉引用
本申请要求享有于2021年10月29日提交的名称为“平衡承载装置及其控制方法”的中国专利申请202111276082.9的优先权，该申请的全部内容通过引用并入本文中。
技术领域
本申请涉及运输技术领域，特别是涉及一种平衡承载装置及其控制方法、运输设备。
背景技术
运输设备用途十分广泛，其可以将位于A处的待运输部件按照要求运输至B处，若待运输部件在运输的过程，出现倾斜等工况，将对待运输件的安全产生影响。
以风电技术领域为例，目前风力发电机组的组成零部件需要根据风力发电机组的预定的施工区域进行运输，零部件在运输的过程中，需要保证零部件的平衡，使其一直处于水平状态，尤其对于海上风力发电机组的运输，由于海水存在涌浪原因，使得零部件在运输的过程中容易失去平衡甚至发生倾翻。
因此，亟需一种平衡承载装置。
发明内容
本申请实施例提供一种平衡承载装置及其控制方法、运输设备，平衡承载装置能够满足待运输部件的平衡需求。
一方面，根据本申请实施例提出了一种平衡承载装置，设置于运输设备，包括：移动组件，两个以上移动组件层叠设置，每个移动组件包括基 座、移动件以及调节件，基座具有弧形的引导轨，移动件设置于基座并能够在重力作用下沿引导轨的延伸轨迹移动，调节件连接于移动件与基座之间并能够限制移动件沿引导轨移动的极限位置；其中，相邻两个移动组件的引导轨的延伸方向相交设置且其中一者的基座与另一者的移动件连接，在两个以上移动组件的层叠方向，位于最顶层的移动组件能够通过移动件与待运输部件连接。
根据本申请实施例的一个方面，移动件包括承载体以及多个移动单元，多个移动单元间隔分布并分别与承载体连接，各移动单元分别与引导轨可移动连接。
根据本申请实施例的一个方面，每个移动组件的基座具有两个以上平行且间隔设置的引导轨，每个引导轨与至少一个移动单元可移动连接。
根据本申请实施例的一个方面，移动单元包括支撑架、行走部件以及锁定部件，行走部件通过锁定部件与支撑架连接，行走部件能够沿引导轨的延伸轨迹移动，锁定部件用于锁定行走部件在基座上的位置。
根据本申请实施例的一个方面，在层叠方向，基座具有相对设置的顶面以及底面，顶面为向底面所在方向凸出的弧形面，引导轨设置于弧形面，行走部件至少部分支撑于顶面，行走部件与引导轨的一者至少部分伸入另一者的内部且彼此可移动连接。
根据本申请实施例的一个方面，引导轨为弧形槽体，引导轨由顶面起始向靠近底面所在侧凹陷形成，行走部件包括行走轮以及与行走轮转动连接的卡接凸起，行走轮支撑于顶面并转动连接于锁定部件，卡接凸起卡接于引导轨内并能够沿引导轨的延伸方向移动。
根据本申请实施例的一个方面，引导轨为弧形凸起，引导轨由顶面起始向背离底面所在侧凸出形成，行走部件包括行走轮以及设置于行走轮上的卡槽，行走轮支撑于顶面，卡槽卡接于引导轨并能够沿引导轨的延伸方向移动。
根据本申请实施例的一个方面，锁定部件包括安装体以及转动体，安装体连接于支撑架，转动体通过第一转动副与安装体转动连接，行走部件通过第二转动副与转动体转动连接，第一转动副的转动轴线与第二转动副 的转动轴线平行且间隔分布。
根据本申请实施例的一个方面，转动体包括第一旋转体以及第二旋转体，安装体位于第一旋转体以及第二旋转体之间，第一转动副与第一旋转体以及第二旋转体固定连接并与安装体转动连接，行走部件连接于第一转动体。
根据本申请实施例的一个方面，锁定部件还包括驱动组件，驱动组件驱动转动体以第一转动副为转动中心相对安装体转动。
根据本申请实施例的一个方面，驱动组件包括调节螺杆以及螺帽，调节螺杆的一端连接于基座且另一端穿过第一旋转体，螺帽与调节螺杆螺纹连接，螺帽能够沿调节螺杆的轴向移动并挤压第一旋转体，以驱动转动体整体以第一转动副为中心相对安装体转动。
根据本申请实施例的一个方面，驱动组件包括电动驱动件，电动驱动件的一端与支撑架连接且另一端与第二旋转体配合，以驱动转动体整体以第一转动副为中心相对安装体转动。
根据本申请实施例的一个方面，电动驱动件包括伸缩件，伸缩件与第二旋转体连接，伸缩件伸长或者缩短以驱动第二旋转体带动第一旋转体及行走部件以第一转动副为中心转动。
根据本申请实施例的一个方面，锁定部件还包括插接部，插接部可拆卸连接于行走部件、安装体以及转动体。
根据本申请实施例的一个方面，行走部件的数量为多个，每个行走部件分别对应设置有锁定部件。
根据本申请实施例的一个方面，平衡承载装置还包括转接组件，相邻两个移动组件之间连接有转接组件。
根据本申请实施例的一个方面，转接组件包括过渡平台以及支撑杆，过渡平台位于相邻两个移动组件之间，相邻两个移动组件中一者的基座上设置弧形导槽，过渡平台与相邻两个移动组件中一者的移动件连接并与另一者的基座连接，支撑杆的一端与过渡平台铰接且另一端与弧形导槽可移动连接。
根据本申请实施例的一个方面，调节件包括伸缩缸，伸缩缸的缸体以 及缸杆的一者与移动件连接且另一者与基座连接。
根据本申请实施例的一个方面，调节件包括弹性体，弹性体的一端与移动件连接且另一端与基座连接。
根据本申请实施例的一个方面，调节件包括电磁部件，电磁部件包括第一电磁部以及第二电磁部，第一电磁部连接于移动件，且第二电磁部连接于基座，第一电磁部与第二电磁部能够相互产生磁力作用。
根据本申请实施例的一个方面，移动组件的数量为两个，两个移动组件的引导轨的延伸轨迹相互垂直。
根据本申请实施例的一个方面，平衡承载装置还包括检测器以及控制器，检测器被配置为检测运输设备的倾斜工况，控制器被配置为当倾斜工况在预设阈值范围内时，保持各移动件能够在重力作用下沿引导轨移动，以使得用于与待运输部件连接的移动件处于平衡位置。
根据本申请实施例的一个方面，倾斜工况包括运输设备相对于水平面的倾斜角度A，预设阈值范围包括-7°±0.5°≤A≤7°±0.5°。
根据本申请实施例的一个方面，倾斜工况还包括移动件沿对应引导轨的延伸方向的位移B，预设阈值范围还包括B1-B2≤B≤B1+B2，其中，B1为用于连接待运输部件的移动组件的移动件的重心与基座的重心在层叠方向上重合时，调节件在引导轨的延伸方向上的长度尺寸，B2为运输设备的倾斜角度A达到预设阈值范围时，用于连接待运输部件的移动组件的移动件重心相对基座的重心在其引导轨的延伸方向上的偏移尺寸。
根据本申请实施例的一个方面，控制器还被配置为当倾斜工况超过预设阈值范围时，控制调节件向移动件提供与移动件的移动方向相反的作用力，和/或，锁定各移动组件的移动件与基座的相对位置。
另一方面，本申请实施例还提供一种平衡承载装置的控制方法，包括：
检测平衡承载装置所在运输设备的倾斜工况；
当倾斜工况在预设阈值范围内时，保持各移动件能够在重力作用下沿引导轨移动，以使得用于与待运输部件连接的移动件处于平衡位置。
根据本申请实施例的另一个方面，控制方法还包括：当倾斜工况超过预设阈值范围时，控制调节件向移动件提供与移动件的移动方向相反的作 用力，和/或，锁定各移动组件的移动件与基座的相对位置。
再一方面，本申请实施例还提供一种运输设备，其包括如上述任意一项的平衡承载装置。
根据本申请实施例提供的平衡承载装置及其控制方法、运输设备，平衡承载装置可以放置于运输车、运输船等运输设备上，平衡承载装置包括两个以上层叠设置的移动组件，每个移动组件包括基座、移动件以及调节件，并且相邻两个移动组件的引导轨的延伸方向相交设置且其中一者的基座与另一者的移动件连接，在对待运输部件进行运输时，可以使得在两个以上移动组件的层叠方向，位于最顶层的移动组件通过移动件与待运输部件连接，由于基座具有弧形的引导轨，移动件设置于基座并能够沿引导轨的延伸轨迹移动，使得当运输设备发生倾斜时，对应的移动件能够在重力作用下沿对应引导轨的延伸轨迹移动，使得与待运输部件连接的移动件始终处于平衡位置，利于控制，相应设置的调节件能够限制移动件沿引导轨移动的极限位置，避免移动件与基座分离，保证运输安全，适用于海上等不稳定工况下部件的运输。
附图说明
下面将参考附图来描述本申请示例性实施例的特征、优点和技术效果。
图1是本申请一个实施例的平衡承载装置设置在运输设备上的结构示意图；
图2是本申请一个实施例的平衡承载装置的轴测图；
图3是本申请一个实施例的平衡承载装置的分解示意图；
图4是本申请一个实施例的平衡承载装置的俯视图；
图5是本申请一个实施例的移动组件的结构示意图；
图6是本申请一个实施例的移动单元的结构示意图；
图7是本申请一个实施例的移动单元的分解示意图；
图8是本申请一个实施例的移动单元的正视图；
图9是本申请一个实施例的移动单元的后视图；
图10是本申请一个实施例的移动单元的侧视图；
图11是本申请另一个实施例的移动单元的侧视图；
图12是本申请又一个实施例的移动单元的侧视图；
图13是本申请一个实施例的移动单元的局部结构示意图；
图14是是本申请再一个实施例的移动单元的分解示意图；
图15是本申请另一个实施例的平衡承载装置的轴测图；
图16是本申请又一个实施例的平衡承载装置的轴测图；
图17是本申请再一个实施例的平衡承载装置设置于运输设备的结构示意图；
图18是本申请再一个实施例的平衡承载装置设置于运输设备时的倾斜状态示意图；
图19是本申请一个实施例的平衡承载装置的控制方法的流程图；
图20是本申请一个实施例的平衡承载装置的控制流程图；
图21是本申请一个实施例的平衡承载装置的锁定流程图。
其中：
100-平衡承载装置；
1-移动组件；
10-基座；11-引导轨；12-顶面；13-底面；14-弧形导槽；
20-移动件；
21-承载体；
22-移动单元；
221-支撑架；
222-行走部件；2221-行走轮；2222-卡接凸起；
223-锁定部件；2231-安装体；2232-转动体；2232a-第一旋转体；2232b-第二旋转体；22321-主体部；22322-凸出部；2233-第一转动副；2234-第二转动副；2235-驱动组件；2235a-调节螺杆；2235b-螺帽；2235c-电动驱动件；2236-插接部；
30-调节件；301-第一电磁部；302-第二电磁部；
2-转接组件；201-过渡平台；202-支撑杆；
3-检测器；4-控制器；
200-运输设备；300-待运输部件；
X-延伸方向；Y-层叠方向。
在附图中，相同的部件使用相同的附图标记。附图并未按照实际的比例绘制。
具体实施方式
下面将详细描述本申请的各个方面的特征和示例性实施例。在下面的详细描述中，提出了许多具体细节，以便提供对本申请的全面理解。但是，对于本领域技术人员来说很明显的是，本申请可以在不需要这些具体细节中的一些细节的情况下实施。下面对实施例的描述仅仅是为了通过示出本申请的示例来提供对本申请的更好的理解。在附图和下面的描述中，至少部分的公知结构和技术没有被示出，以便避免对本申请造成不必要的模糊；并且，为了清晰，可能夸大了部分结构的尺寸。此外，下文中所描述的特征、结构或特性可以以任何合适的方式结合在一个或更多实施例中。
下述描述中出现的方位词均为图中示出的方向，并不是对本申请的平衡承载装置及其控制方法、运输设备的具体结构进行限定。在本申请的描述中，还需要说明的是，除非另有明确的规定和限定，术语“安装”、“连接”应做广义理解，例如，可以是固定连接，也可以是可拆卸连接，或一体地连接；可以是直接相连，也可以间接相连。对于本领域的普通技术人员而言，可视具体情况理解上述术语在本申请中的具体含义。
目前，风力发电机组的组成零部件需要根据风力发电机组预定的施工区域进行运输，零部件在运输的过程中，需要保证零部件的平衡，使其一直处于水平状态。尤其对于海上风力发电机组的运输，由于运输成本和海域的水深原因，导致现在海上风机运输船较小，从而在海上风力发电机组安装起吊过程中，由于运输船的晃动，导致主机等零部件失去平衡，要么发生安全风险，要么延长从运输船起吊的时间，无法实现和保证海上风机的高效率起吊，极大增加风力发电机组的安装成本。
已有的解决方式，通常采用六自由度机械臂进行补偿，六自由度控制，控制方式较为复杂，平衡调节困难，且成本高昂。
为了解决上述技术问题，本申请实施例提供一种平衡承载装置，平衡承载装置能够满足待运输部件运输时的平衡需求，且成本低廉，利于控制。
为了更好地理解本申请，下面结合图1至图21根据本申请实施例的平衡承载装置及其控制方法、运输设备进行详细描述。
请参照图1至图4，本申请实施例提供的平衡承载装置100，设置于运输设备200，包括移动组件1，两个以上移动组件1层叠设置，每个移动组件1包括基座10、移动件20以及调节件30，基座10具有弧形的引导轨11，移动件20设置于基座10并能够在重力作用下沿引导轨11的延伸轨迹移动，调节件30连接于移动件20与基座10之间并能够限制移动件20沿引导轨11移动的极限位置。其中，相邻两个移动组件1的引导轨11的延伸方向X相交设置且其中一者的基座10与另一者的移动件20连接，在两个以上移动组件1的层叠方向Y，位于最顶层的移动组件1能够通过移动件20与待运输部件300连接。
可选地，移动组件1的数量不做具体限定，可以为两个、三个甚至更多个。
可选地，各移动组件1中，任意两个移动组件1的基座10上引导轨11的延伸方向X相交。
可选地，在层叠方向Y上，位于顶层的移动组件1的基座10上弧形引导轨11向位于底层的移动组件1所在方向凹陷。在层叠方向Y上，各移动组件1的弧形引导轨11沿同一方向凹陷，均向底层的移动组件1所在侧凹陷。弧形的引导轨11可以为圆弧形的引导轨11，也可以是椭圆弧形的引导轨11。
位于最顶层的移动组件1可以是平衡承载装置100放置在运输设备200上工作时，在层叠方向Y上最远离运输设备200设置的移动组件1。
本申请实施例提供的平衡承载装置100，在使用时可以设置于运输车、运输船等运输设备200上，平衡承载装置100包括两个以上层叠设置的移动组件1，每个移动组件1包括基座10、移动件20以及调节件30，并且相邻两个移动组件1的引导轨11的延伸方向X相交设置且其中一者的基座10与另一者的移动件20连接，在对待运输部件300进行运输时，可以使 得在两个以上移动组件1的层叠方向Y，位于最顶层的移动组件1能够通过移动件20与待运输部件300连接。由于基座10具有弧形的引导轨11，移动件20设置于基座10并能够沿引导轨11的延伸轨迹移动，使得当运输设备200发生倾斜时，对应的移动件20能够在重力作用下沿对应引导轨11的延伸轨迹移动，使得与待运输部件300连接的移动件20始终处于平衡位置，利于控制。相应设置的调节件30能够限制移动件20沿引导轨11移动的极限位置，避免移动件20与基座10分离，满足待运输部件300的平衡需求的基础上，能够保证运输安全，适用于海上等不稳定工况下部件的运输。
同时，由于移动组件1的数量为两个以上，相邻两个移动组件1的引导轨11的延伸方向X相交设置且其中一者的基座10与另一者的移动件20连接，能够适应运输设备200在不同方向上的倾斜，并且移动组件1结构简单且可以模块化设计，能够降低平衡承载装置100整体的成本。
请参照图3，作为一种可选地实施方式，本申请实施例提供的平衡承载装置100，其移动件20包括承载体21以及多个移动单元22，多个移动单元22间隔分布并分别与承载体21连接，各移动单元22分别与引导轨11可移动连接。
本申请实施例提供的平衡承载装置100，移动组件1采用上述结构形式，既能够保证与待运输部件300以及相邻两个移动组件1之间的连接需求，同时能够通过多个移动单元22与相应的引导轨11配合，使得当运输设备200发生晃动失去平衡时，利于移动件20在重力的作用下能够带动所连接的相邻的移动组件1或者待运输部件300沿着对应的引导轨11移动，保证待运输部件300的平衡需求。
可选地，承载体21可以为实心的座体结构，当然也可以为镂空的架子结构，承载体21上可以设置有连接接口，以利于与待运输部件300连接或者与相邻的承载组件的基座10连接。
可选地，移动单元22的数量可以为两个、三个甚至更多个。可选地，移动单元22可以成对设置，成对设置的移动单元22在承载体21上对称分布，以保证承载体21的受力平衡，进而保证运输安全。
在一些可选地实施例中，本申请实施例提供的平衡承载装置100，还包括转接组件2，相邻两个移动组件1之间连接有转接组件2。也就是说，相邻两个移动组件1可以通过转接组件2彼此间接连接，利于二者之间的连接需求。
作为一种可选地实施方式，本申请实施例提供的平衡承载装置100，转接组件2包括过渡平台201以及支撑杆202，过渡平台201位于相邻两个移动组件1之间，相邻两个移动组件1中一者的基座10上设置弧形导槽14，过渡平台201与相邻两个移动组件1中一者的移动件20连接并与另一者的基座10连接。支撑杆202的一端与过渡平台201铰接且另一端与弧形导槽14可移动连接。转接组件2采用上述结构，利于相邻两个移动组件1之间的连接。并且能保证相邻两层移动组件1中，其中一者的移动件20带动另一者移动时整体的稳定性。
在一些可选地实施例中，本申请实施例提供的平衡承载装置100，其调节件30可以包括伸缩缸，伸缩缸的缸体以及缸杆的一者与移动件20连接且另一者与基座10连接。调节件30采用伸缩缸的形式，可以通过限制伸缩缸的行程来限制移动件20的极限位置，避免移动件20与对应的基座10分离。同时，在伸缩缸的行程范围内，当移动件20移动时，伸缩缸能够随动，不会影响移动件20在重力作用下移动。
可选地，调节件30与基座10以及移动件20分别采用铰接的方式相互连接。
请参照图5至图10，在一些可选地实施例中，本申请实施例提供的平衡承载装置100，移动单元22包括支撑架221、行走部件222以及锁定部件223，行走部件222通过锁定部件223与支撑架221连接，行走部件222能够沿引导轨11的延伸轨迹移动，锁定部件223用于锁定行走部件222在基座10上的位置。
本申请实施例提供的平衡承载装置100，通过使得移动单元22包括支撑架221、行走部件222以及锁定部件223，使其可以通过支撑架221与承载体21连接，并且支撑架221还可以为锁定部件223提供连接以及安装空间。而相应设置的行走部件222可以带动整个移动件20沿引导轨11的弧 形轨迹运动，锁定部件223的设置可以锁定行走部件222在基座10上的位置，使得当平衡承载装置100在非工作状态下或者所在运输设备200倾斜角度较大欲发生倾翻的情况下锁定行走部件222，避免移动件20沿引导轨11继续移动，节约能源，同时能够提高平衡承载装置100的安全性能。
可选地，支撑架221可以采用框架式结构，支撑架221上设置有连接接口，用于与承载体21连接。
可选地，支撑架221可以为中空的框架结构体，锁定部件223至少部分位于支撑架221的中空腔内。通过上述设置，利于锁定部件223与支撑架221之间的配合，同时能够使得移动单元22整体结构紧凑，占用空间小。
参照图5至图10所示，作为一种可选地实施方式，本申请实施例提供的平衡承载装置100，在层叠方向Y，基座10具有相对设置的顶面12以及底面13，顶面12为向底面13所在方向凸出的弧形面，引导轨11设置于弧形面，行走部件222至少部分支撑于顶面12，行走部件222与引导轨11的一者至少部分伸入另一者的内部且彼此可移动连接。
基座10采用上述结构形式，并使得引导轨11设置于弧形面，利于弧形的引导轨11的形成。将行走部件222至少部分支撑于顶面12，能够增加基座10与行走部件222的接触面积，通过弧形面分担行走部件222所承受的压力，减小行走时的摩擦，保证行走部件222移动的顺畅性。同时，通过使得行走部件222与引导轨11的一者至少部分伸入另一者的内部且彼此可移动连接，能够限制行走部件222始终沿着引导轨11的延伸轨迹移动，避免行走部件222相对引导轨11发生偏移。
可选地，基座10的底面13可以为平面，利于与相邻的移动组件1的移动件20连接。
作为一种可选地实施方式，本申请实施例提供的平衡承载装置100，引导轨11为弧形槽体，引导轨11由顶面12起始向靠近底面13所在侧凹陷形成，行走部件222包括行走轮2221以及与行走轮2221转动连接的卡接凸起2222，行走轮2221支撑于顶面12并转动连接于锁定部件223，卡接凸起2222卡接于引导轨11内并能够沿引导轨11的延伸方向X移动。
通过上述设置，能够通过卡接凸起2222与引导轨11之间的配合限制行走部件222沿着引导轨11的延伸轨迹移动，避免行走部件222相对引导轨11发生偏移，行走轮2221与顶面12滚动配合，利于行走部件222的移动，同时能够通过顶面12分担移动单元22所承受的压力。
可选地，卡接凸起2222可以与行走轮2221转动连接，可选地，卡接凸起2222能够绕着行走轮2221的中轴线转动。
参照图5至图10所示，可选地，卡接凸起2222可以成对设置并相对于设置行走轮2221在自身轴向上的两侧，当然，此为一种可选地实施方式。
参照图11所示，在有些实施例中，也可以使得卡接凸起2222的数量为一个并设置在行走轮2221在自身轴向上的一侧。
可以理解的是，当行走部件222与引导轨11的一者至少部分伸入另一者的内部且彼此可移动连接时，不限于上述结构形式。
参照图5至图12所示，在有些实施例中，也可以使得引导轨11为弧形凸起，引导轨11由顶面12起始向背离底面13所在侧凸出形成，行走部件222包括行走轮2221以及设置于行走轮2221上的卡槽2221a，行走轮2221支撑于顶面12，卡槽2221a卡接于引导轨11并能够沿引导轨11的延伸方向X移动。同样能够满足对行走轮2221的限位以及通过顶面12分担压力的要求。
参照图6至图12，作为一种可选地实施方式，本申请实施例提供的平衡承载装置100，其锁定部件223可以包括安装体2231以及转动体2232，安装体2231连接于支撑架221，转动体2232通过第一转动副2233与安装体2231转动连接，行走部件222通过第二转动副2234与转动体2232转动连接，第一转动副2233的转动轴线与第二转动副2234的转动轴线平行且间隔分布。
本申请实施例提供的平衡承载装置100，锁定部件223采用上述结构形式，能够通过安装体2231与支撑架221连接，为转动体2232以及行走部件222的安装提供支撑。由于转动体2232通过第一转动副2233与安装体2231转动连接，行走部件222通过第二转动副2234与转动体2232转动连接，使得行走部件222能够以第二转动副2234为转动中心相对转动体 2232转动，进而带动移动件20整体沿着引导轨11的延伸轨迹移动。
同时，转动体2232可以带动行走部件222整体以第一转动副2233为旋转中心相对安装体2231转动，由于第一转动副2233的转动轴线与第二转动副2234的转动轴线平行且间隔设置，也就是说第一转动副2233偏离行走轮2221的旋转中心，使得转动体2232在以第一转动副2233转动的过程中，行走部件222做偏心运动，能够增大行走轮2221与其接触的支撑面之间摩擦力，如行走轮2221与顶面12的摩擦力，以限制行走部件222行走，实现锁定需求。
可选地，第一转动副2233可以包括第一转轴以及设置在第一转轴的轴向上至少一端的第一限位帽，第一转轴可以与转动体2232固定连接并与安装体2231转动连接，第一限位帽用于限制第一转轴在自身轴向上与安装体2231分离。
可选地，第二转动副2234可以包括第二转轴以及设置于第二转轴的轴向上至少一端的第二限位帽，第二转轴可以与行走轮2221以及转动体2232的一者固定连接并与另一者转动连接，第二限位帽用于限制第二转轴在自身轴向上与行走轮2221或者转动体2232分离。
作为一种可选地实施方式，本申请实施例提供的平衡承载装置100，转动体2232包括第一旋转体2232a以及第二旋转体2232b，安装体2231位于第一旋转体2232a以及第二旋转体2232b之间，第一转动副2233与第一旋转体2232a以及第二旋转体2232b固定连接并与安装体2231转动连接，行走部件222连接于第一旋转体2232a。
转动体2232采用上述结构形式，使得转动体2232以第一转动副2233为旋转中心转动时能够保证转动的平稳性，并且利于与行走部件222之间的连接。可选地，行走轮2221可以通过第二转动副2234与第一旋转体2232a转动连接。
作为一种可选地实施方式，本申请实施例提供的锁定部件223还包括驱动组件2235，驱动组件2235驱动转动体2232以第一转动副2233为转动中心相对安装体2231转动。通过上述设置，可以通过驱动组件2235驱动转动体2232转动。当需要对行走部件222进行锁定时，可以通过驱动组 件2235驱动转动体2232转动，进而使得转动体2232在以第一转动副2233转动的过程中，能够增大行走部件222与其接触的支撑面之间摩擦力，以限制行走部件222行走，实现锁定需求。
在一些可选地实施例中，驱动组件2235包括调节螺杆2235a以及螺帽2235b，调节螺杆2235a的一端连接于基座10且另一端穿过第一旋转体2232a，螺帽2235b与调节螺杆2235a螺纹连接，螺帽2235b能够沿调节螺杆2235a的轴向移动并挤压第一旋转体2232a，以驱动转动体2232整体以第一转动副2233为中心相对安装体2231转动。
本申请实施例提供的平衡承载装置100，通过限定驱动组件2235包括调节螺杆2235a，可以使得调节螺杆2235a的一端连接在基座10上，调节螺杆2235a穿过第一旋转体2232a，在层叠方向Y上，螺帽2235b位于转动体2232背离基座10的一侧。当需要锁定行走部件222时，可以通过旋拧螺帽2235b，使得螺帽2235b沿调节螺杆2235a的轴向移动并挤压第一旋转体2232a，以驱动转动体2232整体以第一转动副2233为中心相对安装体2231转动，实现行走部件222的锁定。
当需要解锁时，将调节螺杆2235a与基座10分离并解锁螺帽2235b即可。
可选地，调节螺杆2235a可以沿着层叠方向Y延伸，利于对第一旋转体2232a进行驱动。
在一些可选地实施例中，本申请实施例提供的平衡承载装置100，驱动组件2235还可以包括电动驱动件2235c，电动驱动件2235c的一端与支撑架221连接且另一端与第二旋转体2232b配合，以驱动转动体2232整体以第一转动副2233为中心相对安装体2231转动。
当需要对行走部件222进行锁定时，也可以控制电动驱动件2235c，使其驱动第二旋转体2232b转动，由于第二旋转体2232b通过第一转动副2233与第一旋转体2232a固定连接为一体，且第一转动副2233与安装体2231转动连接，因此当第二旋转体2232b转动时，将通过第一转动副2233带动第一旋转体2232a以第一转动副2233为旋转中心转动，同样能够实现行走部件222的锁定。
请参照图12至图14所示，在一些可选地实施例中，第一旋转体2232a包括主体部22321以及凸出于主体部22321设置的凸出部22322，第一转动副2233以及第二转动副2234间隔设置于主体部22321，调节螺杆2235a穿过凸出部22322并与螺帽2235b连接，螺帽2235b沿调节螺杆2235a的轴向移动并挤压凸出部22322。
第一旋转体2232a采用上述结构形式，能够利于与调节螺杆2235a以及螺帽2235b进行配合，保证转动需求。
作为一种可选地实施方式，在调节螺杆2235a的轴向上，凸出部22322的延伸尺寸小于主体部22321的延伸尺寸，凸出部22322与螺帽2235b配合的表面为平面。通过上述设置，能够有效的避免调节螺杆2235a与螺帽2235b在对第一旋转体2232a驱动使其以第一转动副2233为旋转中心转动时与基座10之间产生干涉，利于第一旋转体2232a的转动，且能够增大第一旋转体2232a的转动范围。
在一些可选地实施例中，电动驱动件2235c包括伸缩件，伸缩件与第二旋转体2232b连接，伸缩件伸长或者缩短以驱动第二旋转体2232b带动第一旋转体2232a及行走部件222以第一转动副2233为中心转动。
电动驱动件2235c采用上述结构形式，结构简单，利于控制，其能够保证对第二旋转体2232b的驱动要求。
作为一种可选地实施方式，电动驱动件2235c的伸缩方向可以与层叠方向Y相互垂直，第二旋转体2232b可以为条状结构体，电动驱动件2235c的驱动端可以连接在第二旋转体2232b的一侧并驱动第二旋转体2232b转动。
参照图6至图13所示，在一些可选地实施例中，本申请实施例提供的平衡承载装置100，锁定部件223还包括插接部2236，插接部2236可拆卸连接于行走部件222、安装体2231以及转动体2232。能够进一步满足移动件20的锁定需求。
作为一种可选地实施方式，本申请实施例提供的平衡承载装置100，行走部件222的数量为多个，每个行走部件222分别对应设置有锁定部件223。通过上述设置，能够保证移动件20的移动需求，同时能够保证每个 行走部件222的锁定需求，提高安全性能。
可选地，与同一支撑架221连接的行走部件222的数量可以为两个以上，以两个为例，两个行走部件222可以在引导轨11的延伸方向X上间隔分布，每个行走部件222可以对应设置有一个锁定部件223，每个锁定部件223的安装体2231与支撑架221连接，与同一支撑架221连接的各锁定部件223的安装体2231可以为一体式结构。
参照图14所示，在有些实施例中，也可以使得与同一支撑架221连接的各锁定部件223的安装体2231也可以为分体式结构。
在一些可选地实施例中，本申请实施例提供的平衡承载装置100，其移动组件1的数量可以为两个，两个移动组件1的引导轨11的延伸轨迹相互垂直。通过上述设置，使得平衡承载装置100能够带动待运输部件300在两个相互垂直的方向上利用重力调节平衡。结构简单，且能够满足利用重力自适应调节需求。
可以理解的是，上述各实施例中调节件30采用伸缩缸只是一种可选地实施方式，但不限于此。
请参照图15，在有些实施例中，也可以使得调节件30包括弹性体，弹性体的一端与移动件20连接且另一端与基座10连接。同样能够满足限位要求，同时不会对移动件20在重力作用下沿延伸轨迹移动功能产生影响。可选地，弹性体可以包括弹簧。
调节件30通过胡克定理，位移最大时，会有回复力，可以缓解和降低角度的倾斜，同样能够满足限位效果。
可选地，当调节件30包括弹性体时，弹性体的数量可以为两个，两个弹性体在所在移动组件1的引导轨的延伸方向X上间隔分布在移动件20的两侧。
请参照图16，在一些其他的实施例中，调节件30也可以包括电磁部件，电磁部件包括第一电磁部301以及第二电磁部302，第一电磁部301连接于移动件20，且第二电磁部302连接于基座10，第一电磁部301与第二电磁部302能够相互产生磁力作用。第一电磁部301以及第二电磁部302通过距离的改变，磁力会增大挥着减小，当距离最近时，磁力最大，吸力 最强，距离远时，磁力减少，因此可以将第二电磁部302布置在锁定的极限点位置，通过正向和反向通电，实现磁力的吸引和排斥，也能够满足限位要求。
请参照图17以及图18，作为一种可选地实施方式，本申请实施例提供的平衡锁定装置，还包括检测器3以及控制器4，检测器3被配置为检测运输设备200的倾斜工况，控制器4被配置为当倾斜工况在预设阈值范围内时，保持各移动件20能够在重力作用下沿引导轨11移动，以使得用于与待运输部件300连接的移动件20处于平衡位置。
也就是说，当倾斜工况在预设阈值范围内时，调节件30处于随动状态，当运输设备200发生倾斜时，对应倾斜方向上的移动件20可以在重力作用下沿着相应引导轨11的延伸轨迹移动，以自适应调节待运输部件300的平衡，保证待运输部件300的安全。
需要说明的是，本申请以上以及以下所提及的平衡位置是指用于与待运输部件300连接的移动件20的水平方向与水平面之间的夹角为0°，也就是说，与待运输部件300连接的移动件20用于支撑待运输部件300的表面处于水平状态且与水平面之间的夹角为0°。
可选地，检测器3可以包括位移传感器以及倾角传感器中的一者，检测器3可以设置于运输设备200上。
可选地，倾斜工况包括运输设备200相对于水平面的倾斜角度A，预设阈值范围包括-7°±0.5°≤A≤7°±0.5°。也就是说，运输设备200可以向前倾的角度小于等于7°±0.5°，或者向后倾斜角度小于等于7°±0.5°。
可选地，在有些实施例中，倾斜工况还可以包括移动件20沿对应引导轨11的延伸方向X的位移B，预设阈值范围还包括B1-B2≤B≤B1+B2，其中，B1为用于连接待运输部件300的移动组件1的移动件20的重心与基座10的重心在层叠方向Y上重合时，调节件30在引导轨11的延伸方向X上的长度尺寸，B2为运输设备200的倾斜角度达到预设阈值范围时，用于连接待运输部件300的移动组件1的移动件20重心相对基座10的重心在其引导轨11的延伸方向X上的偏移尺寸。
作为一种可选地实施方式，本申请实施例提供的平衡承载装置100，控制器4还被配置为当倾斜工况超过预设阈值范围时，控制调节件30向移动件20提供与移动件20的移动方向相反的作用力。
也就是说当倾斜工况包括运输设备200相对于水平面的倾斜角度A且当A＜-7°±0.5°或者A＞7°±0.5°时，控制调节件30向移动件20提供与移动件20的移动方向相反的作用力。以避免移动件20继续移动与基座10分离。
当倾斜工况包括移动件20沿对应引导轨11的延伸方向X的位移B且当B＞B1+B2或者B＜B1-B2时，控制调节件30向移动件20提供与移动件20的移动方向相反的作用力。以避免移动件20继续移动与基座10分离。
当然，当倾斜工况超过预设阈值范围时，控制器4还可以控制锁定各移动组件1的移动件20与基座10的相对位置。当包括驱动组件2235时，可以通过控制驱动组件2235的电动驱动件2235c，实现转动体2232带动行走部件222以第一转动副2233为旋转中心转动，实现锁定。
请参照图17至图19，另一方面，本申请还提供一种平衡承载装置100的控制方法，包括：
S100、检测平衡承载装置100所在运输设备200的倾斜工况；
S200、当倾斜工况在预设阈值范围内时，保持各移动件20能够在重力作用下沿引导轨11移动，以使得用于与待运输部件300连接的移动件20处于平衡位置。
可选地，在步骤S100中，倾斜工况可以包括运输设备200相对于水平面的倾斜角度A和/或移动件20沿对应引导轨11的延伸方向X的位移B。
可选地，在步骤S200中当倾斜工况在预设阈值范围内时，调节件30处于随动状态，当运输设备200发生倾斜时，对应倾斜方向上的移动件20可以在重力作用下沿着相应引导轨11的延伸轨迹移动，以自适应调节待运输部件300的平衡，保证待运输部件300的安全。
作为一种可选地实施方式，本申请实施例提供的平衡承载装置100的控制方法，还包括当倾斜工况超过预设阈值范围时，控制调节件30向移动件20提供与移动件20的移动方向相反的作用力，和/或，锁定各移动组件 1的移动件20与基座10的相对位置。
当倾斜工况可以包括运输设备200相对于水平面的倾斜角度A和/或移动件20沿对应引导轨11的延伸方向X的位移B。关于倾斜角度A的阈值范围以及位移B的阈值范围同上述各实施例中在平衡承载装置100中的限定，在此不再重复赘述。
作为一种可选地实施方式，本申请实施例提供的控制方法，还包括：检测平衡承载装置100处于非工作状态，给出锁定信号。
操作人员可以根据锁定信号控制驱动组件2235驱动转动体2232转动，进而实现移动件20位置的锁定。为了更好的区分，将通过调节螺杆2235a与螺帽2235b配合方式驱动第一旋转体2232a转动实现锁定的方式简称为机械锁定，将通过电动驱动件2235c驱动第二旋转体2232b带动第一旋转体2232a转动实现锁定的方式简称为电磁锁定。并且，可以使得平衡承载装置100包括两组移动组件1，与运输设备200连接的为下层移动组件，其调节件30为下层调节件，背离运输设备200设置并用于连接待运输部件300的移动组件1为上层移动组件，其调节件30为上层调节件。
为了更好的理解本申请实施例提供的控制方法，以下将以具体示例进行说明。
请参照图20，当平衡承载装置100处于工作状态时，可以通过倾角传感器采集运输设备200的倾斜角度A，当倾斜角度A小于或者等于7度时，可以根据倾斜方向使得相应位置的调节件30作用。
例如，当倾斜角度A为前后倾角时，通过下层调节件控制，当左右倾角时，通过上层调节件控制，当前后以及左右均有倾角时，也就是说当前后左右倾角时，通过上层、下层调节件同时控制。
当移动件20在移动的过程倾斜角度A超过7°±0.5°，则锁定各移动组件1的移动件20与基座10的相对位置。具体可以采用电磁锁定方式进行锁定行走部件222。当检测运输设备200的倾斜角度A小于或者等于7°±0.5°时，则解除电磁锁定，重新进行调节。
而当通过倾角传感器检测的运输设备200的倾斜角度A大于7°±0.5°时，则停航停止作业并通过电磁锁定方式锁定行走部件222。
请参照图21，对于平衡承载装置100的锁定可以参考如下示例，当平衡承载装置100处于工作状态需要对待运输部件300进行运输时，可以根据运输设备200的工况对电磁锁定进行供电，通过电磁锁定方式锁定行走部件222，并且将机械锁定结构解锁，当将待运输部件300吊装至平衡承载装置100准备运输后，电磁锁定解锁。
可以通过位移传感器检测移动件20沿对应引导轨11的延伸方向X的位移B是否在预设的阈值范围内，当B＞B1+B2或者B＜B1-B2时，采用电磁锁定方式锁定行走部件222，当B1-B2≤B≤B1+B2时，调节件30处于随动状态。
当然也可以通过倾角长安其检测运输设备200相对于水平面的倾斜角度A是否在预设的阈值范围内，当A＜-7°±0.5°或者A＞7°±0.5°时，采用电磁锁定方式锁定行走部件222，当-7°±0.5°≤A≤7°±0.5°时，调节件30处于随动状态。
当平衡承载装置100处于非工作状态时，可以同时采用机械锁定以及电磁锁定来锁定行走部件222，保证安全性。
本申请实施例提供的平衡承载装置100的控制方法，能够待运输部件300的运输需求，并且当检测平衡承载装置100所在运输设备200的倾斜工况在预设阈值范围内时，保持各移动件20能够在重力作用下沿引导轨11移动，以使得用于与待运输部件300连接的移动件20处于平衡位置。实现重力作用下的自动调平衡效果，而当倾斜工况超出预设阈值范围时，采用锁定行走部件222的方式保证安全。
另一方面，本申请还提供一种运输设备200，平衡承载装置100设置于运输设备200上。运输设备200可以是运输车、运输船等。
虽然已经参考优选实施例对本申请进行了描述，但在不脱离本申请的范围的情况下，可以对其进行各种改进并且可以用等效物替换其中的部件。尤其是，只要不存在结构冲突，各个实施例中所提到的各项技术特征均可以任意方式组合起来。本申请并不局限于文中公开的特定实施例，而是包括落入权利要求的范围内的所有技术方案。

Claims (26)

  1. 一种平衡承载装置(100)，设置于运输设备(200)，包括：
    移动组件(1)，两个以上所述移动组件(1)层叠设置，每个所述移动组件(1)包括基座(10)、移动件(20)以及调节件(30)，所述基座(10)具有弧形的引导轨(11)，所述移动件(20)设置于所述基座(10)并能够在重力作用下沿所述引导轨(11)的延伸轨迹移动，所述调节件(30)连接于所述移动件(20)与所述基座(10)之间并能够限制所述移动件(20)沿所述引导轨(11)移动的极限位置；
    其中，相邻两个所述移动组件(1)的所述引导轨(11)的延伸方向(X)相交设置且其中一者的所述基座(10)与另一者的所述移动件(20)连接，在两个以上所述移动组件(1)的层叠方向(Y)，位于最顶层的所述移动组件(1)能够通过所述移动件(20)与待运输部件(300)连接。
  2. 根据权利要求1所述平衡承载装置(100)，其中，所述移动件(20)包括承载体(21)以及多个移动单元(22)，多个所述移动单元(22)间隔分布并分别与所述承载体(21)连接，各所述移动单元(22)分别与所述引导轨(11)可移动连接。
  3. 根据权利要求2所述平衡承载装置(100)，其中，每个所述移动组件(1)的所述基座(10)具有两个以上平行且间隔设置的所述引导轨(11)，每个所述引导轨(11)与至少一个所述移动单元(22)可移动连接。
  4. 根据权利要求2所述平衡承载装置(100)，其中，所述移动单元(22)包括支撑架(221)、行走部件(222)以及锁定部件(223)，所述行走部件(222)通过所述锁定部件(223)与所述支撑架(221)连接，所述行走部件(222)能够沿所述引导轨(11)的延伸轨迹移动，所述锁定部件(223)用于锁定所述行走部件(222)在所述基座(10)上的位置。
  5. 根据权利要求4所述平衡承载装置(100)，其中，在所述层叠方向(Y)，所述基座(10)具有相对设置的顶面(12)以及底面(13)，所述顶面(12)为向所述底面(13)所在方向凸出的弧形面，所述引导轨 (11)设置于所述弧形面，所述行走部件(222)至少部分支撑于所述顶面(12)，所述行走部件(222)与所述引导轨(11)的一者至少部分伸入另一者的内部且彼此可移动连接。
  6. 根据权利要求5所述平衡承载装置(100)，其中，所述引导轨(11)为弧形槽体，所述引导轨(11)由所述顶面(12)起始向靠近所述底面(13)所在侧凹陷形成，所述行走部件(222)包括行走轮(2221)以及与所述行走轮(2221)转动连接的卡接凸起(2222)，所述行走轮(2221)支撑于所述顶面(12)并转动连接于所述锁定部件(223)，所述卡接凸起(2222)卡接于所述引导轨(11)内并能够沿所述引导轨(11)的延伸方向(X)移动。
  7. 根据权利要求5所述平衡承载装置(100)，其中，所述引导轨(11)为弧形凸起，所述引导轨(11)由所述顶面(12)起始向背离所述底面(13)所在侧凸出形成，所述行走部件(222)包括行走轮(2221)以及设置于所述行走轮(2221)上的卡槽(2221a)，所述行走轮(2221)支撑于所述顶面(12)，所述卡槽(2221a)卡接于所述引导轨(11)并能够沿所述引导轨(11)的延伸方向(X)移动。
  8. 根据权利要求4所述平衡承载装置(100)，其中，所述锁定部件(223)包括安装体(2231)以及转动体(2232)，所述安装体(2231)连接于所述支撑架(221)，所述转动体(2232)通过第一转动副(2233)与所述安装体(2231)转动连接，所述行走部件(222)通过第二转动副(2234)与所述转动体(2232)转动连接，所述第一转动副(2233)的转动轴线与所述第二转动副(2234)的转动轴线平行且间隔分布。
  9. 根据权利要求8所述平衡承载装置(100)，其中，所述转动体(2232)包括第一旋转体(2232a)以及第二旋转体(2232b)，所述安装体(2231)位于所述第一旋转体(2232a)以及所述第二旋转体(2232b)之间，所述第一转动副(2233)与所述第一旋转体(2232a)以及所述第二旋转体(2232b)固定连接并与所述安装体(2231)转动连接，所述行走部件(222)连接于所述第一转动体(2232)。
  10. 根据权利要求9所述平衡承载装置(100)，其中，所述锁定部件 (223)还包括驱动组件(2235)，所述驱动组件(2235)驱动所述转动体(2232)以所述第一转动副(2233)为转动中心相对所述安装体(2231)转动。
  11. 根据权利要求10所述平衡承载装置(100)，其中，所述驱动组件(2235)包括调节螺杆(2235a)以及螺帽(2235b)，所述调节螺杆(2235a)的一端连接于所述基座(10)且另一端穿过所述第一旋转体(2232a)，所述螺帽(2235b)与所述调节螺杆(2235a)螺纹连接，所述螺帽(2235b)能够沿所述调节螺杆(2235a)的轴向移动并挤压所述第一旋转体(2232a)，以驱动所述转动体(2232)整体以所述第一转动副(2233)为中心相对所述安装体(2231)转动。
  12. 根据权利要求10所述平衡承载装置(100)，其中，所述驱动组件(2235)包括电动驱动件(2235c)，所述电动驱动件(2235c)的一端与所述支撑架(221)连接且另一端与所述第二旋转体(2232b)配合，以驱动所述转动体(2232)整体以所述第一转动副(2233)为中心相对所述安装体(2231)转动。
  13. 根据权利要求12所述平衡承载装置(100)，其中，所述电动驱动件(2235c)包括伸缩件，所述伸缩件与所述第二旋转体(2232b)连接，所述伸缩件伸长或者缩短以驱动所述第二旋转体(2232b)带动所述第一旋转体(2232a)及所述行走部件(222)以所述第一转动副(2233)为中心转动。
  14. 根据权利要求8所述平衡承载装置(100)，其中，所述锁定部件(223)还包括插接部(2236)，所述插接部(2236)可拆卸连接于所述行走部件(222)、所述安装体(2231)以及所述转动体(2232)。
  15. 根据权利要求4所述平衡承载装置(100)，其中，所述行走部件(222)的数量为多个，每个所述行走部件(222)分别对应设置有所述锁定部件(223)。
  16. 根据权利要求1所述平衡承载装置(100)，其中，所述平衡承载装置(100)还包括转接组件(2)，相邻两个所述移动组件(1)之间连接有所述转接组件(2)。
  17. 根据权利要求16所述平衡承载装置(100)，其中，所述转接组件(2)包括过渡平台(201)以及支撑杆(202)，所述过渡平台(201)位于相邻两个所述移动组件(1)之间，相邻两个所述移动组件(1)中一者的所述基座(10)上设置弧形导槽(14)，所述过渡平台(201)与相邻两个所述移动组件(1)中一者的所述移动件(20)连接并与另一者的所述基座(10)连接，所述支撑杆(202)的一端与所述过渡平台(201)铰接且另一端与所述弧形导槽(14)可移动连接。
  18. 根据权利要求1所述平衡承载装置(100)，其中，所述调节件(30)包括伸缩缸，所述伸缩缸的缸体以及缸杆的一者与所述移动件(20)连接且另一者与所述基座(10)连接；
    或者，所述调节件(30)包括弹性体，所述弹性体的一端与所述移动件(20)连接且另一端与所述基座(10)连接；
    或者，所述调节件(30)包括电磁部件，所述电磁部件包括第一电磁部(301)以及第二电磁部(302)，所述第一电磁部(301)连接于所述移动件(20)，且所述第二电磁部(302)连接于所述基座(10)，所述第一电磁部(301)与所述第二电磁部(302)能够相互产生磁力作用。
  19. 根据权利要求1所述平衡承载装置(100)，其中，所述移动组件(1)的数量为两个，两个所述移动组件(1)的所述引导轨(11)的延伸轨迹相互垂直。
  20. 根据权利要求1所述平衡承载装置(100)，其中，所述平衡承载装置(100)还包括检测器(3)以及控制器(4)，所述检测器(3)被配置为检测所述运输设备(200)的倾斜工况，所述控制器(4)被配置为当所述倾斜工况在预设阈值范围内时，保持各所述移动件(20)能够在重力作用下沿所述引导轨(11)移动，以使得用于与所述待运输部件(300)连接的所述移动件(20)处于平衡位置。
  21. 根据权利要求20所述平衡承载装置(100)，其中，所述倾斜工况包括所述运输设备(200)相对于水平面的倾斜角度A，所述预设阈值范围包括-7°±0.5°≤A≤7°±0.5°。
  22. 根据权利要求21所述平衡承载装置(100)，其中，所述倾斜工 况还包括所述移动件(20)沿对应所述引导轨(11)的延伸方向(X)的位移B，所述预设阈值范围还包括B1-B2≤B≤B1+B2，其中，B1为用于连接所述待运输部件(300)的所述移动组件(1)的所述移动件(20)的重心与所述基座(10)的重心在所述层叠方向(Y)上重合时，所述调节件(30)在所述引导轨(11)的延伸方向(X)上的长度尺寸，B2为所述运输设备(200)的所述倾斜角度A达到所述预设阈值范围时，用于连接所述待运输部件(300)的所述移动组件(1)的所述移动件(20)重心相对基座(10)的重心在其所述引导轨(11)的延伸方向(X)上的偏移尺寸。
  23. 根据权利要求22所述平衡承载装置(100)，其中，所述控制器(4)还被配置为当所述倾斜工况超过所述预设阈值范围时，控制所述调节件(30)向所述移动件(20)提供与所述移动件(20)的移动方向相反的作用力，和/或，锁定各所述移动组件(1)的所述移动件(20)与所述基座(10)的相对位置。
  24. 一种如权利要求1至19任意一项所述的平衡承载装置(100)的控制方法，包括：
    检测所述平衡承载装置(100)所在所述运输设备(200)的倾斜工况；
    当所述倾斜工况在预设阈值范围内时，保持各所述移动件(20)能够在重力作用下沿所述引导轨(11)移动，以使得用于与所述待运输部件(300)连接的所述移动件(20)处于平衡位置。
  25. 根据权利要求24所述的控制方法，其中，还包括：
    当所述倾斜工况超过所述预设阈值范围时，控制所述调节件(30)向所述移动件(20)提供与所述移动件(20)的移动方向相反的作用力，和/或，锁定各所述移动组件(1)的所述移动件(20)与所述基座(10)的相对位置。
  26. 一种运输设备(200)，包括权利要求1至23任意一项所述的平衡承载装置(100)。
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