Dynamic support anti-toppling transfer equipment

Abstract

This invention relates to the field of training auxiliary equipment technology, specifically a dynamic support anti-tipping transport device, including a main load-bearing frame, a lifting device installed within the main load-bearing frame, a power control device, a braking device, and a charging device at the top, and a detection module at the bottom. The lifting device controls the user's movement via a drum-controlled sling, achieving assisted weight reduction or lifting and transport. The power control device is equipped with a drive wheel, which can drive the device to move along a track. The detection module controls the device's movement via a sling limiter, a motion intention detection device, and an anti-collision detection device to prevent the user from falling or colliding. This invention uses the sling limiter, motion intention detection device, and sensor to sense the tension difference to quickly detect the user's falling motion. Simultaneously, the dual protection of the clutch and braking device enables a rapid response to abnormal movements, providing dynamic support for the user, preventing falls, and improving the safety of the training process.

Description

Technical Field

[0001] This invention relates to the field of training auxiliary equipment technology, specifically a dynamic support anti-tipping transport device. Background Technology

[0002] With the aging population, my country sees over 3 million new stroke patients annually, 70% of whom face motor dysfunction. Coupled with post-operative training and the long-term training needs of paraplegic patients, the demand for efficient and safe assistive training equipment in the rehabilitation medicine market is increasingly urgent. Rehabilitation training is a crucial pathway for stroke, spinal cord injury, and other mobility impairment patients to restore limb function and rebuild their ability to live independently. Scientific assistive training, especially during the golden training period of 3-6 months after onset, can significantly improve training effectiveness.

[0003] Currently, the mainstream training assistance methods mainly fall into three categories: The first category is traditional manual assisted training, which relies on medical staff or family members to accompany patients throughout the rehabilitation training. Its core limitations are: high labor intensity, the support effect is limited by personal experience, it cannot achieve real-time and accurate following during the patient's movement, and when the patient adjusts their walking direction or speed, the angle of the manual support harness is prone to shift, which may cause traction discomfort or even secondary injury; secondly, it has high staffing requirements. When a single patient undergoes gait training, balance training, or other programs, it usually requires two or more rehabilitation therapists to work together, one to provide safety support for the patient and the other to adjust the angle and support strength of the harness. Even with multiple people working together, it is still difficult to achieve synchronized movements, which leads to low training efficiency and exacerbates the shortage of rehabilitation therapists in my country, making it difficult to cover the needs of large-scale training.

[0004] The second type is the ordinary mechanical training frame. This type of device mostly adopts a fixed trajectory design and can only provide support in one direction for the patient. Its main limitations are insufficient adaptability and stability, inability to meet the flexible needs of patients' independent movement, and lack of dynamic angle adjustment function. When the patient's body sways or the center of gravity shifts during training, the frame cannot respond in time, resulting in decreased support stability and affecting the continuity and safety of rehabilitation training.

[0005] The third category consists of existing training overhead rails with some displacement functions. Although these solve the problem of ground obstacles, their control logic has obvious defects: First, the angle detection accuracy is low or there is no angle detection function. They mostly use ordinary pressure sensors to indirectly determine the position status, which makes it difficult to capture the slight angle changes of the seat belt. This causes the displacement machine to lag behind, and patients are prone to discomfort due to the traction of the harness. Second, the safety braking mechanism is simple, relying only on mechanical brakes. It does not form a coordinated process of "power cut-off-brake locking". When a patient suddenly falls and the seat belt angle changes abnormally, the braking response is slow and the braking distance is too long, which poses a safety hazard.

[0006] Existing training overhead track products use chain drives to move the transfer machine, solving the problems of large size and non-compact structure of existing training supports and common electric transfer machines on the market through a compact structural design. However, chain drives have unavoidable polygonal effects and lack a clutch mechanism, making it impossible to brake precisely at the required position. Alternatively, a multi-motor switchable mode structural design can be used, switching the machine's motion mode through a gear and rack clutch mechanism to achieve more precise displacement and braking. However, this clutch mechanism has unavoidable wear issues; gears will inevitably wear when disengaging and re-engaging, leaving room for optimization in terms of the mechanism's lifespan and stability. Summary of the Invention

[0007] The purpose of this invention is to provide a dynamic support and anti-tipping transport device that can automatically assist patient training, automatically detect the patient's movement status, and accurately brake to prevent the patient from falling.

[0008] To achieve the above objectives, the present invention adopts the following technical solution: A dynamic support anti-tipping transfer device includes a main load-bearing frame, a lifting device installed inside the main load-bearing frame, the lifting device including a drum with a sling wound around it; a power control device at the top of the main load-bearing frame, with a drive wheel and a driven wheel cooperating with a track on the power control device; a braking device on the main load-bearing frame, with a brake component cooperating with the track on the braking device; a detection module at the bottom of the main load-bearing frame, with a sling limiting component on the detection module, the free end of the sling extending through the sling limiting component to below the detection module; and a charging device on the main load-bearing frame, with a charging plate on the charging device.

[0009] Preferably, the main load-bearing frame includes a symmetrically arranged front cover plate and a rear cover plate, which are fixedly connected by a limiting shaft; both the front cover plate and the rear cover plate are provided with through holes, through which the lifting device passes and is fixedly connected to the front cover plate and the rear cover plate; a pair of load-bearing connecting beams are provided between the front cover plate and the rear cover plate, and a pair of sensors are symmetrically arranged on the pair of load-bearing connecting beams; a top hanger is fixedly installed on the top of the pair of sensors, and the power control device, the braking device and the charging device are all fixedly installed on the top hanger.

[0010] Preferably, the power control device includes a main mounting plate, which is fixedly connected to the top hanger; a power module is fixedly mounted on the main mounting plate, and the power module is connected to a clutch; the clutch is connected to a transmission mechanism through gear engagement, and the transmission mechanism is connected to the drive wheel through gear engagement.

[0011] Preferably, a pair of drive wheels and driven wheels are symmetrically arranged on both sides of the main mounting plate, and the central axes of the drive wheels and driven wheels are horizontal and at the same height; a pair of limit wheels are rotatably connected to both ends of the main mounting plate, and the central axis of the limit wheels is vertical.

[0012] Preferably, the braking device includes a fixed seat, which is fixedly installed on the side of the top hanger; a braking power device is installed on the fixed seat, and a transmission component is rotatably connected to the top of the braking power device; the other end of the transmission component is fixedly connected to the top surface of the top hanger through a brake seat, and a brake component is fixedly connected at the connection between the transmission component and the brake seat; the brake component is located below the track.

[0013] Preferably, the detection module includes a bottom mounting plate, which is fixedly connected to the bottom surfaces of the front cover plate and the rear cover plate; a gap is provided in the middle of the bottom mounting plate, and a sling limiter is disposed in the gap; both ends of the sling limiter are rotatably connected to a pair of cover plates through bearings, and both cover plates are fixedly connected to the bottom mounting plate; a motion intention detection device is fixedly connected to one end of the sling limiter, and the motion intention detection device is fixedly installed on the outer side of one side cover plate through a copper pillar.

[0014] Preferably, an anti-collision detection device is fixedly installed on the bottom surface of the bottom mounting plate. The anti-collision detection device is located below the sling limiter, and the sling passes through the sling limiter and the anti-collision detection device in sequence.

[0015] Preferably, the charging device includes a secondary mounting plate, which is fixedly mounted on the top side of the main mounting plate; a charging plate is provided on the top of the secondary mounting plate, and two pairs of driven wheels are symmetrically arranged on the top of the secondary mounting plate; the central axes of the two pairs of driven wheels are both horizontally arranged and at the same height as the central axis of the drive wheels; a pair of limiting wheels are symmetrically arranged on both sides of the secondary mounting plate, and the central axes of the limiting wheels are vertically arranged; a wire groove is provided on the secondary mounting plate, and the wires of the charging plate pass through the wire groove.

[0016] The beneficial effects of this invention are: This invention addresses the pain points of traditional manual assisted training, significantly reducing reliance on manual intervention and improving accuracy. Addressing the issues of high labor intensity, experience-dependent support, and the need for multiple therapists in traditional manual training, this invention automates patient training through the coordinated operation of a main load-bearing frame, lifting device, and detection module. The motion intention detection device in the detection module accurately captures changes in the harness angle in real time, dynamically responding to the patient's walking direction and speed and autonomously adjusting accordingly. This avoids the discomfort and secondary injury caused by harness angle deviation during manual support. Simultaneously, the system can independently complete core assisted movements such as patient lifting and movement without requiring manual support from medical staff. Individual patient rehabilitation training no longer requires multiple therapists, effectively reducing the labor intensity of medical staff, alleviating the shortage of rehabilitation therapists, improving training efficiency, better covering large-scale training needs, and also possessing the capability to transport patients with mobility impairments along a track.

[0017] This invention overcomes the shortcomings of ordinary mechanical training supports, improving adaptability and support stability. Addressing the issues of fixed trajectory design, poor adaptability, and insufficient support stability due to the inability to respond to changes in patient posture in ordinary mechanical training supports, this invention eliminates the limitations of fixed trajectories through the coordination of drive wheels, driven wheels, and transmission mechanisms in the power control device. It can flexibly follow the patient's autonomous movement, adapting to various training scenarios such as gait training and balance training. Simultaneously, the main load-bearing frame uses four inverted triangularly distributed limiting shafts connected to the front and rear cover plates, coupled with a reinforced design of load-bearing connecting beams on both sides, ensuring the frame's stability. The detection module can sense changes in the patient's body swaying and center of gravity shifts in real time, dynamically adjusting the support state of the slings in conjunction with the lifting device and power control device, significantly improving support stability and ensuring the continuity and safety of training.

[0018] This invention addresses the shortcomings of existing training overhead rails, optimizing safety performance and detection accuracy. Addressing the safety hazards caused by low angle detection accuracy and simplistic braking mechanisms in some existing training overhead rails, this invention offers dual advantages. Firstly, the detection module features a dedicated motion intention detection device. Compared to existing methods that indirectly determine position using ordinary pressure sensors, this device can accurately capture minute angle changes in the sling, avoiding patient discomfort caused by lag in the transfer machine. Secondly, through the coordinated design of the braking device and the clutch in the power control device, a highly efficient "power cut-off - brake lock" process is established. When a patient suddenly falls, causing an abnormal change in the sling angle, the clutch can quickly disconnect the power module from the transmission mechanism. The braking power device then drives the brake components to quickly contact the track to complete braking. Compared to a single mechanical braking mechanism, this results in a faster braking response and shorter braking distance, significantly reducing safety risks. Furthermore, the limiting wheel of the power control device prevents components from colliding with the track, further enhancing operational safety.

[0019] The power control device of this invention adopts a non-chain drive transmission mechanism and is equipped with a dedicated clutch, which can realize the precise disconnection and reconnection of the power module and the transmission mechanism, ensuring that the machine brakes precisely at the designated position, improving operational stability and control accuracy; at the same time, the limit shaft design of the main load-bearing frame avoids mechanical damage caused by deflection force, further optimizing the overall reliability of the product.

[0020] This invention introduces a new charging device design, improving product endurance and continuity of use. Two sets of charging pads mounted on the auxiliary mounting plate contact the track to obtain electrical energy, and the wire conduction design in the wire channel allows for convenient replenishment of the machine's power. This design solves the problem of existing similar products lacking an integrated charging structure and requiring frequent disassembly and charging, leading to usage interruptions. It improves product endurance convenience, ensures the continuity of training assistance and transportation services, and reduces equipment management costs for training institutions. Attached Figure Description

[0021] Figure 1 This is a schematic diagram of the overall structure of Embodiment 1 of the present invention; Figure 2 This is a schematic diagram of the main load-bearing frame of Embodiment 1 of the present invention; Figure 3 This is a schematic diagram of the internal structure of the lifting device according to Embodiment 1 of the present invention; Figure 4 This is a schematic diagram of the power control device according to Embodiment 1 of the present invention; Figure 5 This is a schematic diagram of the braking device according to Embodiment 1 of the present invention; Figure 6 This is a schematic diagram of the charging device according to Embodiment 1 of the present invention; Figure 7 This is a schematic diagram of the detection module in Embodiment 1 of the present invention.

[0022] In the diagram: Main load-bearing frame 1; Front cover plate 11; Rear cover plate 12; Limiting shaft 13; Load-bearing connecting beam 14; Top hanger 15; Sensor 16; Lifting device 2; Drum 21; Sling 22; Power control device 3; Power module 31; Drive wheel 32; Driven wheel 33; Transmission mechanism 34; Clutch 35; Limiting wheel 36; Main mounting plate 37; Braking device 4; Transmission component 41; Braking component 42; Braking power device 43; Brake seat 44; Fixed seat 45; Charging device 5; Driven wheel 51; Charging plate 52; Secondary mounting plate 53; Detection module 6; Collision detection device 61; Motion intention detection device 62; Sling limiting component 63; Bottom mounting plate 64. Detailed Implementation Example

[0023] The following is a further explanation of the present invention in conjunction with specific embodiments, such as... Figure 1 As shown, this embodiment is a dynamic support anti-tipping transfer device, which includes a main load-bearing frame 1, and a lifting device 2, a power control device 3, a braking device 4, a charging device 5 and a detection module 6 are respectively installed on the main load-bearing frame 1.

[0024] like Figure 2 As shown, the main load-bearing frame 1 is used to fix and install other devices. It includes a pair of vertically symmetrically arranged front cover plates 11 and rear cover plates 12. Symmetrically arranged through holes are provided on the front cover plates 11 and rear cover plates 12, and the two through holes are coaxially arranged. The front cover plates 11 and rear cover plates 12 are fixedly connected by four limiting shafts 13. The limiting shafts 13 are divided into three groups of "1+1+2", forming a triangular structure that fixes the front cover plates 11 and rear cover plates 12 into one unit. The limiting shafts 13 are distributed in an inverted triangle shape, which can effectively ensure the frame... The overall stability of the frame; a pair of load-bearing connecting beams 14 are also provided on both sides of the front cover plate 11 and the rear cover plate 12. The two ends of the load-bearing connecting beams 14 are fixedly connected to the front cover plate 11 and the rear cover plate 12 by bolts, and a pair of sensors 16 are symmetrically provided on the load-bearing connecting beams 14; a top hanger 15 is fixedly provided on the top of the pair of sensors 16, and the top hanger 15 is connected to the track through the power control device 3, etc. The downward tension on the two load-bearing connecting beams 14 can be obtained through the sensors 16.

[0025] like Figure 3 As shown, the lifting device 2 mainly includes a drum 21, inside which a motor is installed, allowing it to rotate clockwise or counterclockwise around an axis. A sling 22 is wound around the drum 21, and its length can be adjusted as the drum 21 rotates. The end of the sling 22 can be connected to other securing equipment to fix the patient to it, thus connecting the patient to the main load-bearing frame 1 and providing auxiliary support. The drum 21 is fixedly installed in the through hole between the front cover plate 11 and the rear cover plate 12, and outer shells are provided on both outer surfaces of the front cover plate 11 and the rear cover plate 12. Figure 1 As shown.

[0026] The specific structure of the power control device 3 is as follows: Figure 4As shown, it includes a vertically arranged T-shaped main mounting plate 37, which is fixedly connected to one end of the top hanger 15. A power module 31 is fixedly mounted on one side of the main mounting plate 37, and the output shaft of the power module 31 is connected to a clutch 35. The output gear of the clutch 35 is connected to a transmission mechanism 34 through gear meshing. The transmission mechanism 34 includes a pair of transmission gears rotatably connected to the two sides of the middle part of the main mounting plate 37. The pair of transmission gears are connected to a pair of drive wheels 33 through gear meshing. The drive wheels 33 are rotatably connected to the two sides of one end of the top of the main mounting plate 37. A pair of driven wheels 33 are symmetrically arranged along the central axis of the main mounting plate 37 and the drive wheel 32. The central axes of both the driven wheels 33 and the drive wheels 32 are horizontal and perpendicular to the main mounting plate 37, and their horizontal heights are the same. Both the driven wheels 33 and the drive wheels 32 can be mounted on a track and roll along the track to move the entire device along the track. A pair of limiting wheels 36 are also provided at both ends of the main mounting plate 37. The central axis of the limiting wheels 36 is vertical and its height is less than that of the drive wheels 32 and the driven wheels 33. The limiting wheels 36 can prevent other components of the power control device 3 from colliding with the track.

[0027] A braking device 4 is also fixedly installed on the top hanger 15, such as Figure 5 As shown, the braking device 4 includes a fixed seat 45 fixedly mounted on one side of the top hanger 15, and a brake seat 44 fixedly mounted in the middle of the top surface of the top hanger 15. A braking power device 43 is rotatably connected to the fixed seat 45. The braking power device 43 includes a piston mechanism, and the end of its piston rod is rotatably connected to a transmission member 41. The other end of the transmission member 41 is rotatably connected to the brake seat 44, and the top of the end connected to the brake seat 44 is provided with a brake member 42 that cooperates with the track. A brake pad is provided on the top surface of the brake member 42, which can cooperate with the bottom surface of the track for friction braking. When braking is required, the braking power device 43 can drive the brake member 42 to contact the bottom of the track for braking by controlling the extension and retraction of the piston rod.

[0028] like Figure 6As shown, a charging device 5 is fixedly installed on the other end of the top hanger 15 opposite to the power control device 3. The charging device 5 includes a T-shaped secondary mounting plate 53, and a pair of charging plates 52 are fixedly installed on the top of the secondary mounting plate 53. The charging plates 52 can contact and cooperate with the charging rail set on the track, so as to charge in real time through the charging rail. The charging plates 52 are connected to other components of the device through wires, and can provide power to other components. The secondary mounting plate 53 is provided with wire grooves, through which wires can be passed. The secondary mounting plate 53 is provided with a limiting wheel and a pair of passive wheels 51 similar to those on the main mounting plate 37. Their functions are the same as those of the limiting wheel and passive wheels 51 on the main mounting plate 37, and their arrangement is also similar. They are symmetrically distributed relative to the center plane of the main load-bearing frame 1, so as to evenly distribute the load and maintain the balance of the device.

[0029] like Figure 7 As shown, a detection module 6 is installed at the bottom of the main load-bearing frame 1. The detection module 6 includes a horizontally mounted bottom plate 64. A gap is provided in the middle of the bottom mounting plate 64, and a sling limiter 63 is installed in the gap. The sling limiter 63 includes a pair of limit plates with parallel gaps, and both ends of the limiter are rotatably connected to a pair of cover plates through bearings, so that the sling limiter 63 can rotate around the central axis of the bearings. The pair of cover plates are fixedly connected to the bottom of the bottom mounting plate 64 and the bottom of the front cover plate 11 and the rear cover plate 12, respectively. A motion intention detection device 62 is fixedly connected to the outer surface of one of the cover plates through a copper column. The length direction of the sling limiter 63 is parallel to the track. The track is set perpendicularly to the length direction, and the gap between the two limiting plates allows the sling 22 to pass through. The motion intention detection device 62 is connected to the sling limiting member 63 and can detect the rotation angle of the sling limiting member 63 in real time. Based on the rotation direction and angle of the sling limiting member 64, the user's motion intention can be determined. An anti-collision detection device 61 is set on the bottom surface of the bottom mounting plate 64, and the sling 22 also passes through the anti-collision detection device 61. When the lifting height is abnormal, the anti-collision detection device 61 will be triggered, thereby stopping the drum 21 from continuing to retract the sling 22 and preventing the user from being lifted and colliding.

[0030] In this embodiment, during use, the patient can be fixed to the end of the sling 22 by the fixing equipment connected to the bottom end of the sling 22. When the patient performs self-training, the end of the sling 22 will move in the direction of movement due to the patient's movement, thereby causing the sling 22 to tilt. At this time, the sling limiter 63 is driven to rotate axially, thereby driving the motion intention detection device 62 to rotate, so that the device can determine which direction the patient is moving. At this time, the power module 31 drives the transmission mechanism 34 and the drive wheel 32 to rotate through the clutch 35, and the drive device moves in the same direction as the patient's movement. At the same time, a pair of sensors 16 set on both sides of the main load-bearing frame 1 will also detect the tension at both ends of the movement direction in real time. The patient's movement direction can also be obtained through the tension difference between the two sensors 16. Combined with the data from the motion intention detection device 62, the rotation speed of the drive wheel 32 can be precisely controlled, thereby accurately controlling the device to follow the patient's movement.

[0031] When a patient experiences an accident during training and falls, the motion intention detection device 62 will detect a sudden change in the angle of the sling limiter 63, where the rate of change exceeds the preset safe angular velocity range, or the degree of tilt exceeds the preset safe angle range. At this time, the safety braking function will be activated. First, the clutch 35 will disengage from the transmission mechanism 34, causing the drive wheel 32 to lose power. Simultaneously, the braking device 4 will be activated, driving the transmission component 41 and the brake component 42 through the braking power device 43, causing the brake pads on the top of the brake component 42 to contact the track, thereby quickly braking the device to a stop. At the same time, the drum 21 will reverse to generate a retracting pulling force, providing upward lift to the fallen patient and preventing them from falling further.

[0032] The roller 21 is equipped with a sensor that can detect the tension on the sling 22 in real time, thereby obtaining the patient's weight loss parameters. By adjusting the retraction and release of the sling 22 in real time, it can be ensured that the user can maintain the preset weight loss and that the weight loss parameters will not change during the training process, thereby improving the training effect. Example

[0033] This embodiment is based on the dynamic support anti-tipping transfer equipment proposed in Embodiment 1, and is a method for lifting, weighing, and moving users. The user connects to the machine through the sling 22, controls the clutch 35 in the power control device 3 to disconnect from the transmission mechanism 34, controls the power module to stop outputting power, controls the brake power device 43 in the brake device 4 to make the transmission component 41 drive the brake component 42 to contact the track, and fixes the machine in a specific position. The drum 21, through its own sensor and the sensor 16 in the main load-bearing frame 1, in conjunction with the matching hanging net, can lift the patient for weighing.

[0034] After the machine lifts the user, it can detect the force in real time through the built-in sensor on the drum 21 and the sensor 16 in the main load-bearing frame 1, so that the user can be suspended at a specific height.

[0035] When the machine is reducing the weight of the user or lifting the user, the sling 22 is controlled by the drum 21 to retract and release. When the sling is retracted too much, the anti-collision detection device 61 in the detection module 6 will be triggered to ensure that the sling 22 is not retracted too much and to ensure the safety of the user.

[0036] After the machine lifts the user, the brake power unit 43 of the brake device 4 can be returned to its original position under the control of medical staff, which will drive the transmission component 41 to prevent the brake component from contacting the track and prevent the machine from getting stuck on the track. Then, the clutch 35 in the power control device 3 can be disconnected from the transmission mechanism 34, and the power module can no longer output power. In this way, medical staff can manually move the patient, so that after the user is lifted, medical staff can easily move the user to the designated position along the track without having to carry the user.

[0037] After the machine lifts the user, the brake power unit 43 of the brake device 4 can be returned to its original position under the control of medical staff, which will drive the transmission component 41 so that the brake component does not contact the track and the machine can not be stuck on the track. Then, the clutch 35 in the power control device 3 is reconnected with the transmission mechanism 34 to control the power module to output power. In this way, the patient can be moved to the designated position electrically by controlling the power output of the power control device 3.

[0038] The above description is merely a further explanation of the present invention in conjunction with specific embodiments. All descriptions made do not imply any limitation on the scope of protection of the present invention. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in the present invention should be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A dynamic support anti-tipping transfer device, comprising a main load-bearing frame, characterized in that: A lifting device is installed within the main load-bearing frame. The lifting device includes a drum with a sling wound around it. A power control device is installed at the top of the main load-bearing frame, and the power control device has a drive wheel and a driven wheel that cooperate with the track. A braking device is installed on the main load-bearing frame, and the braking device has a brake component that cooperates with the track. A detection module is installed at the bottom of the main load-bearing frame, and the detection module has a sling limiting component. The free end of the sling extends through the sling limiting component and out to the bottom of the detection module. A charging device is installed on the main load-bearing frame, and the charging device has a charging plate.

2. The dynamic support anti-tipping transfer device according to claim 1, characterized in that: The main load-bearing frame includes a symmetrically arranged front cover plate and a rear cover plate, which are fixedly connected by a limiting shaft. Both the front and rear cover plates are provided with through holes, through which the lifting device passes and is fixedly connected to the front and rear cover plates. A pair of load-bearing connecting beams are provided between the front and rear cover plates, and a pair of sensors are symmetrically arranged on each of the pair of load-bearing connecting beams. A top hanger is fixedly installed on the top of the pair of sensors, and the power control device, braking device, and charging device are all fixedly installed on the top hanger.

3. The dynamic support anti-tipping transfer device according to claim 2, characterized in that: The power control device includes a main mounting plate, which is fixedly connected to the top hanger; a power module is fixedly mounted on the main mounting plate, and the power module is connected to a clutch; the clutch is connected to a transmission mechanism through gear engagement, and the transmission mechanism is connected to the drive wheel through gear engagement.

4. The dynamic support anti-tipping transfer device according to claim 3, characterized in that: The driving wheel and the driven wheel are each symmetrically arranged in a pair on both sides of the main mounting plate. The central axes of the driving wheel and the driven wheel are both horizontal and at the same height. A pair of limiting wheels are rotatably connected to both ends of the main mounting plate. The central axis of the limiting wheels is vertical.

5. The dynamic support anti-tipping transfer device according to claim 2, characterized in that: The braking device includes a fixed base, which is fixedly installed on the side of the top hanger; a braking power device is installed on the fixed base, and a transmission component is rotatably connected to the top of the braking power device; the other end of the transmission component is fixedly connected to the top surface of the top hanger through a brake seat, and is fixedly connected to the brake component at the connection between the transmission component and the brake seat; the brake component is located below the track.

6. The dynamic support anti-tipping transfer device according to claim 2, characterized in that: The detection module includes a bottom mounting plate, which is fixedly connected to the bottom surfaces of the front cover plate and the rear cover plate; a gap is provided in the middle of the bottom mounting plate, and the sling limiter is disposed in the gap; both ends of the sling limiter are rotatably connected to a pair of cover plates through bearings, and both of the cover plates are fixedly connected to the bottom mounting plate; a motion intention detection device is fixedly connected to one end of the sling limiter, and the motion intention detection device is fixedly installed on the outer side of one side cover plate through a copper pillar.

7. The dynamic support anti-tipping transfer device according to claim 6, characterized in that: A collision detection device is fixedly installed on the bottom surface of the bottom mounting plate. The collision detection device is located below the sling limiter. The sling passes through the sling limiter and the collision detection device in sequence.

8. The dynamic support anti-tipping transfer device according to claim 4, characterized in that: The charging device includes a secondary mounting plate, which is fixedly mounted on the top side of the main mounting plate. A charging plate is provided on the top of the secondary mounting plate, and two pairs of driven wheels are symmetrically arranged on the top of the secondary mounting plate. The central axes of the two pairs of driven wheels are horizontally arranged and are at the same height as the central axis of the driving wheel. A pair of limiting wheels are symmetrically arranged on both sides of the secondary mounting plate, and the central axes of the limiting wheels are vertically arranged. A wire groove is provided on the secondary mounting plate, and the wires of the charging plate pass through the wire groove.

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