阅读说明：本技术 一种自动移动支撑设备 (automatic remove supporting equipment ) 是由 刘涛 严虹 邓亚莉 王洪光 黄启刚 陈振华 徐顺峰 王学志 于 2019-10-17 设计创作，主要内容包括：本申请涉及一种自动移动支撑设备；设备包括移动件、动力装置、支撑结构和控制装置；移动件与动力装置连接,动力装置能够带动移动件运动；动力装置固定于支撑结构；支撑结构覆盖移动件,并与移动件连接,支撑结构上设置有拼接部,拼接部用于将自动移动支撑设备与外接设备连接,组成支撑平台；控制装置与动力装置连接,控制装置能够通过动力装置控制移动件的移动状态。移动件与动力装置连接,动力装置能够带动移动件运动；控制装置与动力装置连接,控制装置能够通过动力装置控制移动件的移动状态。自动移动支撑设备可以承载更多舞台设备,可以解决靠人力难以移动舞台设备的技术问题。(the present application relates to an automatic mobile support device; the equipment comprises a moving piece, a power device, a supporting structure and a control device; the moving piece is connected with the power device, and the power device can drive the moving piece to move; the power device is fixed on the supporting structure; the supporting structure covers the moving piece and is connected with the moving piece, and a splicing part is arranged on the supporting structure and used for connecting the automatic moving supporting equipment with external equipment to form a supporting platform; the control device is connected with the power device and can control the moving state of the moving part through the power device. The moving piece is connected with the power device, and the power device can drive the moving piece to move; the control device is connected with the power device and can control the moving state of the moving part through the power device. The automatic moving supporting equipment can bear more stage equipment, and the technical problem that the stage equipment is difficult to move by manpower can be solved.)

1. An automatic moving support device is characterized by comprising a moving piece, a power device, a support structure and a control device;

the moving piece is connected with the power device, and the power device can drive the moving piece to move;

The power device is fixed on the supporting structure;

The supporting structure covers the moving piece and is connected with the moving piece, a splicing part is arranged on the supporting structure, and the splicing part is used for connecting the automatic moving supporting equipment with external equipment to form a supporting platform;

The control device is connected with the power device, and the control device can control the moving state of the moving element through the power device.

2. the automated mobile support apparatus of claim 1, wherein the support structure comprises a support table and a support frame;

the edge of the supporting platform extends out of the supporting frame;

The support frame is provided with the splicing parts.

3. the automated mobile support apparatus of claim 2, wherein at least one edge of the support frame is provided with at least one of the splices.

4. The automatic mobile support apparatus of claim 1, wherein the splice is an electromagnet splice;

the electromagnet splicing part comprises:

a core portion from which the support structure extends;

a coil portion wound around the core portion; and

and the adjusting part adjusts the magnetic force and/or the magnetic force of the electromagnet splicing part by controlling the on-off and/or the magnitude of the current in the coil part, and the adjusting part is fixed on the supporting structure.

5. the automated mobile support apparatus of claim 1, wherein the splice is a through-hole structure.

6. The automated mobile support apparatus of claim 1, wherein the apparatus comprises a positioning module capable of determining an alignment position at which the automated mobile support apparatus is connected to the external device.

7. the automated mobile support apparatus of claim 1, further comprising a sensing device;

The sensing device comprises an obstacle sensor and an alarm module, wherein the obstacle sensor can sense obstacles which are touched by the automatic mobile supporting equipment and transmit generated signals to the alarm module;

the alarm module is used for giving an alarm.

8. The automated mobile support apparatus of claim 1, wherein the motive device includes a motor and a motor drive, the control device being capable of controlling the motor drive, the motor drive being capable of controlling an operating state of the motor.

9. The automatic movement support apparatus according to claim 1, characterized in that it comprises energy supply means;

the energy supply device comprises an electric quantity display module, an electric quantity supply module and a charging module; the electric quantity supply module can provide electric energy for the power device, the electric quantity display module can display the electric energy of the electric quantity supply module, and the charging module can be connected with external power supply equipment to charge the electric quantity supply module.

10. the automated mobile support apparatus of claim 1, wherein the moving member is a mecanum wheel.

Technical Field

the application relates to the field of automation equipment, in particular to automatic moving supporting equipment.

Background

At present, the performance market in China is flourishing day by day, and with the rise of diversified cultures such as drama, music, dance, acrobatics, television and the like, the requirements on stage equipment are higher and higher from the early stage equipment which is simple and fixed to the current dynamic and complex stage equipment.

at present, in theaters and performance places, scenes and props are often required to be rapidly switched, the scenes and the props are of various types, the weight of some scenes and props is heavy and even reaches several tons, the actors, the scenes and the props are transferred to a main performance area from side platforms in the performance of the performance, special effects of driving, traveling and rotating are shown, and the stage equipment is difficult to move by manpower.

in addition, at present, most of the stage moving scene vehicle turntables for stage performance in China use the almost uniform theater fixed track type vehicle turntables, which relate to the construction of complex infrastructure, and have large investment in early-stage infrastructure and low utilization rate; most of the devices are single in form, the operation modes are not flexible and changeable enough, and the changeable stage art presentation requirements of the theatrical director and the stage art design cannot be met.

Disclosure of Invention

the embodiment of the application aims to solve the technical problem that stage equipment is difficult to move by manpower in the prior art.

In order to solve the technical problem, the embodiment of the application discloses automatic moving support equipment, which comprises a moving piece, a power device, a support structure and a control device;

the moving piece is connected with the power device, and the power device can drive the moving piece to move;

The power device is fixed on the supporting structure;

The supporting structure covers the moving piece and is connected with the moving piece, and a splicing part is arranged on the supporting structure and used for connecting the automatic moving supporting equipment with external equipment to form a supporting platform;

the control device is connected with the power device and can control the moving state of the moving part through the power device.

optionally, the support structure comprises a support table and a support frame;

The edge of the support platform extends out of the support frame;

The splicing part is arranged on the supporting frame.

Optionally, at least one edge of the supporting frame is provided with at least one splicing part.

Optionally, the splicing part is an electromagnet splicing part;

This electro-magnet concatenation portion includes:

a core portion from which the support structure extends;

a coil portion wound around the core portion; and

and the adjusting part is used for adjusting the magnetic force and/or the magnetic force of the electromagnet splicing part by controlling the on-off and/or the magnitude of the current in the coil part, and the adjusting part is fixed on the supporting structure.

optionally, the splicing part is a through hole structure.

Optionally, the device includes a positioning module capable of determining an alignment position at which the robotic movement support device is connected to the external device.

optionally, the apparatus further comprises a sensing device;

The sensing device comprises an obstacle sensor and an alarm module, wherein the obstacle sensor can sense obstacles which are touched by the automatic mobile supporting equipment and transmit generated signals to the alarm module;

The alarm module is used for giving an alarm.

Optionally, the power device comprises a motor and a motor driver, the control device can control the motor driver, and the motor driver can control the working state of the motor.

Optionally, the apparatus comprises an energy supply device;

the energy supply device comprises an electric quantity display module, an electric quantity supply module and a charging module; the electric quantity supply module can provide electric energy for the power device, the electric quantity display module can display the electric energy of the electric quantity supply module, and the charging module can be connected with external power supply equipment to charge the electric quantity supply module.

optionally, the moving member is a mecanum wheel.

By adopting the technical scheme, the automatic moving supporting equipment provided by the embodiment of the application has the following beneficial effects:

when the adjusting part provides current for the coil part, the electromagnet splicing part can be connected with the side wall of the automatic moving supporting equipment and the external equipment through magnetic attraction, a larger supporting platform can be formed conveniently and quickly, and the fixed connection degree of the automatic moving supporting equipment and the side wall of the external equipment can be controlled through adjusting the current of the coil part according to actual application needs. The automatic moving supporting equipment can bear more stage equipment, and the technical problem that the stage equipment is difficult to move by manpower can be solved.

drawings

in order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.

fig. 1 is a schematic structural diagram of an automatic moving support device according to an embodiment of the present disclosure;

FIG. 2 is a schematic structural diagram of an automatic mobile supporting apparatus according to an embodiment of the present disclosure;

FIG. 3 is an enlarged partial schematic view of a portion A in FIG. 1 according to an embodiment of the present disclosure;

fig. 4 is a schematic view of a supporting platform formed by connecting an automatic mobile supporting device and an external device by a splicing part according to an embodiment of the present disclosure;

FIG. 5 is an enlarged partial schematic view of a portion A of FIG. 1 according to an embodiment of the present disclosure;

fig. 6 is a schematic view of a supporting platform formed by connecting an automatic mobile supporting device and an external device by a splicing part according to an embodiment of the present disclosure;

Fig. 7 is a schematic view of a supporting platform formed by connecting an automatic mobile supporting device and an external device by a splicing part according to an embodiment of the present application;

FIG. 8 is a schematic structural diagram of an automatic mobile support apparatus according to an embodiment of the present disclosure;

FIG. 9 is a schematic structural diagram of an automatic mobile supporting apparatus according to an embodiment of the present disclosure;

FIG. 10 is a schematic structural diagram of an automatic mobile support apparatus provided in an embodiment of the present application;

FIG. 11 is a schematic diagram of a motion pattern of an automatic mobile support device according to an embodiment of the present disclosure;

FIG. 12 is a schematic structural diagram of an automatic mobile supporting device according to an embodiment of the present disclosure;

FIG. 13 is a schematic structural diagram of an automatic mobile support apparatus according to an embodiment of the present disclosure;

FIG. 14 is a schematic structural diagram of an automatic mobile support apparatus provided in an embodiment of the present application;

FIG. 15 is a schematic view of an application scenario of an automatic mobile supporting apparatus according to an embodiment of the present application;

The following is a supplementary description of the drawings:

1-a moving member; 2-a power plant; 21-a motor driver; 22-a motor; 3-a support structure; 31-a hollow; 311-a first side wall; 312-a second sidewall; 3121-an opening; 32-a support table; 33-a support frame; 331-a support beam; 332-a frame part; 333-accommodating space; 4-a control device; 5-splicing part; 51-an iron core; 52-coil part; 53-an adjustment section; 6-energy supply means; 61-electric quantity display module; 62-power supply module; 63-a charging module; 7-a positioning module; 8-a sensing device; 81-obstacle sensor; 82-an alarm module; 9-an upper computer; 10-a vision module; 11-stage.

Detailed Description

The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. It is to be understood that the embodiments described are only a few embodiments of the present application and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

reference herein to "one embodiment" or "an embodiment" means that a particular feature, structure, or characteristic may be included in at least one implementation of the present application. In the description of the present application, it is to be understood that the terms "upper", "lower", "top", "bottom", and the like, indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are only for convenience in describing the present application and simplifying the description, and do not indicate or imply that the referred devices or elements must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present application. Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. Moreover, the terms "first," "second," and the like are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the application described herein are capable of operation in sequences other than those illustrated or described herein.

Referring to fig. 1, fig. 1 is a schematic structural diagram of an automatic moving support apparatus according to an embodiment of the present disclosure; the equipment comprises a moving member 1, a power device 2, a supporting structure 3 and a control device 4;

the moving part 1 is connected with the power device 2, and the power device 2 can drive the moving part 1 to move;

The power unit 2 is fixed to the support structure 3;

the supporting structure 3 covers the moving member 1 and is connected with the moving member 1, a splicing part 5 is arranged on the supporting structure 3, and the splicing part 5 is used for connecting the automatic moving supporting equipment with external equipment to form a supporting platform;

The control device 4 is connected with the power device 2, and the control device 4 can control the moving state of the moving member 1 through the power device 2.

the moving part 1 is connected with the power device 2, and the power device 2 can drive the moving part 1 to move; the control device 4 is connected with the power device 2, and the control device 4 can control the moving state of the moving member 1 through the power device 2. The supporting structure 3 can automatically transfer actors, scenery and props from the side platforms to the main performance area in the performance, show special effects of driving, sailing and rotating, and can solve the technical problem that the stage 11 equipment is difficult to move by manpower.

Referring to fig. 2, fig. 2 is a schematic structural diagram of an automatic moving support apparatus according to an embodiment of the present disclosure; the apparatus comprises an energy supply device 6;

the energy supply device 6 comprises an electric quantity display module 61, an electric quantity supply module 62 and a charging module 63; the electric quantity supplying module 62 can provide electric energy for the power device 2, the electric quantity displaying module 61 can display the electric energy of the electric quantity supplying module 62, and the charging module 63 can be connected with an external power supply device to charge the electric quantity supplying module 62. Optionally, the display module may be an LED display screen. Alternatively, the power supply module 62 may be a storage battery, which may be 2 17Ah lithium batteries. Alternatively, the charging module 63 may be a charging circuit module.

in the embodiment of the present application, the splicing portion 5 shown in fig. 1 can have various embodiments, and three alternative embodiments are described below:

In an alternative embodiment, please refer to fig. 3, fig. 3 is an enlarged partial structural diagram of a point a in fig. 1 according to an embodiment of the present disclosure; the splicing part 5 is an electromagnet splicing part 5;

this electro-magnet concatenation portion 5 includes:

A core portion 51 from which the support structure 3 extends;

a coil portion 52 wound around the core portion 51; and

And an adjusting part 53 for adjusting the magnetic force and/or the magnetic force of the electromagnet splicing part 5 by controlling the current on-off and/or the current magnitude in the coil part 52, wherein the adjusting part 53 is fixed on the supporting structure 3.

When the adjusting portion 53 provides current for the coil portion 52, the electromagnet splicing portion 5 can attract the lateral walls of the automatic moving supporting device and the external device by magnetic force, so that a larger supporting platform can be formed more conveniently and rapidly, and the fixed connection degree of the automatic moving supporting device and the lateral walls of the external device can be controlled by adjusting the current of the coil portion 52 according to actual application requirements.

Optionally, the supporting structure 3 includes a core portion 51 extending outward, and the adjusting portion 53 is fixed to a sidewall of the supporting structure 3. When the adjusting part 53 supplies current to the coil part 52, the electromagnet splicing part 5 can pull the automatic mobile supporting equipment and the side wall of the external equipment to be connected through magnetic force.

referring to fig. 4, fig. 4 is a schematic view of a supporting platform formed by connecting the automatic mobile supporting device and an external device through the splicing portion 5 according to an embodiment of the present application. The middle box represents the automatic moving support equipment, the surrounding boxes can represent external equipment with the same structure as the automatic moving support equipment and/or external equipment matched with the structure of the automatic moving support equipment, the double lines represent the external equipment connected through the electromagnet splicing part 5, and whether the equipment in each box serves as driving equipment or driven equipment can be determined according to actual needs.

Optionally, please refer to fig. 5, wherein fig. 5 is a partially enlarged schematic structural diagram of a portion a in fig. 1 according to an embodiment of the present disclosure; the extending portion of the edge of the support structure 3 may be a hollow portion 31, the hollow portion 31 includes a first side wall 311 and a second side wall 312 opposite to each other, the first side wall 311 is on the inner side of the support structure 3, the second side wall 312 is on the outer side of the support structure 3, an opening 3121 is provided on the second side wall 312, the iron core portion 51 extends from the first side wall 311 to the opening 3121 of the second side wall 312, and the adjusting portion 53 is fixed on the first side wall 311. When the adjusting portion 53 is adjusted to supply the current to the coil portion 52 from the opening 3121, the iron core portion 51 may couple the automatic moving support apparatus with the side wall of the external device by magnetic attraction.

referring to fig. 6, fig. 6 is a schematic view of a supporting platform formed by connecting the automatic mobile supporting device and an external device through a splicing portion according to an embodiment of the present application. The middle box represents the automatic moving support equipment, the surrounding boxes can represent external equipment with the same structure as the automatic moving support equipment and/or external equipment matched with the structure of the automatic moving support equipment, the double lines represent the external equipment connected through the electromagnet splicing part 5, and whether the equipment in each box serves as driving equipment or driven equipment can be determined according to actual needs.

Alternatively, the adjusting part 53 may include a power supply unit for supplying power to the coil part 52, a relay for controlling the on/off of the current supplied to the coil part 52, and an adjusting resistor unit for controlling the magnitude of the current supplied to the coil part 52.

alternatively, the adjusting part 53 may include a relay capable of controlling on/off of the current supplied to the coil part 52 and an adjusting resistor capable of controlling the magnitude of the current supplied to the coil part 52, and the power supply device 6 may supply the power to the coil part 52.

An electromagnet is a device that is energized to produce an electromagnet. An electrically conductive winding matched to the power of the core is wound on the outside of the core, and the coil, which is energized with current, has magnetic properties like a magnet, which is also called an electromagnet (electromagnet). Alternatively, the core part 51 may have a bar or shoe shape to make the core easier to magnetize. In addition, in order to immediately demagnetize the electromagnet when the electromagnet is powered off, the iron core 51 may be made of soft iron or silicon steel material which can be demagnetized quickly.

in another alternative embodiment, the splice 5 is a through hole structure. Alternatively, the through hole structure may be a threaded through hole structure, and the device may be fixedly connected with another device through the threaded through hole structure and the nut.

Referring to fig. 6, fig. 6 is a schematic view of a supporting platform formed by connecting the automatic mobile supporting device and an external device through a splicing portion according to an embodiment of the present application. The middle box represents the automatic moving support equipment, the surrounding boxes can represent external equipment with the same structure as the automatic moving support equipment and/or external equipment matched with the structure of the automatic moving support equipment, the double lines represent the external equipment connected through the electromagnet splicing part 5, and whether the equipment in each box serves as driving equipment or driven equipment can be determined according to actual needs.

in another alternative embodiment, the splice 5 may be a mixture of the electromagnet splice 5 and the through hole structure.

Referring to fig. 7, fig. 7 is a schematic view of a supporting platform formed by connecting the automatic mobile supporting device and an external device through the splicing portion 5 according to an embodiment of the present application. The middle square box represents the automatic moving supporting equipment, the surrounding square boxes can represent external equipment with the same structure as the automatic moving supporting equipment and/or external equipment matched with the structure of the automatic moving supporting equipment, double lines represent the external equipment connected through the electromagnet splicing parts 5, a single line represents the external equipment connected through the through hole structure, double lines represent the external equipment connected through the electromagnet splicing parts 5, and whether the equipment in each square box is used as driving equipment or driven equipment can be determined according to actual needs.

In the embodiment of the present application, the apparatus in fig. 1 includes a positioning module 7, please refer to fig. 8, and fig. 8 is a schematic structural diagram of an automatic moving support apparatus provided in the embodiment of the present application; the positioning module 7 is able to determine the alignment position of the robotic movement support device to which the external device is connected. Optionally, the positioning module 7 may be disposed on the supporting structure 3, the positioning module may be a positioning laser emitter, a positioning point corresponding to a position of the positioning laser emitter is disposed on the external device, a laser beam of the positioning laser emitter irradiates a circle center of the positioning point and vertically irradiates a plane where the positioning point is located, and then an alignment position where the automatic mobile supporting device is connected to the external device may be determined.

Referring to fig. 9, fig. 9 is a schematic structural diagram of an automatic moving support apparatus according to an embodiment of the present disclosure; the apparatus further comprises sensing means 8;

The sensing device 8 comprises an obstacle sensor 81 and an alarm module 82, wherein the obstacle sensor 81 can sense an obstacle hit by the automatic mobile supporting equipment and transmit a generated signal to the alarm module 82; the alarm module 82 is used to issue an alarm. Optionally, the sensing device 8 may include a wireless transceiver module, and the wireless transceiver module can transmit the generated signal to an external control device, and the external control device can control the moving state of the moving member 1 through the generated signal and the control device 4. Alternatively, the obstacle sensor 81 may be an anti-collision ultrasonic sensor. Alternatively, the obstacle sensor 81 may be disposed in a recess of the support structure 3.

Referring to fig. 10, fig. 10 is a schematic structural diagram of an automatic moving support apparatus according to an embodiment of the present disclosure; the power device 2 comprises a motor 22 and a motor 22 driver 21, the control device 4 can control the motor 22 driver 21, and the motor 22 driver 21 can control the working state of the motor 22. Optionally, the control device 4 may be a single chip microcomputer. Optionally, the control device 4 comprises a memory module capable of storing a program for controlling the various movement states of the automatic movement support system over a period of time. The design can meet the use requirements of the vehicle rotary table of various sceneries, props and actors; through the combination change of different forms, the complex stage performance running track can be programmed and replayed, and the scene arrangement stage artistic effect rich in imagination is formed; meanwhile, the production cost is greatly saved, the operation benefit of equipment is improved, the industrial energy level is greatly changed and optimized, and the device is modern cultural and technical equipment with the close integration of stage art and technology.

in the embodiment of the present application, please refer to fig. 11, fig. 11 is a motion mode of the apparatus, optionally, the moving member 1 is a mecanum wheel, the number of the mecanum wheels may be four, the four mecanum wheels are disposed on the supporting structure 3, the four mecanum wheels are used as a square or a rectangle with a top point surrounded by a city, the control device 4 can control the rotation directions of the four mecanum wheels to realize motion modes such as forward movement, backward movement, leftward traverse movement, rightward traverse movement, diagonal movement, rotation and combined motion, and the movement state includes the motion mode, the motion speed, and the like.

Referring to fig. 12, fig. 12 is a schematic structural diagram of an automatic moving support apparatus according to an embodiment of the present disclosure; the support structure 3 comprises a support table 32 and a support frame 33;

The edge of the support platform 32 extends beyond the support frame 33;

the splicing part 5 is arranged on the supporting frame 33.

Alternatively, the support platform 32 and the support frame 33 may be fixedly connected by a threaded nut. Alternatively, the support base 32 and the support frame 33 may be an integrated structure. Alternatively, the support base 32 may have a square, rectangular parallelepiped, regular hexagonal prism, or the like. Alternatively, the shape and area of the cross-section of the support frame 33 may match the shape and area of the support table 32.

alternatively, the hollow portion 31 may be a part of the support frame 33.

Optionally, please refer to fig. 13, fig. 13 is a schematic structural diagram of an automatic moving support apparatus according to an embodiment of the present application; the supporting frame 33 includes a supporting beam 331 and a frame portion 332, the supporting beam 331 and the frame portion 332 form a plurality of accommodating spaces 333, and the moving member 1, the power device 2, the supporting structure 3, the control device 4, the energy supply device 6, and the like can be disposed in the accommodating spaces 333. Optionally, the cross section of the frame portion 332 is square, the moving member 1 is a mecanum wheel, four mecanum wheels are disposed in the four corresponding accommodating spaces 333 of the frame portion 332, two ends of one power device 2 are respectively connected to the mecanum, and the power device 2 is fixed on the supporting beam 331.

Referring to fig. 14, fig. 14 is a schematic structural diagram of an automatic moving support apparatus according to an embodiment of the present disclosure; at least one side of the supporting frame 33 is provided with at least one splice 5.

Referring to fig. 15, fig. 15 is a schematic view of an application scenario of an automatic mobile supporting apparatus according to an embodiment of the present application;

The initial point, the x-axis and the y-axis of stage 11 can be confirmed to vision module 10, this vision module 10 can use the initial point, the x-axis and the y-axis on this stage 11 as the benchmark, confirm the coordinate of this automatic mobile support equipment on stage 11, this vision module 10 can provide this coordinate for host computer 9, this host computer 9 can be according to this coordinate, the moving direction and the shift position of this automatic mobile support equipment are controlled through this controlling means 4, this host computer 9 can control the moving direction and the shift position of a plurality of this automatic mobile support equipment simultaneously.

The above description is only exemplary of the present application and should not be taken as limiting the present application, as any modification, equivalent replacement, or improvement made within the spirit and principle of the present application should be included in the protection scope of the present application.