WO2023071019A1

WO2023071019A1 - Mobile apparatus, balanced carrying device and control method therefor, and transportation device

Info

Publication number: WO2023071019A1
Application number: PCT/CN2022/080656
Authority: WO
Inventors: 方晶
Original assignee: 江苏金风科技有限公司
Priority date: 2021-10-29
Filing date: 2022-03-14
Publication date: 2023-05-04
Also published as: CN116062300A

Abstract

A mobile apparatus, a balanced carrying device and a control method therefor, and a transportation device. The mobile apparatus (22) comprises: a support frame (221); a locking component (223) disposed on the support frame (221), the locking component (223) comprising a mounting body (2231) and a rotating body (2232), the rotating body (2232) being rotationally connected to the mounting body (2231) by means of a first rotating pair (2233), and the mounting body (2231) being connected to the support frame (221); a travel component (222), the travel component (222) being rotationally connected to the rotating body (2232) by means of a second rotating pair (2234), the rotational axis of the first rotating pair (2233) being parallel to the rotational axis of the second rotating pair (2234), and the two being distributed at an interval. The mobile apparatus (22) can cooperate with a structure carrying a component to be transported, so as to meet a transportation requirement of the component to be transported, while also ensuring transportation safety. The invention also relates to a balanced carrying device, a control method therefor, and a transportation device.

Description

Mobile device, balanced carrying equipment and control method thereof, transportation equipment

Cross References to Related Applications

This application claims priority to Chinese patent application 202111276094.1, filed on October 29, 2021, entitled "Mobile Device, Balance Bearing Equipment and Control Method Thereof", the entire content of which is incorporated herein by reference.

technical field

The present application relates to the technical field of transportation, and in particular to a mobile device, a balance carrying device, a control method thereof, and a transportation device.

Background technique

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, it will affect the safety of the parts to be transported.

Take the field of wind power technology as an example. At present, the components and parts of wind turbines need to be transported according to the predetermined construction area of the wind turbine. During the transportation of the components, it is necessary to ensure the balance of the components so that they are always in a horizontal state. For the transportation of offshore wind turbines, due to swells in seawater, parts are prone to lose balance or even tip over during transportation. Therefore, how to ensure the safety of parts to be transported during transportation is an urgent technology to be solved. question.

Contents of the invention

Embodiments of the present application provide a mobile device, a balance bearing device, a control method thereof, and a transportation device. The mobile device can cooperate with a structure for carrying parts to be transported to meet the transportation requirements of the parts to be transported, while ensuring its transportation safety.

On the one hand, according to the embodiment of the present application, a mobile device is proposed, including: a support frame; a locking component, which is arranged on the support frame, the locking component includes a mounting body and a rotating body, and the rotating body is rotationally connected with the mounting body through a first rotating pair. The mounting body is connected to the support frame; the running part is connected to the rotating body through the second rotating pair; wherein, the rotating axis of the first rotating pair is parallel to and spaced apart from the rotating axis of the second rotating pair.

According to an aspect of the embodiment of the present application, the traveling part includes a traveling wheel and a snap-in protrusion rotatably connected to the traveling wheel, and the snap-in protrusion is at least partially protruded from the outer peripheral surface of the traveling wheel.

According to an aspect of the embodiment of the present application, at least one end of the traveling wheel in the axial direction is provided with a locking protrusion, and each locking protrusion rotatably cooperates with the traveling wheel through the second rotating pair.

According to an aspect of the embodiment of the present application, the mounting body includes a mounting plate and a first through hole and a second through hole provided on the mounting plate, the first through hole and the second through hole are distributed at intervals, and the first rotating pair is inserted into the The first through hole and the second rotating pair are plugged into the second through hole.

According to an aspect of the embodiment of the present application, 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 rotatably connected to the first rotating body through the second rotating pair.

According to an aspect of the embodiment of the present application, 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.

According to an aspect of the embodiment 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 threadedly connected with the adjusting screw, and the nut can move along the axial direction of the adjusting screw and squeeze the first rotating body. The rotating body drives the rotating body to rotate relative to the mounting body around the first rotating pair as a center.

According to an aspect of the embodiment of the present application, the first rotating body includes a main body and a protrusion protruding from the main body, the first rotating pair and the second rotating pair are arranged at intervals on the main body, and the adjusting screw passes through the protrusion And connected with the nut, the nut moves along the axial direction of the adjusting screw and squeezes the protruding part.

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

According to an aspect of the embodiment of the present application, 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.

According to an aspect of the embodiment of the present application, the electric driving part includes a telescopic part, and the telescopic part is connected with the second rotating body. Rotate for the center.

According to an aspect of the embodiment of the present application, there are multiple running parts, and each running part is correspondingly provided with a locking part.

According to an aspect of the embodiment of the present application, 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.

On the other hand, according to the embodiment of the present application, a balanced carrying device is proposed, which includes more than two stacked moving assemblies, and each moving assembly includes: a base, the base has an arc-shaped guide rail; a moving part, including the above The mobile device is connected to the carrier through the support frame and movably matched with the guide rail through the walking parts. The extension directions of the guide rails of two adjacent mobile components intersect and the base of one of them is connected with the base of the other. The moving parts are connected.

In yet another aspect, according to an embodiment of the present application, a method for controlling a balanced carrying device is proposed. The balanced carrying device includes more than two stacked moving assemblies, each moving assembly includes a base and a moving part, and the moving part includes a carrier and a moving part. In the mobile device mentioned above, the mobile device is connected to the bearing body through the support frame and movably cooperates with the guide rail through the walking parts. The rotating body includes a first rotating body and a second rotating body, and the installation body is located on the first rotating body and the second rotating body Between, the first rotating pair is fixedly connected with the first rotating body and the second rotating body and is rotatably connected with the installation body, the running part is connected to the first rotating body through the second rotating pair, and the locking part also includes a drive assembly, which includes An electric drive, one end of the electric drive is connected to the support frame and the other end is matched with the second rotating body, and the control method includes:

Detect the tilting condition of the transportation equipment where the balance bearing equipment is located;

When the tilting condition exceeds the preset threshold range, the electric driving part is controlled to drive the whole rotating body to rotate relative to the mounting body centered on the first rotating pair, so as to lock the relative position of the running part and the guide rail.

According to yet another aspect of the embodiment of the present application, the control method further includes: when detecting that the inclination working condition of the balance carrying device returns to the preset threshold range, controlling the electric drive member to act in reverse, and driving the rotating body as a whole with the first rotating pair as the The center is reversely rotated relative to the mounting body and returns to the initial position to unlock the running part so that the running part can move along the guide rail.

In another aspect, according to an embodiment of the present application, a transportation device is provided, which includes the balance bearing device provided in the foregoing embodiments and is arranged on the transportation device.

According to the mobile device, the balance carrying equipment and its control method, and the transportation equipment provided by the embodiments of the present application, the mobile device includes a support frame, a locking part and a walking part, and the support frame can be connected with the equipment for carrying the parts to be transported, and the locking part It includes a mounting body and a rotating body, which can be connected with the support frame through the mounting body to provide support for the installation of the rotating body and the running parts. Since the running part is rotatably connected to the rotating body through the second rotating pair, the running part can rotate relative to the rotating body with the second rotating pair as the center of rotation, thereby driving the entire moving device to move along a predetermined track.

At the same time, the rotating body is rotationally connected with the mounting body through the first rotating pair, and the rotating body can drive the whole walking part to rotate relative to the mounting body with the first rotating pair as the center of rotation. The axes are parallel and arranged at intervals, that is to say, the first rotating pair deviates from the rotation center of the road wheel, so that the running part moves eccentrically during the rotation of the rotating body with the first rotating pair, which can increase the supporting surface of the walking part in contact with it During transportation, when dangerous conditions such as tilt occur, the rotating body can be driven to drive the running parts to rotate, so as to limit the walking of the running parts, realize the locking requirements, and ensure the safe transportation requirements.

Description of drawings

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

Fig. 1 is a schematic structural view of a balanced bearing device set on a transport device according to an embodiment of the present application;

Fig. 2 is an axonometric view of a balanced bearing device according to an embodiment of the present application;

Fig. 3 is a schematic structural diagram of a mobile assembly according to an embodiment of the present application;

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

Fig. 5 is an exploded schematic diagram of a mobile device according to an embodiment of the present application;

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

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

Fig. 8 is a side view of a mobile device according to an 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 schematic diagram of a partial structure of a mobile device according to an embodiment of the present application;

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

Fig. 12 is a schematic structural view of a balance carrying device arranged on a transportation device according to another embodiment of the present application;

Fig. 13 is a schematic diagram of a tilted state of a balance carrying device according to another embodiment of the present application when it is set on a transportation device;

Fig. 14 is a flow chart of a control method of a balance bearing device according to an embodiment of the present application;

in:

100-balance bearing equipment;

1 - Mobile components;

10-base; 11-guide rail; 12-top; 13-bottom; 14-arc guide groove;

20 - moving parts;

21 - carrier;

22 - mobile device;

221 - support frame;

222-walking parts; 2221-walking wheels; 2222-carding protrusions;

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;

2-transfer assembly; 201-transition platform; 202-support rod;

3-detector; 4-controller;

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

X-extending direction; Y-stacking direction.

In the figures, the same parts are given the same reference numerals. The figures are not drawn to scale.

Detailed ways

Features and exemplary embodiments of various aspects of the present application will be described in detail below. In the following detailed description, numerous specific details are set forth in order to provide a thorough understanding of the 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 only to provide a better understanding of the present application by showing examples of the present application. In the drawings and the following description, at least some well-known structures and techniques have not been shown in order to avoid unnecessarily obscuring the application; and, for clarity, the dimensions of some structures may have been exaggerated. Furthermore, the features, structures, or characteristics described hereinafter may be combined in any suitable manner in one or more embodiments.

The orientation words appearing in the following descriptions are the directions shown in the figure, and are not intended to limit the specific structures of the mobile device, the balance carrying equipment and its control method, and the transportation equipment of the present application. In the description of this application, it should also be noted that unless otherwise specified and limited, 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. For those of ordinary skill in the art, the specific meanings of the above terms in this application can be understood according to specific situations.

At present, 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. During the transportation of the parts, it is necessary to ensure the balance of the parts so that they are always in a horizontal state. Especially for the transportation of offshore wind turbines, due to the transportation cost and the water depth of the sea area, 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.

Existing solutions usually use a six-degree-of-freedom mechanical arm for compensation and six-degree-of-freedom control. The control method is relatively complicated, the balance adjustment is difficult, and the cost is high.

In order to solve the above problems, the embodiment of the present application provides a balance carrying device, which can meet the balance requirements of the parts to be transported during transportation, and can ensure the safety performance during transportation.

Please refer to Fig. 1 to Fig. 3, the embodiment of the present application provides a kind of balance carrying equipment 100, including more than two moving assemblies 1 stacked, each moving assembly 1 includes a base 10 and a moving part 20, the base 10 With an arc-shaped guide rail 11 , the moving part 20 includes a carrier 21 and a moving device 22 , the moving device 22 is disposed on the carrier 21 and is movably connected to the guide rail 11 of the base 10 .

The balance carrying device 100 can be set on the transport equipment 200 such as a transport vehicle or a transport ship during use. The balance carrying device 100 includes more than two stacked moving assemblies 1, and each moving assembly 1 includes a base 10 and a moving part 20. 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 part 20 of the other. When the parts 300 to be transported are transported, more than two In the stacking direction Y of the moving components 1 , the moving component 1 on the top layer can be connected to the component to be transported 300 through the moving part 20 .

Since the base 10 has an arc-shaped guide rail 11, 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 moving part 20 of the corresponding moving assembly 1 can Under the action of gravity, it moves along the extension track of its matching guide rail 11, so that the moving part 20 connected with the component to be transported 300 is always in a balanced position, which is convenient for control. At the same time, since the number of moving assemblies 1 is more than two, 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 balancing the carrying device 100 .

Optionally, the number of moving components 1 is not specifically limited, and may be two, three or even more.

Optionally, in each moving assembly 1 , the extension directions X of the guide rails 11 on the bases 10 of any two moving assemblies 1 intersect.

Optionally, in the stacking direction Y, 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. In the stacking direction Y, the arc-shaped guide rails 11 of each moving assembly 1 are recessed in the same direction, and they are all recessed toward the side where the moving assembly 1 at the bottom is located. The arc-shaped guide rail 11 can be a circular-arc-shaped guide rail 11 or an elliptical-arc-shaped guide rail 11 .

The mobile component 1 on the top floor may be the mobile component 1 that is farthest from the transport device 200 in the stacking direction Y when the balance bearing device 100 is placed on the transport device 200 for work.

Optionally, 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.

Optionally, the number of mobile devices 22 can be two, three or even more. Optionally, the mobile devices 22 are arranged in pairs, and the mobile devices 22 arranged in pairs are symmetrically distributed on the carrier 21 to ensure the bearing Transport safety of body 21.

In some optional embodiments, the balanced bearing 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 mobile assemblies 1 . That is to say, two adjacent mobile assemblies 1 are indirectly connected to each other through the adapter assembly 2, which facilitates the connection requirements between the two.

As an optional implementation mode, in the balance bearing device 100 provided in the embodiment of the present application, 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 arranged on the base 10 of one of the two moving assemblies 1, and the transition platform 201 is connected with the moving part 20 of one of the adjacent two moving assemblies 1 and connected with the base 10 of the other, supporting One end of the 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.

In order to ensure the safety of the parts to be transported 100 when the transport equipment 200 is inclined too large, the implementation of this application also provides a new mobile device 22, which can be produced or sold as an independent product, and can also be It is used for balancing the load bearing device 100 and serves as a component of the balance load bearing device 100 .

4 to 8, the mobile device 22 provided by the embodiment of the present application includes a support frame 221, a locking part 223 and a walking part 222, the locking part 223 is arranged on the support frame 221, and the locking part 223 includes a mounting body 2231 and The rotating body 2232 is rotationally connected to the mounting body 2231 through the first rotating pair 2233 , and the mounting body 2231 is connected to the supporting frame 221 . The running part 222 is rotationally connected with the rotating body 2232 through the second rotating pair 2234 ; wherein, the rotating axis of the first rotating pair 2233 is parallel to the rotating axis of the second rotating pair 2234 and distributed at intervals.

The mobile device 22 provided by the implementation of the present application, when used to balance the carrying device 100 , the mobile device 22 can be connected to the carrier body 21 through the support frame 221 , either fixedly or detachably. And it is movably connected with the guide rail 11 through the running part 222. The locking part 223 includes a mounting body 2231 and a rotating body 2232, which can be connected with the support frame 221 through the mounting body 2231 to provide support for the installation of the rotating body 2232 and the running part 222. Since the running part 222 is rotationally connected with the rotating body 2232 through the second rotating pair 2234, the running part 222 can rotate relative to the rotating body 2232 with the second rotating pair 2234 as the center of rotation, thereby driving the moving device 22 to move along a predetermined track.

At the same time, the rotating body 2232 is rotationally connected with the mounting body 2231 through the first rotating pair 2233, and 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. The axis is parallel to the rotation axis of the second rotating pair 2234 and arranged at intervals, that is to say, the first rotating pair 2233 deviates from the rotation center of the running part 222, so that the rotating body 2232 rotates with the first rotating pair 2233 as the rotation center. The eccentric movement of the running part 222 can increase the frictional force between the running part 222 and the supporting surface in contact with it. During transportation, when dangerous working conditions such as inclination occur, the running part 222 can be driven to rotate by driving the rotating body 2232 to limit The traveling part 222 travels to realize the locking requirement and ensure the safe transportation requirement.

Optionally, 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, which may be detachably connected.

Optionally, 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 . Through the above arrangement, the cooperation between the locking component 223 and the supporting frame 221 is facilitated, and at the same time, the overall structure of the mobile device 22 can be made compact and occupies less space.

Optionally, 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.

Optionally, the second rotating pair 2234 may include a second rotating shaft and a second limiting cap arranged at 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 running part 222 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.

As an optional implementation manner, the running part 222 includes a running wheel 2221 and a locking protrusion 2222 rotatably connected to the running wheel 2221 , and the locking protrusion 2222 protrudes from the outer peripheral surface of the running wheel 2221 at least partially.

Optionally, when the walking part 222 adopts the above-mentioned structure, the top surface 12 of the base 10 can be an arc-shaped surface, and the guide rail 11 starts from the top surface 12 to form an arc-shaped groove structure that is recessed toward the side close to the bottom surface 13 , the locking protrusion 2222 can be locked in the guide rail 11 and can move along the extending direction X of the guide rail 11 .

Through the above-mentioned setting, the running part 222 can limit the movement of the running part 222 along the extension track of the guide rail 11 through 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 walk The wheels 2221 roll and cooperate with the top surface 12 of the base 10 to facilitate the movement of the running part 222 , and at the same time, the top surface 12 can share the pressure on the moving device 22 .

Optionally, at least one end of the traveling wheel 2221 in the axial direction may be provided with a locking protrusion 2222 .

Please refer to FIG. 8 , as an optional implementation, the two ends of the traveling wheel 2221 in the axial direction can be respectively provided with connecting protrusions 2222 . The wheels 2221 are rotationally fitted. Through the above arrangement, it is possible to ensure the uniformity of force on both ends of the traveling wheel 2221 in the axial direction, and to ensure the smoothness of the movement of the mobile device 22 as a whole on the basis of satisfying the limitation of the running track by the locking protrusion 2222 .

It can be understood that it is only an optional implementation manner that the two ends of the traveling wheel 2221 in the axial direction are respectively provided with engaging protrusions 2222 .

Please refer to FIG. 9 , in some embodiments, only one end of the traveling wheel 2221 in the axial direction may be provided with a snap-in protrusion 2222 , as long as the limit requirement can be met.

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

Please refer to FIG. 4 to FIG. 9, in some optional embodiments, the rotating body 2232 includes a first rotating body 2232a and a second rotating body 2232b, and 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 rotationally connected to the mounting body 2231 , and the running part 222 is rotationally connected to the first rotating body 2232a through the second rotating pair 2234 .

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.

In some optional embodiments, the mobile device 22 provided in the embodiment of the present application further includes a driving assembly 2235 that drives the rotating body 2232 to rotate relative to the mounting body 2231 with the first rotating pair 2233 as the rotation center. Through the above arrangement, the rotating body 2232 can be driven to rotate by the driving assembly 2235 . When the running part 222 needs to be locked, the rotating body 2232 can be driven to rotate through the driving assembly 2235, so that the rotating body 2232 can increase the distance between the running wheel 2221 and its contact during the rotation of the rotating body 2232 with the first rotating pair 2233 as the rotation center. The frictional force between the supporting surfaces is used to restrict the walking part 222 from walking, so as to realize the locking requirement.

As an optional implementation, the drive assembly 2235 includes an adjusting screw 2235a and a nut 2235b. The adjusting screw 2235a passes through the first rotating body 2232a. Axially move and squeeze the first rotating body 2232a to drive the rotating body 2232 to rotate relative to the mounting body 2231 centering on the first rotating pair 2233 as a whole.

The moving device 22 provided in the embodiment of the present application 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, in the stacking direction Y , the nut 2235b is located on the side of the rotating body away from the base 10 . One end of the adjusting screw 2235 can be connected to the base, for example, its end cap can be snapped into the guide groove of the guide rail 11 . When the running part 222 needs to be locked, 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 .

In some optional embodiments, in the mobile device 22 provided in the embodiment of the present application, the drive assembly 2235 includes 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 matched with the second rotating body 2232b, The rotating body 2232 is driven to rotate relative to the mounting body 2231 with the first rotating pair 2233 as the center.

When it is necessary to lock the walking part 222, 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, therefore, 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, and the same Locking of the running part 222 can be realized.

Referring to FIG. 10, in some optional 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 arranged at intervals. In the main body 22321 , the adjusting screw 2235 a passes through the protrusion 22322 and connects with the nut 2235 b, and the nut 2235 b moves along the axial direction of the adjusting screw 2235 a and presses the protrusion 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.

As an optional implementation manner, in the axial direction of the adjusting screw 2235a, 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.

Through the above settings, it is possible to effectively avoid interference between the adjusting screw 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, which is beneficial to the first rotating body. The rotation of 2232a.

In some optional embodiments, 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 around the first rotating pair 2233.

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.

As an optional implementation, the telescopic direction of the electric driver 2235c may be perpendicular to the stacking direction Y, or the telescopic direction may be perpendicular to the axial direction of the adjusting screw 2235a. Conducive to the realization of double regulation.

Optionally, 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 to drive the second rotating body 2232b to rotate.

The mobile device 22 provided in the embodiment of the present application uses the adjustment screw 2235a and the nut 2235b to cooperate to drive the first rotating body 2232a to rotate to drive the walking part 222 to rotate to achieve locking, and uses the electric driver 2235c to drive the second rotating body 2232b to drive the second A rotating body 2232a and the running part 222 rotate to achieve locking in a parallel manner. When the mobile device 22 is in the working state, in order to ensure safe implementation of the locking, the electric drive 2235c can be used to drive the lock. When the mobile device 22 is in the non- In the working state or in case of failure, the walking part 222 can be locked by using the adjusting screw rod 2235a to cooperate with the nut 2235b to lock.

In some optional embodiments, in the mobile device 22 provided by the embodiment of the present application, the locking part 223 further includes an insertion part 2236 , and the insertion part 2236 is detachably connected to the running part 222 , the mounting body 2231 and the rotating body 2232 . Can further meet the locking requirements.

As an optional implementation manner, in the mobile device 22 provided in the embodiment of the present application, there are multiple walking parts 222, and each walking part 222 is respectively provided with a locking part 223 correspondingly. Through the above configuration, the moving requirement of the moving device 22 can be guaranteed, and at the same time, the locking requirement of each running part 222 can be guaranteed, thereby improving safety performance.

Optionally, 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.

Please refer to FIG. 11 , in some embodiments, the mounting body 2231 of each locking member 223 connected to the same support frame 221 can also be a split structure.

In some optional embodiments, the balanced transport equipment 200 provided in the above implementations of the present application has two moving assemblies 1 , and the extending trajectories of the guide rails 11 of the two moving assemblies 1 are perpendicular to each other. Through the above arrangement, the moving device 22 can drive the parts to be transported 300 to adjust the balance by gravity in two directions perpendicular to each other. The structure is simple and can meet the regulation requirement.

Please refer to FIG. 12 and FIG. 13 , in some optional embodiments, the balanced transport equipment 200 provided by the implementation of the present application further includes a detector 3 and a controller 4, and the detector 3 is configured to detect where the balanced carrying equipment 100 is transported. In the tilting working condition of the equipment 200, the controller 4 is configured to control the action of the electric driving member 2235c to drive the rotating body 2232 to rotate relative to the mounting body 2231 centered on the first rotating pair 2233 when the tilting working condition exceeds the preset threshold range .

Optionally, the detector 3 may include an inclination sensor, and the detector 3 may be arranged on the transportation device 200 .

Optionally, the inclination working conditions mentioned above in the present application may include the inclination angle A of the transportation device 200 relative to the horizontal plane.

Optionally, when the inclination condition includes an inclination angle A of the transportation device 200 relative to the horizontal plane, the preset threshold range includes -7°≤A≤7°. That is to say, the transportation device 200 may be tilted forward at an angle of less than or equal to 7°, or tilted backward at an angle of less than or equal to 7°. When the inclination angle is A and when A<-7° or A>7°, the preset threshold range is exceeded.

Please refer to FIG. 1 to FIG. 14 , on the other hand, the present application also provides a control method for a balanced carrying device 100, the balanced carrying device 100 may include more than two stacked mobile assemblies 1, each mobile assembly 1 includes a base 10 and a moving part 20, the moving part 20 includes a carrier body 21 and the above-mentioned moving device 22, the moving device 22 is connected with the carrier body 21 through a support frame 221 and is movably matched with the guide rail 11 through a walking part 222, and the rotating body 2232 includes a second A 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 with the first rotating body 2232a and the second rotating body 2232b and The mounting body 2231 is rotationally connected, the running part 222 is connected to the first rotating body 2232a, the locking part 223 also includes a drive assembly 2235, and the drive assembly 2235 includes an electric drive part 2235c, one end of the electric drive part 2235c is connected to the support frame 221 and the other end is connected to the support frame 221. The second rotating body 2232b cooperates, and it is characterized in that the control method includes:

S100, detecting the inclination working condition of the transportation equipment 200 where the balance bearing equipment 100 is located;

S200. When the tilting working condition exceeds the preset threshold range, control the electric drive member 2235c to act and drive the rotating body 2232 to rotate relative to the mounting body 2231 around the first rotating pair 2233 as a whole, so as to lock the relative movement between the running part 222 and the guide rail 11 Location.

In step S200 , the electric driving member 2235 c is controlled to operate to drive the rotating body 2232 to rotate relative to the mounting body 2231 around the first rotating pair 2233 as a center. Specifically, the power supply to the electric driving member 2235c can be controlled, 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 walking part 222 to center on the first rotating pair 2233 Rotating relative to the mounting body 2231 increases the frictional force between the running part 222 and the supporting surface it contacts to restrict the walking part 222 from walking, lock the relative position of the running part 222 and the guide rail 11, and realize the locking requirement.

When it is detected that the inclination working condition of the balance bearing device 100 returns to the preset threshold range, the electric drive member 2235c can be controlled to act in reverse, and the rotating body 2232 is driven to rotate in a reverse direction relative to the mounting body 2231 centered on the first rotating pair 2233 And return to the initial position to unlock the running part 222 so that the running part 222 can move along the guide rail 11 .

Exemplarily, the electric driving member 2235c can be controlled to elongate, pulling the second rotating body 2232b to move in reverse, thereby reducing the frictional force between the running part 222 and the supporting surface in contact with it, and unlocking, so that the running wheel 2221 can move in the second The rotary pair 2234 rotates as the center of rotation to meet the movement requirements.

The control method for balancing the carrying equipment 100 provided in the embodiment of the present application can realize the locking of the walking part 222 by controlling the electric drive part 2235c when the tilting condition of the transportation equipment 200 exceeds the preset threshold range, and then lock the transportation device , making it unable to operate temporarily, avoiding separation from the matching components such as the base 10, and improving safety performance.

It can be understood that, the above is an example of the application of the mobile device 22 to the balanced bearing device 100 for illustration, which is an optional applicable field, but not limited to the above field, and in some examples, it can also be used for The transportation of trolleys in the factory, etc., will not be illustrated here one by one.

On the other hand, the present application also provides a transportation device 200 on which the balance bearing device 100 is arranged. The transport device 200 may be a transport vehicle, a transport ship, or the like.

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

Claims

A mobile device (22), comprising:

Support frame (221);

The locking part (223) is arranged on the support frame (221), the locking part (223) includes a mounting body (2231) and a rotating body (2232), and the rotating body (2232) passes through the first rotating pair (2233) ) is rotationally connected with the installation body (2231), and the installation body (2231) is connected to the support frame (221);

a running part (222), the running part (222) is rotationally connected to the rotating body (2232) through a second rotating pair (2234);

Wherein, the rotation axis of the first rotation pair (2233) is parallel to the rotation axis of the second rotation pair (2234) and distributed at intervals.
The mobile device (22) according to claim 1, wherein, the walking member (222) comprises a walking wheel (2221) and a locking protrusion (2222) rotatably connected to the walking wheel (2221), the The locking protrusion (2222) is at least partially protruded from the outer peripheral surface of the traveling wheel (2221).
The mobile device (22) according to claim 2, wherein, at least one end of the road wheel (2221) in the axial direction is provided with the engaging protrusion (2222), and the engaging protrusion (2222 ) is in rotational cooperation with the road wheel (2221) through the second rotating pair (2234).
The mobile device (22) according to claim 1, wherein the rotating body (2232) comprises a first rotating body (2232a) and a second rotating body (2232b), and the mounting body (2231) is located on the second rotating body Between a 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 it is rotatably connected with the mounting body (2231), and the running part (222) is rotatably connected with the first rotating body (2232a) through the second rotating pair (2234).
The mobile device (22) according to claim 4, wherein the locking part (223) further comprises a driving assembly (2235), and the driving assembly (2235) drives the rotating body (2232) to the first The rotating pair (2233) rotates relative to the mounting body (2231) as a center of rotation.
The moving device (22) according to claim 5, wherein the driving assembly (2235) comprises an adjusting screw (2235a) and a nut (2235b), and the adjusting screw (2235a) passes through the first rotating body (2232a), the nut (2235b) is threadedly connected with the adjusting screw (2235a), the nut (2235b) moves along the axial direction of the adjusting screw (2235a) and squeezes the first rotating body (2232a), to drive the rotating body (2232) to rotate relative to the installation body (2231) with the first rotating pair (2233) as a center.
The mobile device (22) according to claim 6, wherein the first rotating body (2232a) comprises 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 rotating pair (2234) are arranged at intervals on the main body (22321), and the adjusting screw (2235a) passes through the protrusion (22322) and is connected to the The nut (2235b) is connected, and the nut (2235b) moves along the axial direction of the adjusting screw (2235a) and presses the protrusion (22322).
The moving device (22) according to claim 7, wherein, in the axial direction of the adjusting screw (2235a), the extending dimension of the protruding part (22322) is smaller than the extending dimension of the main part (22321) , the surface where the protrusion (22322) cooperates with the nut (2235b) is a plane.
The mobile device (22) according to claim 5, wherein the drive assembly (2235) comprises an electric drive member (2235c), one end of the electric drive member (2235c) is connected to the support frame (221) and The other end cooperates with the second rotating body (2232b) to drive the rotating body (2232) to rotate relative to the mounting body (2231) centering on the first rotating pair (2233).
The mobile device (22) according to claim 9, wherein the electric drive member (2235c) includes a telescopic member connected to the second rotating body (2232b), and the telescopic member is elongated or The shortening is to drive the second rotating body (2232b) to drive the first rotating body (2232a) and the running part (222) to rotate around the first rotating pair (2233).
The mobile device (22) according to any one of claims 1 to 10, wherein the number of the walking parts (222) is multiple, and each of the walking parts (222) is respectively provided with the locking part (223).
The mobile device (22) according to any one of claims 1 to 10, wherein the locking part (223) further comprises a plugging part (2236), and the plugging part (2236) is detachably connected to the The running part (222), the installation body (2231) and the rotating body (2232).
A balanced carrying device (100), wherein, it includes more than two stacked mobile assemblies (1), and each of the mobile assemblies (1) includes:

A base (10), the base (10) has an arc-shaped guide rail (11);

The moving part (20), comprising a carrier (21) and the moving device (22) according to any one of claims 1 to 12, the moving device (22) is connected to the carrier through the support frame (221) The body (21) is connected and movably matched with the guide rail (11) through the walking part (222);

The extension directions (X) of the guide rails (11) of two adjacent moving assemblies (1) intersect each other, and the base (10) of one of them is connected with the moving piece (20) of the other. )connect.
A method for controlling a balanced carrying device (100), the balanced carrying device (100) comprising more than two stacked moving assemblies (1), each of the moving assemblies (1) comprising a base (10) and a moving piece (20), the moving piece (20) includes a carrier (21) and the moving device (22) according to any one of claims 1 to 12, and the moving device (22) passes through the support frame ( 221) is connected with the carrier (21) and movably cooperates with the guide rail (11) through the walking part (222), and the rotating body (2232) includes a first rotating body (2232a) and a second rotating body (2232a) Rotating body (2232b), the installation body (2231) is located between the first rotating body (2232a) and the second rotating body (2232b), the first rotating pair (2233) and the first The rotating body (2232a) and the second rotating body (2232b) are fixedly connected and rotationally connected with the installation body (2231), and the walking part (222) is rotationally connected to the The first rotating body (2232a), the locking part (223) further includes a drive assembly (2235), the drive assembly (2235) includes an electric drive (2235c), one end of the electric drive (2235c) is connected to the The support frame (221) is connected and the other end cooperates with the second rotating body (2232b), wherein the control method includes:

Detecting the inclination working condition of the transportation equipment (200) where the balance carrying equipment (100) is located;

When the tilting condition exceeds the preset threshold range, control the electric driving member (2235c) to act and drive the rotating body (2232) to move relative to the mounting body centered on the first rotating pair (2233) as a whole (2231) Rotate to lock the relative position of the walking part (222) and the guide rail (11).
The control method according to claim 14, wherein the control method further comprises:

When it is detected that the tilting working condition of the balance carrying device (100) returns to the preset threshold range, the electric driving member (2235c) is controlled to act in reverse, and the rotating body (2232) is driven as a whole with the first A rotating pair (2233) rotates in the opposite direction relative to the installation body (2231) and returns to the initial position to unlock the walking part (222), so that the walking part (222) can move along the guide rail ( 11) Move.
A transportation device (200), comprising the balanced bearing device (100) according to claim 13, the balanced bearing device being arranged on the transportation device.