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

Abstract

The present application relates to a mobile device, a balanced load-bearing device and a control method thereof, wherein the mobile device comprises: a support frame; a locking component, which is arranged on the support frame, and the locking component comprises a mounting body and a rotating body, wherein the rotating body is rotationally connected to the mounting body through a first rotating pair, and the mounting body is connected to the support frame; a walking component, wherein the walking component is rotationally connected to the rotating body through a second rotating pair; wherein the rotation axis of the first rotating pair is parallel to the rotation axis of the second rotating pair and is spaced apart. The mobile device, the balanced load-bearing device and the control method thereof provided by the embodiments of the present application can cooperate with the structure of the carrying belt transport component to meet the transportation requirements of the component to be transported, and can ensure its transportation safety.

Description

Technical Field

[0001] The present application relates to the field of transportation technology, and in particular to a mobile device, a balanced load-bearing device and a control method thereof. Background Art

[0002] Transportation equipment has a wide range of uses. It can transport the parts to be transported located at location A to location B as required. If the parts to be transported are tilted during transportation, it will affect the safety of the parts to be transported.

[0003] Taking the field of wind power technology as an example, currently the components of wind turbines need to be transported according to the predetermined construction area of ​​the wind turbines. During the transportation of the components, the balance of the components needs to be ensured so that they are always in a horizontal state. Due to the surge of sea water in the transportation of offshore wind turbines, the components are prone to lose balance or even overturn during transportation. Therefore, how to ensure the safety of the components to be transported during transportation is a technical problem that needs to be solved urgently. Summary of the invention

[0004] The embodiments of the present application provide a mobile device, a balanced load-bearing device and a control method thereof. The mobile device can cooperate with the structure of the load-bearing belt transport component to meet the transportation requirements of the component to be transported, while ensuring its transportation safety.

[0005] On the one hand, according to an 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, the rotating body is rotatably connected to the mounting body through a first rotating pair, and the mounting body is connected to the support frame; a walking component, the walking component is rotatably connected to the rotating body through a second rotating pair; wherein the rotation axis of the first rotating pair is parallel to the rotation axis of the second rotating pair and is spaced apart.

[0006] According to one aspect of the embodiment of the present application, the traveling component includes a traveling wheel and a clamping protrusion rotatably connected to the traveling wheel, and the clamping protrusion is at least partially protruded from the outer peripheral surface of the traveling wheel.

[0007] According to one aspect of the embodiments of the present application, a clamping protrusion is provided at at least one end of the traveling wheel in its axial direction, and each clamping protrusion is rotationally matched with the traveling wheel through a second rotation pair.

[0008] According to one aspect of an embodiment of the present application, the mounting body includes a mounting plate and a first through hole and a second through hole arranged on the mounting plate, the first through hole and the second through hole are spaced apart, the first rotating pair is plugged into the first through hole, and the second rotating pair is plugged into the second through hole.

[0009] According to one aspect of an embodiment of the present application, the rotating body includes a first rotating body and a second rotating body, the mounting body is located between the first rotating body and the second rotating body, the first rotating pair is fixedly connected to the first rotating body and the second rotating body and is rotatably connected to the mounting body, and the walking component is rotatably connected to the first rotating body through the second rotating pair.

[0010] According to one aspect of the embodiment of the present application, the locking component also includes a driving assembly, which drives the rotating body to rotate relative to the mounting body with the first rotating pair as the rotation center.

[0011] According to one aspect of an 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 to the adjusting screw, and the nut can move along the axial direction of the adjusting screw and squeeze the first rotating body to drive the rotating body as a whole to rotate relative to the mounting body with the first rotating pair as the center.

[0012] According to one aspect of an embodiment of the present application, the first rotating body includes a main body and a protruding portion protruding from the main body, the first rotating pair and the second rotating pair are arranged at intervals in the main body, the adjusting screw passes through the protruding portion and is connected to the nut, and the nut moves along the axial direction of the adjusting screw and squeezes the protruding portion.

[0013] According to one 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.

[0014] According to one aspect of an embodiment of the present application, the driving assembly includes an electric driving component, one end of which is connected to the support frame and the other end cooperates with the second rotating body to drive the rotating body as a whole to rotate relative to the mounting body with the first rotating pair as the center.

[0015] According to one aspect of an embodiment of the present application, the electric driving member includes a telescopic member, which is connected to the second rotating body. The telescopic member extends or shortens to drive the second rotating body to drive the first rotating body and the walking member to rotate around the first rotating pair.

[0016] According to one aspect of the embodiment of the present application, there are multiple walking components, and each walking component is respectively provided with a corresponding locking component.

[0017] According to one aspect of the embodiment of the present application, the locking component also includes an inserting portion, which is detachably connected to the walking portion, the mounting body, and the rotating body.

[0018] On the other hand, according to an embodiment of the present application, a balanced bearing device is proposed, comprising two or more stacked moving components, each moving component comprising: a base, the base having an arc-shaped guide rail; a moving part, comprising the above-mentioned moving device, the moving device being connected to the bearing body through a support frame and movably matched with the guide rail through a walking part, the extension directions of the guide rails of two adjacent moving components being arranged to intersect and the base of one of them being connected to the moving part of the other.

[0019] On the other hand, according to an embodiment of the present application, a control method for a balanced bearing device is proposed, wherein the balanced bearing device comprises two or more stacked moving components, each moving component comprises a base and a moving member, the moving member comprises a bearing body and the above-mentioned moving device, the moving device is connected to the bearing body through a support frame and can be movably matched with a guide rail through a walking member, the rotating body comprises a first rotating body and a second rotating body, the mounting body is located between the first rotating body and the second rotating body, the first rotating pair is fixedly connected to the first rotating body and the second rotating body and is rotatably connected to the mounting body, the walking member is connected to the first rotating body through the second rotating pair, the locking member further comprises a driving component, the driving component comprises an electric driving member, one end of the electric driving member is connected to the support frame and the other end is matched with the second rotating body, and the control method comprises:

[0020] Detect the tilt condition of the transport equipment where the balancing load-bearing equipment is located;

[0021] When the tilting condition exceeds a preset threshold range, the electric drive component is controlled to move and drive the rotating body as a whole to rotate relative to the mounting body around the first rotating pair, so as to lock the relative position of the walking component and the guide rail.

[0022] According to another aspect of the embodiment of the present application, the control method also includes: when detecting that the tilt condition of the balancing load-bearing device has recovered to within a preset threshold range, controlling the electric drive component to move in the opposite direction, driving the rotating body as a whole to rotate in the opposite direction relative to the mounting body with the first rotating pair as the center and returning to the initial position, so as to unlock the walking component so that the walking component can move along the guide rail.

[0023] According to the mobile device, balanced load-bearing equipment and control method thereof provided by the embodiment of the present application, the mobile device includes a support frame, a locking component and a walking component, which can be connected to the equipment for carrying the parts to be transported through the support frame, and the locking component includes a mounting body and a rotating body, which can be connected to the support frame through the mounting body to provide support for the installation of the rotating body and the mobile device. Since the walking component is rotationally connected to the rotating body through the second rotating pair, the walking component can rotate relative to the rotating body with the second rotating pair as the rotation center, thereby driving the mobile device as a whole to move along a predetermined trajectory.

[0024] At the same time, the rotating body is rotatably connected to the mounting body through the first rotating pair, and the rotating body can drive the walking component as a whole to rotate relative to the mounting body with the first rotating pair as the rotation center. Since the rotation axis of the first rotating pair is parallel to the rotation axis of the second rotating pair and is arranged at intervals, that is to say, the first rotating pair deviates from the rotation center of the walking wheel, so that when the rotating body rotates with the first rotating pair, the walking component makes an eccentric movement, which can increase the friction between the walking component and the supporting surface in contact with it. During transportation, when dangerous conditions such as tilting occur, the walking component can be driven to rotate by driving the rotating body to limit the movement of the walking component, realize the locking requirements, and ensure safe transportation requirements. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] The features, advantages and technical effects of exemplary embodiments of the present application will be described below with reference to the accompanying drawings.

[0026] Figure 1 This is a structural schematic diagram of a balanced load-bearing device in one embodiment of the present application being arranged on a transport device;

[0027] Figure 2 is an axonometric diagram of a balanced load-bearing device according to an embodiment of the present application;

[0028] Figure 3 is a schematic diagram of the structure of a mobile component of an embodiment of the present application;

[0029] Figure 4 is a schematic structural diagram of a mobile device according to an embodiment of the present application;

[0030] Figure 5 is an exploded schematic diagram of a mobile device according to an embodiment of the present application;

[0031] Figure 6 is a front view of a mobile device according to an embodiment of the present application;

[0032] Figure 7 is a rear view of a mobile device according to an embodiment of the present application;

[0033] Figure 8 is a side view of a mobile device according to an embodiment of the present application;

[0034] Fig. 9 is a side view of a mobile device according to another embodiment of the present application;

[0035] Fig.10 is a schematic diagram of a partial structure of a mobile device according to an embodiment of the present application;

[0036] Fig.11 is an exploded schematic diagram of a mobile device according to another embodiment of the present application;

[0037] Fig.12is a structural schematic diagram of a balanced load-bearing device in another embodiment of the present application being arranged on a transport device;

[0038] Fig.13 is a schematic diagram of an inclined state of a balanced load-bearing device in another embodiment of the present application when it is arranged on a transport device;

[0039] Fig.14 is a flow chart of a control method of a balanced load-bearing device according to an embodiment of the present application;

[0040] in:

[0041] 100-Balanced load bearing equipment;

[0042] 1- Mobile components;

[0043] 10-base; 11-guide rail; 12-top surface; 13-bottom surface; 14-arc guide groove;

[0044] 20- moving parts;

[0045] 21- carrier;

[0046] 22- mobile device;

[0047] 221-support frame;

[0048] 222-travel component; 2221-travel wheel; 2222-clamping protrusion;

[0049] 223-locking member; 2231-mounting body; 2232-rotating body; 2232a-first rotating body; 2232b-second rotating body; 22321-main body; 22322-protruding part; 2233-first rotating pair; 2234-second rotating pair; 2235-driving assembly; 2235a-adjusting screw; 2235b-nut; 2235c-electric driving member; 2236-plug-in part;

[0050] 2-adapter assembly; 201-transition platform; 202-support rod;

[0051] 3- detector; 4- controller;

[0052] 200-transportation equipment; 300-parts to be transported;

[0053] X-stretching direction; Y-stacking direction.

[0054] In the drawings, the same reference numerals are used for the same components. The drawings are not drawn to scale. DETAILED DESCRIPTION

[0055] The features and exemplary embodiments of various aspects of the present application will be described in detail below. In the detailed description below, many specific details are proposed to provide a comprehensive understanding of the present application. However, it is obvious to those skilled in the art that the present application can be implemented without the need for some of these specific details. The following description of the embodiments is only to provide a better understanding of the present application by illustrating examples of the present application. In the accompanying drawings and the following description, at least some of the known structures and technologies are not shown to avoid unnecessary ambiguity in the present application; and, for clarity, the size of some structures may be exaggerated. In addition, the features, structures or characteristics described below may be combined in one or more embodiments in any suitable manner.

[0056] The directional words appearing in the following description are all directions shown in the figures, and do not limit the specific structure of the mobile device, balanced load-bearing equipment and control method thereof of the present application. In the description of the present application, it should also be noted that, unless otherwise clearly specified and limited, the terms "installation" and "connection" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be directly connected or indirectly connected. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to the specific circumstances.

[0057] At present, the components of wind turbines need to be transported according to the scheduled construction area of ​​the wind turbines. During the transportation process, the components need to be balanced and kept in a horizontal state. Especially for the transportation of offshore wind turbines, due to the transportation cost and the water depth of the sea, the current offshore wind turbine transport ships are relatively small. As a result, during the installation and lifting process of offshore wind turbines, the shaking of the transport ship causes the main engine and other components to lose balance, which either creates a safety risk or prolongs the time for lifting from the transport ship. It is impossible to achieve and ensure the efficient lifting of offshore wind turbines, which greatly increases the installation cost of wind turbines.

[0058] Existing solutions usually use a six-degree-of-freedom robotic arm for compensation. The six-degree-of-freedom control method is relatively complex, the balance adjustment is difficult, and the cost is high.

[0059] In order to solve the above-mentioned timely problems, the present application implements a balanced load-bearing device, which can meet the balance requirements of the parts to be transported during transportation and can ensure the safety performance during transportation.

[0060] Please refer to Figures 1 to 3As shown, an embodiment of the present application provides a balanced bearing device 100, including two or more stacked moving components 1, each moving component 1 includes a base 10 and a moving member 20, the base 10 has an arc-shaped guide rail 11, the moving member 20 includes a bearing body 21 and a moving device 22, the moving device 22 is arranged on the bearing body 21 and is movably connected to the guide rail 11 of the base 10.

[0061] When in use, the balanced load-bearing device 100 can be set on a transport equipment 200 such as a transport vehicle or a transport ship. The balanced load-bearing device 100 includes more than two stacked mobile components 1, each mobile component 1 includes a base 10 and a moving part 20, and the extension direction X of the guide rails 11 of two adjacent mobile components 1 are intersecting and the base 10 of one is connected to the moving part 20 of the other. When transporting the component 300 to be transported, the mobile component 1 located on the top layer in the stacking direction Y of the two or more mobile components 1 can be connected to the component 300 to be transported through the moving part 20.

[0062] Since 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 guide rail 11, so that when the transport device 200 tilts, the moving member 20 of the corresponding moving component 1 can move along the extension track of the matching guide rail 11 under the action of gravity, so that the moving member 20 connected to the part to be transported 300 is always in a balanced position, which is convenient for control. At the same time, since the number of moving components 1 is more than two, the extension directions X of the guide rails 11 of two adjacent moving components 1 are arranged to intersect and the base 10 of one is connected to the moving member 20 of the other, which can adapt to the tilt of the transport device 200 in different directions, and the moving component 1 has a simple structure and can be modularly designed, which can reduce the overall cost of the balanced load-bearing device 100.

[0063] Optionally, the number of the moving components 1 is not specifically limited and may be two, three or even more.

[0064] 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.

[0065] Optionally, in the stacking direction Y, the arc-shaped guide rail 11 on the base 10 of the mobile assembly 1 at the top layer is recessed toward the direction of the mobile assembly 1 at the bottom layer. In the stacking direction Y, the arc-shaped guide rails 11 of each mobile assembly 1 are recessed in the same direction, and are recessed toward the side where the mobile assembly 1 at the bottom layer 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.

[0066] The mobile component 1 located at the top layer may be the mobile component 1 that is farthest away from the transport device 200 in the stacking direction Y when the balanced load-bearing device 100 is placed on the transport device 200 for operation.

[0067] Optionally, the carrier 21 may be a solid base structure, or a hollow frame structure. A connection interface may be provided on the carrier 21 to facilitate connection with the component 300 to be transported or with the base 10 of an adjacent carrier assembly.

[0068] Optionally, the number of the mobile devices 22 may 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 transportation safety of the carrier 21 .

[0069] In some optional embodiments, the balanced load bearing device 100 provided in the embodiment of the present application further includes a transfer component 2, and the transfer component 2 is connected between two adjacent mobile components 1. In other words, the two adjacent mobile components 1 are indirectly connected to each other through the transfer component 2, which is beneficial to the connection requirements between the two.

[0070] As an optional implementation, the balanced bearing device 100 provided in the embodiment of the present application, the adapter assembly 2 includes a transition platform 201 and a support rod 202, the transition platform 201 is located between two adjacent mobile assemblies 1, an arc guide groove 14 is set on the base 10 of one of the two adjacent mobile assemblies 1, the transition platform 201 is connected to the moving member 20 of one of the two adjacent mobile assemblies 1 and connected to 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 groove 14. The adapter assembly 2 adopts the above structure, which is conducive to the connection between the two adjacent mobile assemblies 1. And it can ensure the overall stability when the moving member 20 of one of the two adjacent layers of mobile assemblies 1 drives the other to move.

[0071] In order to ensure the safety of the transport component 100 when the transport equipment 200 is tilted at a large angle, the present application also provides a new mobile device 22, which can be produced or sold as an independent product, and can also be used for balancing the load-bearing equipment 100 and as a component of the balanced load-bearing equipment 100.

[0072] Please refer to Figures 4 to 8As shown, the mobile device 22 provided in the embodiment of the present application includes a support frame 221, a locking component 223 and a walking component 222. The locking component 223 is arranged on the support frame 221. The locking component 223 includes a mounting body 2231 and a rotating body 2232. The rotating body 2232 is rotationally connected to the mounting body 2231 through a first rotating pair 2233, and the mounting body 2231 is connected to the support frame 221. The walking component 222 is rotationally connected to the rotating body 2232 through a second rotating pair 2234; wherein the rotation axis of the first rotating pair 2233 is parallel to the rotation axis of the second rotating pair 2234 and is spaced apart.

[0073] The mobile device 22 provided by the present application, when used for balancing the bearing device 100, can be connected to the bearing body 21 through the support frame 221, which can be a fixed connection or a detachable connection. It can be movably connected to the guide rail 11 through the walking component 222, and the locking component 223 includes a mounting body 2231 and a rotating body 2232, which can be connected to the support frame 221 through the mounting body 2231 to provide support for the installation of the rotating body 2232 and the walking component 222. Since the walking component 222 is rotatably connected to the rotating body 2232 through the second rotating pair 2234, the walking component 222 can rotate relative to the rotating body 2232 with the second rotating pair 2234 as the rotation center, thereby driving the mobile device 22 as a whole to move along a predetermined trajectory.

[0074] At the same time, the rotating body 2232 is rotatably connected to the mounting body 2231 through the first rotating pair 2233. The rotating body 2232 can drive the walking component 222 to rotate as a whole relative to the mounting body 2231 with the first rotating pair 2233 as the rotation center. Since the rotation axis of the first rotating pair 2233 is parallel to the rotation axis of the second rotating pair 2234 and is arranged at intervals, that is to say, the first rotating pair 2233 deviates from the rotation center of the walking component 222, so that when the rotating body 2232 rotates with the first rotating pair 2233 as the rotation center, the walking component 222 makes an eccentric motion, which can increase the friction between the walking component 222 and the supporting surface in contact with it. During transportation, when dangerous working conditions such as tilting occur, the walking component 222 can be driven to rotate by driving the rotating body 2232 to limit the movement of the walking component 222, thereby realizing the locking requirements and ensuring the safe transportation requirements.

[0075] 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 21, which may be a detachable connection.

[0076] Optionally, the support frame 221 can be a hollow frame structure, and the locking component 223 is at least partially located in the hollow cavity of the support frame 221. Through the above arrangement, the locking component 223 is facilitated to cooperate with the support frame 221, and the overall structure of the mobile device 22 can be compact and occupy a small space.

[0077] Optionally, the first rotating pair 2233 may include a first rotating shaft and a first limiting cap arranged at at least one end of the first rotating shaft in the axial direction. 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 first rotating shaft from being separated from the mounting body 2231 in its own axial direction.

[0078] 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. The second rotating shaft can be fixedly connected to one of the walking part 222 and the rotating body 2232 and rotatably connected to the other. The second limiting cap is used to limit the second rotating shaft from being separated from the walking wheel 2221 or the rotating body 2232 in its own axial direction.

[0079] As an optional implementation, the traveling component 222 includes a traveling wheel 2221 and a clamping protrusion 2222 rotatably connected to the traveling wheel 2221 , and the clamping protrusion 2222 is at least partially protruded from the outer peripheral surface of the traveling wheel 2221 .

[0080] Optionally, when the walking part 222 adopts the above structure, the top surface 12 of the base 10 can be an arc-shaped surface, and the guide rail 11 can form an arc-shaped groove structure that is recessed from the top surface 12 to the side close to the bottom surface 13, and the snap-in protrusion 2222 can be snapped into the guide rail 11 and can move along the extension direction X of the guide rail 11.

[0081] Through the above-mentioned arrangement, the walking component 222 can limit the movement of the walking component 222 along the extension trajectory of the guide rail 11 through the cooperation between the clamping protrusion 2222 and the guide rail 11, thereby avoiding the walking component 222 from being offset relative to the guide rail 11. The walking wheel 2221 rolls with the top surface 12 of the base 10, which is beneficial to the movement of the walking component 222 and can share the pressure borne by the moving device 22 through the top surface 12.

[0082] Optionally, a clamping protrusion 2222 may be provided on at least one end of the traveling wheel 2221 in its axial direction.

[0083] Please refer to Figure 8As an optional implementation, the two ends of the running wheel 2221 in the axial direction can be provided with connecting protrusions 2222 respectively, and each connecting protrusion 2222 is rotationally matched with the running wheel 2221 through the second rotation pair 2234. Through the above arrangement, the uniformity of the force on the two ends of the running wheel 2221 in the axial direction can be ensured, and the smoothness of the moving device 22 as a whole can be ensured on the basis of satisfying the restriction of the running track by the connecting protrusion 2222.

[0084] It can be understood that the provision of the clamping protrusions 2222 at both ends of the traveling wheel 2221 in its axial direction is only an optional implementation.

[0085] Please refer to Fig. 9 In some embodiments, the clamping protrusion 2222 may be provided only at one axial end of the traveling wheel 2221, as long as the limiting requirement can be met.

[0086] As an optional implementation, the mobile device 22 provided in the embodiment of the present application has a mounting body 2231 that is a plate-shaped structure and has a first through hole, and the first rotation pair 2233 is plugged into the first through hole. The mounting body 2231 adopts the above form, which has a simple structure, low cost and is easy to cooperate with the first rotation pair 2233.

[0087] Please refer to Figures 4 to 9 In some optional embodiments, the rotating body 2232 includes a first rotating body 2232a and a second rotating body 2232b, the mounting body 2231 is located between the first rotating body 2232a and the second rotating body 2232b, the first rotating pair 2233 is fixedly connected to the first rotating body 2232a and the second rotating body 2232b and is rotatably connected to the mounting body 2231, and the walking part 222 is rotatably connected to the first rotating body 2232a through the second rotating pair 2234.

[0088] 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 guaranteed, and it is convenient for the connection with the walking component 222.

[0089] In some optional embodiments, the mobile device 22 provided in the embodiments of the present application further includes a driving component 2235, and the driving component 2235 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 configuration, the rotating body 2232 can be driven to rotate by the driving component 2235. When it is necessary to lock the walking component 222, the driving component 2235 can be used to drive the rotating body 2232 to rotate, so that the rotating body 2232 can increase the friction between the walking wheel 2221 and the supporting surface in contact with it during the rotation of the rotating body 2232 with the first rotating pair 2233 as the rotation center, so as to limit the walking of the walking component 222 and achieve the locking requirement.

[0090] As an optional embodiment, the driving assembly 2235 includes an adjusting screw 2235a and a nut 2235b, the adjusting screw 2235a passes through the first rotating body 2232a, and the nut 2235b is threadedly connected to the adjusting screw 2235a. The nut 2235b can 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 to rotate relative to the mounting body 2231 with the first rotating pair 2233 as the center.

[0091] The mobile device 22 provided in the embodiment of the present application is limited to include an adjusting screw 2235a in the driving assembly 2235, 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 clamped in the guide groove body of the guide rail 11. When it is necessary to lock the walking part 222, the nut 2235b can be screwed so that the nut 2235b moves along the axial direction of the adjusting screw 2235a and squeezes the first rotating body 2232a, so as to drive the rotating body 2232 as a whole to rotate relative to the mounting body 2231 with the first rotating pair 2233 as the center, so as to achieve the locking of the walking part 222.

[0092] In some optional embodiments, the mobile device 22 provided in the embodiments of the present application, the driving component 2235 includes an electric driving component 2235c, one end of the electric driving component 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 as a whole to rotate relative to the mounting body 2231 with the first rotating pair 2233 as the center.

[0093] When it is necessary to lock the walking component 222, the electric drive component 2235c can also be controlled to drive the second rotating body 2232b to rotate. Since the second rotating body 2232b is fixedly connected to the first rotating body 2232a as a whole through the first rotating pair 2233, and the first rotating pair 2233 is rotationally connected to the mounting body 2231, when the second rotating body 2232b rotates, the first rotating body 2232a will be driven to rotate with the first rotating pair 2233 as the rotation center through the first rotating pair 2233, and the locking of the walking component 222 can also be achieved.

[0094] Please refer to Fig.10 In some optional embodiments, the first rotating body 2232a includes a main body 22321 and a protrusion 22322 protruding from the main body 22321, the first rotating pair 2233 and the second rotating pair 2234 are arranged at intervals on the main body 22321, the adjusting screw 2235a passes through the protrusion 22322 and is connected to the nut 2235b, and the nut 2235b moves along the axial direction of the adjusting screw 2235a and squeezes the protrusion 22322.

[0095] The first rotating body 2232a adopts the above-mentioned structural form, which can facilitate the cooperation with the adjusting screw 2235a and the nut 2235b to ensure the rotation requirements.

[0096] As an optional implementation, 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.

[0097] The above arrangement can 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, thereby facilitating the rotation of the first rotating body 2232a.

[0098] In some optional embodiments, the electric drive member 2235c includes a telescopic member connected to the second rotating body 2232b. The telescopic member extends or shortens to drive the second rotating body 2232b to drive the first rotating body 2232a and the walking member 222 to rotate around the first rotating pair 2233.

[0099] The electric drive member 2235c adopts the above-mentioned structural form, which has a simple structure and is easy to control, and can ensure the driving requirements for the second rotating body 2232b.

[0100] As an optional implementation, the telescopic direction of the electric drive member 2235c may be perpendicular to the stacking direction Y, or in other words, the telescopic direction may be perpendicular to the axial direction of the adjusting screw rod 2235a, so as to realize dual adjustment.

[0101] Optionally, the second rotating body 2232b may be a strip-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.

[0102] The mobile device 22 provided in the embodiment of the present application adopts a parallel method of using an adjusting screw 2235a and a nut 2235b to cooperate with each other to drive the first rotating body 2232a to rotate and drive the walking component 222 to rotate to achieve locking, and uses an electric driving component 2235c to drive the second rotating body 2232b to drive the first rotating body 2232a and the walking component 222 to rotate and achieve locking. When the mobile device 22 is in a working state, in order to ensure the safe implementation of locking, the electric driving component 2235c can be used to drive the locking method. When the mobile device 22 is in a non-working state or a fault occurs, the adjusting screw 2235a can be used to cooperate with the nut 2235b to lock the walking component 222.

[0103] In some optional embodiments, the mobile device 22 provided in the embodiment of the present application, the locking component 223 further includes a plug-in portion 2236, and the plug-in portion 2236 is detachably connected to the walking component 222, the mounting body 2231 and the rotating body 2232. The locking requirements can be further met.

[0104] As an optional implementation, the mobile device 22 provided in the embodiment of the present application has a plurality of walking components 222, and each walking component 222 is respectively provided with a corresponding locking component 223. Through the above configuration, the movement requirement of the mobile device 22 can be guaranteed, and the locking requirement of each walking component 222 can be guaranteed, thereby improving the safety performance.

[0105] Optionally, the number of walking components 222 connected to the same support frame 221 can be more than two. Taking two as an example, the two walking components 222 can be spaced apart in the extension direction X of the guide rail 11, and each walking component 222 can be correspondingly provided with a locking component 223. The mounting body 2231 of each locking component 223 is connected to the support frame 221, and the mounting body 2231 of each locking component 223 connected to the same support frame 221 can be an integrated structure.

[0106] Please refer to Fig.11 In some embodiments, the mounting bodies 2231 of the locking components 223 connected to the same support frame 221 may also be split structures.

[0107] In some optional embodiments, the balanced transport device 200 provided in the above embodiments of the present application has two moving components 1, and the extension tracks of the guide rails 11 of the two moving components 1 are perpendicular to each other. Through the above arrangement, the moving device 22 can drive the transported component 300 to adjust the balance by gravity in two mutually perpendicular directions. The structure is simple and can meet the adjustment requirements.

[0108] Please refer to Fig.12 as well as Fig.13 In some optional embodiments, the balanced transport device 200 provided by the present application further includes a detector 3 and a controller 4. The detector 3 is configured to detect the tilt condition of the transport device 200 where the balanced load-bearing device 100 is located. The controller 4 is configured to control the electric drive component 2235c to operate when the tilt condition exceeds a preset threshold range, so as to drive the rotating body 2232 to rotate as a whole relative to the mounting body 2231 with the first rotating pair 2233 as the center.

[0109] Optionally, the detector 3 may include a tilt sensor, and the detector 3 may be disposed on the transportation equipment 200 .

[0110] Optionally, the tilted working condition mentioned in various places above in the present application may include a tilt angle A of the transport equipment 200 relative to the horizontal plane.

[0111] Optionally, when the tilting condition includes a tilt angle A of the transport device 200 relative to the horizontal plane, the preset threshold range includes -7°≤A≤7°. That is, the transport device 200 can tilt forward at an angle less than or equal to 7°, or tilt backward at an angle less than or equal to 7°. When the tilt angle A and A<-7° or A>7° exceeds the preset threshold range.

[0112] Please refer to Figures 1 to 14On the other hand, the present application also provides a control method for a balanced load-bearing device 100. The balanced load-bearing device 100 may include two or more stacked moving components 1, each moving component 1 includes a base 10 and a moving member 20, the moving member 20 includes a carrier 21 and the above-mentioned moving device 22, the moving device 22 is connected to the carrier 21 through a support frame 221 and can be movably matched with the guide rail 11 through a walking member 222, the rotating body 2232 includes a first rotating body 2232a and a second rotating body 2232b, and the mounting body 2231 is located at the first rotating body 2232a. Between a rotating body 2232a and a second rotating body 2232b, a first rotating pair 2233 is fixedly connected to the first rotating body 2232a and the second rotating body 2232b and is rotatably connected to the mounting body 2231, the walking component 222 is connected to the first rotating body 2232a, the locking component 223 also includes a driving assembly 2235, the driving assembly 2235 includes an electric driving member 2235c, one end of the electric driving member 2235c is connected to the support frame 221 and the other end is matched with the second rotating body 2232b, characterized in that the control method includes:

[0113] S100, detecting the tilting condition of the transport equipment 200 where the balancing load-bearing equipment 100 is located;

[0114] S200, when the tilting condition exceeds the preset threshold range, the electric drive component 2235c is controlled to operate and drive the rotating body 2232 as a whole to rotate relative to the mounting body 2231 with the first rotating pair 2233 as the center, so as to lock the relative position of the walking component 222 and the guide rail 11.

[0115] In step S200, the electric drive member 2235c is controlled to operate so as to drive the rotating body 2232 as a whole to rotate relative to the mounting body 2231 with the first rotating pair 2233 as the center. Specifically, the electric drive member 2235c can be powered by controlling the electric drive member 2235c to shorten and drive the second rotating body 2232b, so that the second rotating body 2232b drives the first rotating body 2232a and the walking component 222 to rotate relative to the mounting body 2231 with the first rotating pair 2233 as the center, thereby increasing the friction between the walking component 222 and the supporting surface in contact with the walking component 222, so as to limit the walking of the walking component 222, lock the relative position of the walking component 222 and the guide rail 11, and realize the locking requirement.

[0116] When the tilt condition of the balancing load-bearing device 100 is detected to be restored to within the preset threshold range, the electric drive component 2235c can be controlled to move in the reverse direction, driving the rotating body 2232 as a whole to rotate in the reverse direction relative to the mounting body 2231 with the first rotating pair 2233 as the center and restore to the initial position, so as to unlock the walking component 222 and enable the walking component 222 to move along the guide rail 11.

[0117] Exemplarily, the electric drive component 2235c can be controlled to extend, pulling the second rotating body 2232b to move in the opposite direction, thereby reducing the friction between the walking component 222 and the supporting surface it contacts, releasing the lock, and allowing the walking wheel 2221 to rotate with the second rotating pair 2234 as the rotation center to meet the movement requirements.

[0118] The control method of the balanced load-bearing device 100 provided in the embodiment of the present application can lock the walking component 222 by controlling the electric drive component 2235c when the tilt condition of the transportation equipment 200 exceeds a preset threshold range, thereby locking the transportation device and temporarily preventing it from running, thereby avoiding separation from the cooperating components such as the base 10, thereby improving safety performance.

[0119] It can be understood that the above examples are all based on the application of the mobile device 22 to the balanced load-bearing equipment 100, which is an optional applicable field, but is not limited to the above fields. In some examples, it can also be used to transport carts in factories, etc., which will not be explained one by one here.

[0120] Although the present application has been described with reference to preferred embodiments, various modifications may be made thereto and parts thereof may be replaced with equivalents without departing from the scope of the present application. In particular, the various technical features mentioned in the various embodiments may be combined in any manner as long as there are no structural conflicts. 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

1. A mobile device (22), characterized in that: include: Support frame (221); A locking component (223) is arranged on the support frame (221), the locking component (223) comprises a mounting body (2231) and a rotating body (2232), the rotating body (2232) is rotationally connected to the mounting body (2231) via a first rotating pair (2233), and the mounting body (2231) is connected to the support frame (221); A walking component (222), the walking component (222) being rotationally connected to the rotating body (2232) via 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 is spaced apart.

2. The mobile device (22) according to claim 1, characterized in that The walking component (222) comprises a walking wheel (2221) and a clamping protrusion (2222) rotatably connected to the walking wheel (2221); the clamping protrusion (2222) is arranged to at least partially protrude from the outer peripheral surface of the walking wheel (2221).

3. The mobile device (22) according to claim 2, characterized in that The running wheel (2221) is provided with the clamping protrusion (2222) at at least one end in its axial direction, and the clamping protrusion (2222) is rotationally matched with the running wheel (2221) via the second rotating pair (2234).

4. The mobile device (22) according to claim 1, characterized in that The rotating body (2232) comprises a first rotating body (2232a) and a second rotating body (2232b); the mounting body (2231) is located between the first rotating body (2232a) and the second rotating body (2232b); the first rotating pair (2233) is fixedly connected to the first rotating body (2232a) and the second rotating body (2232b) and is rotationally connected to the mounting body (2231); and the walking component (222) is rotationally connected to the first rotating body (2232a) via the second rotating pair (2234).

5. The mobile device (22) according to claim 4, characterized in that The locking component (223) further comprises a driving assembly (2235), wherein the driving assembly (2235) drives the rotating body (2232) to rotate relative to the mounting body (2231) with the first rotating pair (2233) as the rotation center.

6. The mobile device (22) according to claim 5, characterized in that The driving assembly (2235) comprises an adjusting screw (2235a) and a nut (2235b), wherein the adjusting screw (2235a) passes through the first rotating body (2232a), and the nut (2235b) is threadedly connected to the adjusting screw (2235a), and the nut (2235b) can 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 to rotate relative to the mounting body (2231) with the first rotating pair (2233) as the center.

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

8. The mobile device (22) according to claim 7, characterized in that 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.

9. The mobile device (22) according to claim 5, characterized in that The driving assembly (2235) comprises an electric driving component (2235c), one end of which is connected to the support frame (221) and the other end of which cooperates with the second rotating body (2232b) to drive the rotating body (2232) as a whole to rotate relative to the mounting body (2231) with the first rotating pair (2233) as the center.

10. The mobile device (22) according to claim 9, characterized in that The electric drive component (2235c) comprises a telescopic component, the telescopic component is connected to the second rotating body (2232b), and the telescopic component is extended or shortened to drive the second rotating body (2232b) to drive the first rotating body (2232a) and the walking component (222) to rotate around the first rotating pair (2233).

11. The mobile device (22) according to any one of claims 1 to 10, characterized in that: There are a plurality of the walking components (222), and each of the walking components (222) is respectively provided with a corresponding locking component (223).

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

13. A balanced load-bearing device (100), characterized in that: The invention comprises two or more stacked movable components (1), each of which comprises: A base (10), wherein the base (10) has an arc-shaped guide rail (11); A moving member (20), comprising a carrier (21) and a moving device (22) according to any one of claims 1 to 12, wherein the moving device (22) is connected to the carrier (21) via the support frame (221) and is movably matched with the guide rail (11) via the walking member (222); The extension directions (X) of the guide rails (11) of two adjacent moving assemblies (1) are arranged to intersect, and the base (10) of one of them is connected to the moving member (20) of the other.

14. A control method for a balanced load-bearing device (100), the balanced load-bearing device (100) comprising two or more stacked moving assemblies (1), each of the moving assemblies (1) comprising a base (10) and a moving member (20), the base (10) having an arc-shaped guide rail (11), the moving member (20) comprising a carrier (21) and a moving device (22) according to any one of claims 1 to 12, the moving device (22) being connected to the carrier (21) via the support frame (221) and being movably matched with the guide rail (11) via the walking member (222), the rotating body (2232) comprising a first rotating body (2232a) and a second rotating body (2232b), the mounting body (2232) comprising a first rotating body (2232a) and a second rotating body (2232b), 231) 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), the walking component (222) is rotationally connected to the first rotating body (2232a) through the second rotating pair (2234), the locking component (223) further includes a driving component (2235), the driving component (2235) includes an electric driving component (2235c), one end of the electric driving component (2235c) is connected to the support frame (221) and the other end cooperates with the second rotating body (2232b), characterized in that The control method comprises: Detecting the tilting condition of the transport equipment (200) on which the balanced bearing device (100) is located; When the tilting condition exceeds a preset threshold range, the electric drive component (2235c) is controlled to operate and drive the rotating body (2232) as a whole to rotate relative to the mounting body (2231) with the first rotating pair (2233) as the center, so as to lock the relative position of the walking component (222) and the guide rail (11).

15. The control method according to claim 14, characterized in that: The control method further comprises: When it is detected that the tilting condition of the balancing bearing device (100) has returned to within the preset threshold range, the electric drive component (2235c) is controlled to move in the reverse direction, driving the rotating body (2232) as a whole to rotate in the reverse direction relative to the mounting body (2231) with the first rotating pair (2233) as the center and return to the initial position, so as to unlock the walking component (222) and enable the walking component (222) to move along the guide rail (11).

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