Intelligent stair handling device

Abstract

An embodiment of the present invention provides an intelligent stair transport device, including a support frame, a caster mechanism, an inclination state sensing component and a control mechanism. The support frame includes a first support end and a second support end relative to each other. The second support end is provided with a load-bearing surface, and the load-bearing surface has a horizontal load-bearing state. The caster mechanism includes a driving component and a swivel caster. The swivel caster is rotatably mounted on the first support end, and the driving component drives the swivel caster to rotate. The inclination state sensing component is mounted on the support frame, and is used to sense the inclination state of the support frame. The control mechanism controls the rotation speed of the swivel caster driven by the driving component relative to the support frame according to the inclination state parameters. The intelligent stair transport device provided by the present invention obtains the inclination state parameters of the load-bearing surface, and the control mechanism controls the rotation speed of the swivel caster driven by the driving component relative to the support frame according to the inclination state parameters, so that the load-bearing surface maintains a horizontal load-bearing state, thereby realizing the automatic deviation correction function of the intelligent stair transport device.

Description

Technical Field

[0001] The present invention relates to the technical field of transport devices, and in particular to an intelligent stair transport device. Background Art

[0002] In daily life, when objects need to be carried up and down the stairs in corridors without elevators, most of the time, people rely on climbing stairs manually, which requires a lot of effort and is likely to cause irreversible damage to the human knee joints. In addition, manual carrying of objects up and down the stairs is inefficient. The existing stair transport device may be unstable due to the movement of the device when carrying objects, which may easily cause tipping and poor stability. Therefore, a stair transport device with excellent stability is urgently needed. Summary of the invention

[0003] The purpose of the embodiment of the present invention is to provide an intelligent stair transport device to solve the above problem. The embodiment of the present invention achieves the above purpose through the following technical solutions.

[0004] An embodiment of the present invention provides an intelligent stair transport device, including a support frame, a caster mechanism, a tilt state sensing component and a control mechanism. The support frame includes a first supporting end and a second supporting end relative to each other. The second supporting end is provided with a bearing surface, and the bearing surface has a horizontal bearing state. The caster mechanism includes a driving component and a swivel caster. The swivel caster is rotatably mounted on the first supporting end, and the driving component drives the swivel caster to rotate. The tilt state sensing component is mounted on the support frame, and is used to sense the tilt state of the support frame to obtain the tilt state parameters of the bearing surface. The tilt state parameters include the tilt angle and the tilt direction. The control mechanism controls the rotation speed of the driving component to drive the swivel caster relative to the support frame according to the tilt state parameters, so that the bearing surface maintains a horizontal bearing state.

[0005] In one embodiment, the tilt state sensing component includes a slot sensor and a yaw assembly. The slot sensor is fixed to the support frame and connected to the control mechanism signal. The yaw assembly is rotatably arranged on the support frame. The slot sensor senses the rotation of the yaw assembly to obtain the tilt state parameters.

[0006] In one embodiment, the slot sensor has a first detection slot and a second detection slot, the deflection assembly includes a deflection body, a zero position baffle and a plurality of non-zero position baffles, the zero position baffle and one of the plurality of non-zero position baffles are aligned, and the alignment line direction is parallel to the axial direction of the deflection body, the zero position baffle is suitable for passing through the first detection slot when it deflects with the deflection body, and the plurality of non-zero position baffles are suitable for passing through the second detection slot when it deflects with the deflection body.

[0007] In one embodiment, the deflection body includes a rotating wheel and a counterweight block, the counterweight block is connected to the rotating wheel, the rotating wheel is rotatably arranged on a support frame, a zero-position baffle and multiple non-zero-position baffles are connected to the rotating wheel, and the center of gravity of the deflection assembly is located at the counterweight block.

[0008] In one embodiment, the swivel caster includes a swivel body and a plurality of support legs extending from the swivel body in different directions, the swivel body includes a wheel hub and a plurality of connecting rods, the wheel hub is mounted on a first support end and is transmission-connected to a drive assembly, and each connecting rod is connected between the wheel hub and a support leg.

[0009] In one embodiment, the rotating body further includes a plurality of telescopic rods, each of which is connected to an end of two adjacent connecting rods away from the wheel hub.

[0010] In one embodiment, the support foot includes a support rod, a support foot rotating motor and a support roller. The support rod is connected to the rotating body, the support roller is connected to the side of the support rod away from the rotating body, and the support foot rotating motor is arranged on the support rod and is transmission-connected to the support roller.

[0011] In one embodiment, the intelligent stair carrying device also includes a support centering mechanism, which is installed on the second support end. The support centering mechanism includes a support seat, a support clamping assembly and a centering adjustment assembly. The support seat includes a bearing surface. The support clamping assembly is movably arranged on the support seat and protrudes from the bearing surface. The centering adjustment assembly is arranged on the support seat and connected to the support clamping assembly, and is used to drive the support clamping assembly to move.

[0012] In one embodiment, the support clamping assembly includes a first clip group and a second clip group, the centering adjustment assembly includes a driving motor and an elliptical adjustment block, the driving motor is connected to the control mechanism signal, the first clip group abuts against the two ends of the long axis direction of the elliptical adjustment block, and the first clip group is slidably arranged on the support seat along the long axis direction, the second clip group abuts against the two ends of the short axis direction of the elliptical adjustment block, and the second clip group is slidably arranged on the support seat along the short axis direction.

[0013] In one embodiment, the support seat includes a first support plate, a second support plate and a plurality of support columns, the first support plate is installed on the second support end, the second support plate is opposite to the first support plate, the plurality of support columns are connected between the first support plate and the second support plate, the bearing surface is arranged on the side of the second support plate away from the first support plate, the elliptical adjustment block is located between the first support plate and the second support plate, and the support clamping assembly is movably installed on the first support plate and protrudes from the second support plate.

[0014] Compared with the prior art, the intelligent stair transport device provided by the present invention includes a support frame, a caster mechanism, an inclination state sensing component and a control mechanism. The support frame includes a first support end and a second support end relative to each other. The second support end is provided with a bearing surface, and the bearing surface has a horizontal bearing state. The caster mechanism includes a driving component and a swivel caster. The swivel caster is rotatably installed on the first support end. The driving component drives the swivel caster to rotate. The inclination state parameters of the bearing surface are obtained through the inclination state sensing component, and the control mechanism controls the driving component to drive the swivel caster to rotate relative to the support frame according to the inclination state parameters, so that the bearing surface maintains a horizontal bearing state, thereby realizing the automatic deviation correction function of the intelligent stair transport device and improving the stability of the intelligent stair transport device during stair transport.

[0015] These and other aspects of the present invention will become more apparent from the following description of the embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For those skilled in the art, other drawings can be obtained based on these drawings without creative work.

[0017] Figure 1 It is a structural schematic diagram of an intelligent stair transport device provided in an embodiment of the present invention.

[0018] Figure 2 It is a structural schematic diagram of a caster mechanism provided by an embodiment of the present invention.

[0019] Figure 3 It is a state diagram of the intelligent stair transport device (excluding the support centering mechanism and the control mechanism) provided by an embodiment of the present invention walking on the stairs.

[0020] Figure 4 yes Figure 3 A partial enlarged view of point A.

[0021] Figure 5 It is a structural schematic diagram of the support centering mechanism (installed at the second support end) provided in an embodiment of the present invention.

[0022] Figure 6 It is a structural schematic diagram of the support centering mechanism (excluding the second support plate and installed on the second support end) provided in an embodiment of the present invention.

[0023] Figure 7 It is a structural schematic diagram of a support centering mechanism provided in one embodiment of the present invention. DETAILED DESCRIPTION

[0024] In order to facilitate the understanding of the embodiments of the present invention, the embodiments of the present invention will be described more comprehensively with reference to the relevant drawings. The preferred embodiments of the present invention are shown in the drawings. However, the present invention can be implemented in many different forms and is not limited to the embodiments described herein. On the contrary, the purpose of providing these embodiments is to make the disclosure of the present invention more thoroughly understood.

[0025] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art of the present invention. The terms used in the embodiments of the present invention herein are only for the purpose of describing specific implementations and are not intended to limit the present invention.

[0026] See also Figure 1 The embodiment of the present invention provides an intelligent stair transport device 1, comprising a support frame 10, a caster mechanism 30, a tilt state sensing component 50 and a control mechanism 70. The caster mechanism 30 can rotatably mount the support frame 10 and is used to drive the support frame 10 to move up or down to complete the action of going up and down stairs. The tilt state sensing component 50 is installed on the support frame 10. The control mechanism 70 can be installed on the support frame 10, the caster mechanism 30 or the tilt state sensing component 50.

[0027] In this embodiment, the support frame 10 is roughly a V-shaped structure. The support frame 10 is provided with a bearing surface 11, and the bearing surface 11 has a horizontal bearing state, and the bearing surface 11 is used to support the workpiece. The support frame 10 includes a first supporting end 13 and a second supporting end 15 relative to each other, wherein the first supporting end 13 is located at the bottom of the support frame 10 and can be used to install the caster mechanism 30 and the tilt state sensing component 50, and the second supporting end 15 is located at the top of the support frame 10 and can be provided with a bearing surface 11. The support frame 10 can be made of metal. In other embodiments, the support frame 10 can also be other shapes such as a rectangle.

[0028] See also Figure 2 and Figure 3 The caster mechanism 30 includes a driving assembly 31 and a swivel caster 33, and the swivel caster 33 is rotatably mounted on the first support end 13, and the driving assembly 31 drives the swivel caster 33 to rotate. The driving assembly 31 can be fixedly mounted on the first support end 13, and can drive the swivel caster 33 to rotate through a rotating shaft. In this embodiment, the driving assembly 31 may include a motor and a reducer, and the reducer is transmission-connected between the motor and the swivel caster 33, and can be used to adjust the rotation speed of the swivel caster 33 and transmit torque. The intelligent stair transport device 1 is realized by driving the swivel caster 33 to rotate by the driving assembly 31, without the need for manpower to transport items, thereby improving the degree of automation of the intelligent stair transport device 1.

[0029] The rotating caster 33 includes a rotating body 312 and a plurality of supporting legs 314 extending in different directions from the rotating body 312. The rotating body 312 can be driven by the driving assembly 31, and the plurality of supporting legs 314 are connected to the rotating body 312 and can rotate with the rotation of the rotating body 312 to realize the up and down stairs action of the intelligent stair transport device 1.

[0030] The rotating body 312 includes a hub 3121 and a plurality of connecting rods 3123. The hub 3121 is mounted on the first support end 13 and is in transmission connection with the driving assembly 31, so that the rotation of the driving assembly 31 can drive the hub 3121 to rotate. Each connecting rod 3123 is connected between the hub 3121 and a supporting foot 314. In this embodiment, the connecting rod 3123 is retractable, so that the spacing between the supporting feet 314 can be adjusted by adjusting the length of the connecting rod 3123, so that the intelligent staircase handling device 1 can adapt to different stair step heights, thereby improving the adaptability of the intelligent staircase handling device 1. In other embodiments, the length of the connecting rod 3123 can also be fixed, and the up and down stairs action of the intelligent staircase handling device 1 can also be realized. In this embodiment, the number of connecting rods 3123 is three, and the angle between each two connecting rods 3123 is approximately 120°. In other embodiments, the number of connecting rods 3123 can also be four, five or more.

[0031] In this embodiment, the number of the supporting feet 314 is also three. The supporting feet 314 include a supporting rod 3141, a supporting foot rotating motor 3143 and a supporting roller 3145. The supporting rod 3141 is connected to the rotating body 312. The supporting roller 3145 is connected to the side of the supporting rod 3141 away from the rotating body 312. The supporting foot rotating motor 3143 is arranged on the supporting rod 3141 and is in transmission connection with the supporting roller 3145. When the supporting foot rotating motor 3143 does not rotate, the supporting roller 3145 remains not rotating, thereby realizing the self-locking of the rotating caster 33; when the supporting foot rotating motor 3143 rotates, the supporting roller 3145 rotates at the same time, thereby realizing the sliding state of the rotating caster 33. In addition, the supporting feet 314 also include a synchronous belt, which is connected between the supporting foot rotating motor 3143 and the supporting roller 3145, so that the states of the supporting roller 3145 and the supporting foot rotating motor 3143 are synchronized, for example, they rotate at the same time or do not rotate at the same time.

[0032] In this embodiment, the support foot 314 further includes an auxiliary rod 3147 and an auxiliary roller 3149. The auxiliary rod 3147 is connected to the support rod 3141. The auxiliary roller 3149 is installed at one end of the auxiliary rod 3147 away from the support rod 3141, and is aligned with the corresponding support roller 3145, and the alignment line direction is parallel to the axis direction of the rotating body 312, so when the intelligent stair transport device 1 goes up and down the stairs, the auxiliary roller 3149 and the support roller 3145 can contact the stair step surface at the same time, thereby increasing the walking stability of the intelligent stair transport device 1 in the process of going up and down the stairs.

[0033] In this embodiment, the rotating body 312 also includes a plurality of telescopic rods 3125, each of which is connected to one end of two adjacent connecting rods 3123 away from the hub 3121. By setting the telescopic rod 3125, the telescopic rod 3125 between the two connecting rods 3123 and the two connecting rods 3123 can form a triangular shape, so as to prevent the connecting rod 3123 from loosening during the rotation process, increase the stability of the connecting rod 3123, and thus increase the walking stability of the supporting intelligent staircase carrying device 1 during the process of going up and down stairs. In this embodiment, each telescopic rod 3125 is provided with a telescopic electric cylinder 3127, and the telescopic electric cylinder 3127 can adjust the length of the telescopic rod 3125. In other embodiments, the length of the telescopic rod 3125 can also be adjusted by a cylinder or the like. In this embodiment, the length change of the telescopic rod 3125 can drive the length of the connecting rod 3123 to change synchronously. For example, when the telescopic electric cylinder 3127 drives the telescopic rod 3125 to extend, it will drive the connecting rod 3123 to extend synchronously. Telescopic cylinder 3127 has the characteristics of easy installation and strong modularity.

[0034] See also Figure 3 and Figure 4 The tilt state sensing assembly 50 is used to sense the tilt state of the support frame 10 to obtain the tilt state parameters of the bearing surface 11, wherein the tilt state parameters include the tilt angle and the tilt direction. The tilt state sensing assembly 50 includes a slot sensor 52 and a yaw assembly 54. The slot sensor 52 can cooperate with the yaw assembly 54 to sense the rotation of the yaw assembly 54 to obtain the tilt state parameters of the support frame 10.

[0035] The slot sensor 52 is fixed to the support frame 10, so it can deflect with the movement of the support frame 10. The slot sensor 52 senses the rotation of the deflection assembly 54 to obtain the tilt state parameter. In this embodiment, the slot sensor 52 has a first detection slot 521 and a second detection slot 523, and the first detection slot 521 and the second detection slot 523 are arranged side by side. The slot sensor 52 in this embodiment can be a photoelectric sensor, and the specific principle can refer to the prior art, which will not be described here.

[0036] The deflection assembly 54 is rotatably disposed on the support frame 10. The deflection assembly 54 includes a deflection body 542, a zero-position baffle 544 and a plurality of non-zero-position baffles 546, the deflection body 542 is rotatably disposed on the support frame 10, and the zero-position baffle 544 and a plurality of non-zero-position baffles 546 are disposed on the outer periphery of the deflection body 542.

[0037] The deflection body 542 includes a rotating wheel 5421 and a counterweight 5423. The rotating structure is roughly circular, and the rotating wheel 5421 is rotatably arranged on the support frame 10, and the rotating wheel 5421 can be connected to the support frame 10 through a rolling bearing. The counterweight 5423 is connected to the rotating wheel 5421, and the center of gravity of the deflection assembly 54 is located at the counterweight 5423. Since the rotating wheel 5421 is rotatably arranged on the support frame 10, the counterweight 5423 will be at the lowest position during the rotation of the deflection body 542, and the center of gravity of the deflection assembly 54 is located at the counterweight 5423, so when the deflection body 542 rotates, the counterweight 5423 is always at the lowest position (similar to a tumbler). The slot sensor 52 rotates with the support frame 10, so there is a relative rotation between the slot sensor 52 and the deflection body 542, wherein the angle and direction of the relative rotation are the tilt angle and tilt direction, that is, the tilt state parameter of the bearing surface 11.

[0038] A plurality of non-zero-position baffles 546 are connected to the rotating wheel 5421, specifically connected to the outer circumference of the rotating wheel 5421. The plurality of non-zero-position baffles 546 are suitable for passing through the second detection slot 523 when the deflection body 542 deflects. In this embodiment, the plurality of non-zero-position baffles 546 are evenly arranged on the outer circumference of the circular rotating wheel 5421, so that the angle between the line between a non-zero-position baffle 546 and the rotation center of the rotating wheel 5421 and the line between the adjacent non-zero-position baffle 546 and the rotation center of the rotating wheel 5421 is a constant value, that is, the non-zero-position baffles 546 divide the outer circumference of the circular rotating wheel 5421 equally, so the rotation angle of the rotating wheel 5421 can be calculated by measuring the number of non-zero-position baffles 546 passing through the second detection slot 523. As an example, when the number of non-zero baffles 546 is 10, the angle between the line between one non-zero baffle 546 and the rotation center of the rotating wheel 5421 and the line between the adjacent non-zero baffle 546 and the rotation center of the rotating wheel 5421 is 18°. Taking one of the non-zero baffles 546 as a reference, when it is detected that one non-zero baffle 546 passes through, it indicates that the rotation angle of the rotating wheel 5421 is 18°; when it is detected that two non-zero baffles 546 pass through, it indicates that the rotation angle of the rotating wheel 5421 is 2*18°=36°; when it is detected that three non-zero baffles 546 pass through, it indicates that the rotation angle of the rotating wheel 5421 is 3*18°=54°, and so on.

[0039] As described above, if the tilt state parameter needs to be measured, one of the non-zero position baffles 546 needs to be used as a reference baffle, and the function of the zero position baffle 544 is to define this reference baffle.

[0040] The zero-position baffle 544 is also connected to the rotating wheel 5421, and the zero-position baffle 544 is aligned with one of the multiple non-zero-position baffles 546 (reference baffle), and the alignment line direction is parallel to the axial direction of the deflection body 542. The zero-position baffle 544 is suitable for passing through the first detection slot 521 when the deflection body 542 deflects. Since the zero-position baffle 544 is aligned with one of the multiple non-zero-position baffles 546, and the first detection slot 521 and the second detection slot 523 are arranged side by side, when the zero-position baffle 544 is located in the first detection slot 521, the non-zero-position baffle 546 as the reference baffle is located in the second detection slot 523, and the support frame 10 is not tilted at this time, and the bearing surface 11 is in a horizontal bearing state. When the zero-position baffle 544 is not located in the first detection slot 521, the second detection slot 523 detects the number of non-zero-position baffles 546 that pass through to obtain the tilt angle. The second detection slot 523 is also used to detect the rotation direction of the deflection body 542 to obtain the tilt direction. Figure 1 and Figure 4 Assuming that the intelligent staircase transport device 1 is in the state of ascending stairs, when the second detection slot 523 detects that the deflection body 542 is moving along Figure 4 When the viewing angle rotates clockwise, it means that the support frame 10 is tilted backward, and the bearing surface 11 is tilted counterclockwise. Figure 4 When the viewing angle rotates counterclockwise, it means that the support frame 10 is tilted forward, and the bearing surface 11 is tilted in a clockwise direction.

[0041] See also Figure 1 , Figure 2 and Figure 4, the control mechanism 70 can control the rotation speed of the caster mechanism 30 relative to the support frame 10 according to the tilt state parameter, so that the load-bearing surface 11 maintains a horizontal load-bearing state. Specifically, the control mechanism 70 is connected to the slot sensor 52 signal to obtain the tilt state parameter of the load-bearing surface 11 obtained by the slot sensor 52, and controls the rotation speed of the drive component 31 to drive the rotating caster 33 relative to the support frame 10 according to the tilt state parameter, so that the load-bearing surface 11 maintains a horizontal load-bearing state. As an example, when the intelligent staircase carrying device 1 is going up the stairs, the slot sensor 52 detects that the support frame 10 tilts backward by 18°, then the control mechanism 70 reduces the rotation speed of the drive component 31 to drive the rotating caster 33 relative to the support frame 10, then the support frame 10 will tilt forward due to inertia, thereby reducing the tilt angle of the support frame 10, and repeat the above steps until the slot sensor 52 detects that the zero-position baffle 544 is located in the first detection slot 521, that is, the slot sensor 52 detects that the support frame 10 is not tilted. In this embodiment, the control mechanism 70 can be installed on the support frame 10. In other embodiments, the control mechanism 70 may also be installed on the caster mechanism 30 or any other position.

[0042] See also Figure 5 and Figure 6 The intelligent stair handling device 1 further includes a support centering mechanism 90, which is mounted on the second support end 15. The support centering mechanism 90 includes a support seat 92, a support clamping assembly 94, and a centering adjustment assembly 96. The support clamping assembly 94 and the centering adjustment assembly 96 are both mounted on the support seat 92, and the support clamping assembly 94 is arranged around the centering adjustment assembly 96. The centering adjustment assembly 96 can be arranged at the center of the support seat 92, which is conducive to improving the working stability of the intelligent stair handling device 1.

[0043] The support base 92 is a generally hollow rectangular parallelepiped structure, and includes a first support plate 921, a second support plate 923, and a plurality of support columns 925. The first support plate 921 is mounted on the second support end 15, the second support plate 923 is opposite to the first support plate 921, and the plurality of support columns 925 are connected between the first support plate 921 and the second support plate 923. The support base 92 may also include a plurality of side panels.

[0044] The second support plate 923 is provided with a bearing surface, and the bearing surface 11 is provided on the side of the second support plate 923 away from the first support plate 921, and the bearing surface can be used to bear the workpiece. The second support plate 923 can also be provided with a perforation for the support clamping assembly 94 to pass through, so that the support clamping assembly 94 can clamp the workpiece. In this embodiment, the perforation passes through the second support plate 923 and the first support plate 921 simultaneously in the vertical direction.

[0045] The first support plate 921 can be used to install the support clamping assembly 94 and the centering adjustment assembly 96 .

[0046] The centering adjustment assembly 96 is arranged on the support seat 92 and connected to the support clamping assembly 94, and is used to drive the support clamping assembly 94 to move continuously. In the present embodiment, the centering adjustment assembly 96 includes a driving motor 961 and an elliptical adjustment block 963, and the driving motor 961 is connected to the elliptical adjustment block 963 in a transmission manner, and is used to drive the elliptical adjustment block 963 to rotate. Since the contour of the elliptical adjustment block 963 is a continuous curve, the rotation of the elliptical adjustment block 963 can drive the support clamping assembly 94 to move continuously to better fit the workpiece. The elliptical adjustment block 963 can be arranged at the center of the support seat 92. In other embodiments, the elliptical adjustment block 963 can also be replaced with an adjustment block of an oblong shape or other shape, which can drive the support clamping assembly 94 to move continuously.

[0047] The drive motor 961 is connected to the control mechanism 70 by signal. The control mechanism 70 can control the drive motor 961 to drive the elliptical adjustment block 963 to move the support clamping assembly 94 so as to adapt to the shape of the workpiece and facilitate the placement of the workpiece.

[0048] The elliptical adjustment block 963 is located between the first support plate 921 and the second support plate 923 , and is rotatably mounted on the first support plate 921 .

[0049] The support clamping assembly 94 is movably disposed on the support seat 92 and protrudes from the bearing surface 11 . Specifically, the support clamping assembly 94 is movably installed on the first support plate 921 and protrudes from the second support plate 923 .

[0050] The support clamping assembly 94 includes a first clip group 942 and a second clip group 944, wherein the first clip group 942 and the second clip group 944 each include two opposite clips. The two clips of the first clip group 942 and the two clips of the second clip group 944 intersect in a cross. Specifically, the first clip group 942 abuts against both ends of the long axis direction of the elliptical adjustment block 963, and the first clip group 942 is slidably disposed on the support seat 92 along the long axis direction. The second clip group 944 abuts against the two ends of the short axis direction of the elliptical adjustment block 963, and the second clip group 944 is slidably arranged on the support seat 92 along the short axis direction. Therefore, the centers of the first clip group 942 and the second clip group 944 roughly coincide with the center of the elliptical adjustment block 963, and the first clip group 942 and the second clip group 944 can move synchronously with the elliptical adjustment block 963 to ensure that the center of the workpiece is roughly located near the center of the support seat 92, thereby improving the stability of the intelligent stair carrying device 1 during the process of going up and down the stairs.

[0051] Specifically, since the elliptical adjustment block 963 is arranged at the center of the support seat 92, the first clip group 942 abuts against the two ends of the long axis direction of the elliptical adjustment block 963, and the second clip group 944 abuts against the two ends of the short axis direction of the elliptical adjustment block 963, the rotation of the elliptical adjustment block 963 will drive the first clip group 942 and the second clip group 944 to move, and the centers of the first clip group 942 and the second clip group 944 after the movement are still located near the center of the support seat 92, that is, still located near the center of the elliptical adjustment block 963, thereby realizing the centering effect of the centering adjustment component 96, reducing the center of gravity offset of the workpiece of the intelligent stair transport device 1 when going up and down the stairs due to the inability to center, thereby reducing the offset of the intelligent stair transport device 1 caused by the center of gravity offset of the workpiece, which is beneficial to the correction of the intelligent stair transport device 1 and improves the stability of the intelligent stair transport device 1 during the process of going up and down the stairs.

[0052] The support clamping assembly 94 further includes a plurality of fixed mounting portions 946 and a plurality of elastic members 948. The fixed mounting portion 946 is fixed to the first support plate 921. Specifically, the fixed mounting portion 946 can be integrally formed with the first support plate 921. The elastic member 948 is connected between the clip and the fixed mounting portion 946. The elastic member 948 can be a telescopic spring. In this embodiment, the number of the fixed mounting portion 946 and the elastic member 948 are both four, and one fixed mounting portion 946 and one elastic member 948 correspond to one clip.

[0053] See also Figure 7 In other embodiments, the number of the elliptical adjustment blocks 963 can also be two, the two adjustment blocks are stacked and driven by two driving motors 961 respectively, one of the elliptical adjustment blocks 963 is against the first clamping piece group 942, and is used to adjust the distance between the two clamping pieces of the first clamping piece group 942, and the other elliptical adjustment block 963 is against the second clamping piece group 944, and is used to adjust the distance between the two clamping pieces of the second clamping piece group 944. The first clamping piece group 942 and the second clamping piece group 944 are adjusted respectively by the two elliptical adjustment blocks 963, so that the first clamping piece group 942 and the second clamping piece group 944 do not interfere with each other, and the fine adjustment of the support clamping assembly 94 is realized, and the adaptability of the support clamping assembly 94 to the shape of the workpiece is improved.

[0054] In summary, the intelligent stair transport device 1 provided by the present invention includes a support frame 10, a caster mechanism 30, an inclination state sensing component 50 and a control mechanism 70. The support frame 10 includes a first support end 13 and a second support end 15 relative to each other. The second support end 15 is provided with a bearing surface 11, and the bearing surface 11 has a horizontal bearing state. The caster mechanism 30 includes a driving component 31 and a swivel caster 33. The swivel caster 33 is rotatably installed on the first support end 13. The driving component 31 drives the swivel caster 33 to rotate. The inclination state parameters of the bearing surface 11 are obtained through the inclination state sensing component 50, and the control mechanism 70 controls the driving component 31 to drive the swivel caster 33 to rotate relative to the support frame 10 according to the inclination state parameters, so that the bearing surface 11 maintains a horizontal bearing state, thereby realizing the automatic deviation correction function of the intelligent stair transport device 1 and improving the stability of the intelligent stair transport device 1 during stair transport. In addition, the centering effect of the support centering mechanism 90 reduces the deviation of the center of gravity of the workpiece of the intelligent staircase carrying device 1 when going up and down the stairs due to the inability to center, thereby reducing the deviation of the intelligent staircase carrying device 1 caused by the deviation of the center of gravity of the workpiece, which is beneficial to the correction of the intelligent staircase carrying device 1 and further improves the stability of the intelligent staircase carrying device 1 during the process of going up and down the stairs.

[0055] The above-mentioned embodiments only express several implementation methods of the present invention, and the description thereof is relatively specific and detailed, but it cannot be understood as limiting the scope of the patent of the present invention. It should be pointed out that, for ordinary technicians in this field, several variations and improvements can be made without departing from the concept of the present invention, which all belong to the protection scope of the present invention. Therefore, the protection scope of the patent of the present invention shall be subject to the attached claims.

Claims

1. An intelligent stair transport device, characterized in that: include: A support frame, the support frame comprising a first support end and a second support end opposite to each other, the second support end being provided with a bearing surface, and the bearing surface having a horizontal bearing state; A caster mechanism, the caster mechanism comprising a driving assembly and a swivel caster, the swivel caster is rotatably mounted on the first support end, the driving assembly drives the swivel caster to rotate, the swivel caster comprises a swivel body and a plurality of support legs extending from the swivel body in different directions, the swivel body comprises a wheel hub and a plurality of connecting rods, the wheel hub is mounted on the first support end and is in transmission connection with the driving assembly, and each of the connecting rods is connected between the wheel hub and one of the support legs; A tilt state sensing component, the tilt state sensing component is installed on the support frame, and is used to sense the tilt state of the support frame to obtain the tilt state parameters of the bearing surface, wherein the tilt state parameters include a tilt angle and a tilt direction; and A control mechanism, wherein the control mechanism is mounted on the support frame, or on the caster mechanism, or on the tilt state sensing component; the control mechanism controls the rotation speed of the driving component to drive the rotating caster relative to the support frame according to the tilt state parameter, so that the bearing surface maintains a horizontal bearing state.

2. The intelligent staircase transport device according to claim 1, characterized in that: The tilt state sensing component includes a slot sensor and a yaw assembly. The slot sensor is fixed to the support frame and connected to the control mechanism signal. The yaw assembly is rotatably arranged on the support frame. The slot sensor senses the rotation of the yaw assembly to obtain the tilt state parameter.

3. The intelligent staircase transport device according to claim 2, characterized in that: The slot-type sensor has a first detection slot and a second detection slot, the deflection assembly includes a deflection body, a zero-position baffle and a plurality of non-zero-position baffles, the zero-position baffle and one of the plurality of non-zero-position baffles are aligned, and the alignment line direction is parallel to the axial direction of the deflection body, the zero-position baffle is suitable for passing through the first detection slot when it deflects with the deflection body, and the plurality of non-zero-position baffles are suitable for passing through the second detection slot when it deflects with the deflection body.

4. The intelligent staircase transport device according to claim 3, characterized in that: The deflection body includes a rotating wheel and a counterweight block, the counterweight block is connected to the rotating wheel, the rotating wheel is rotatably arranged on the supporting frame, the zero-position baffle and a plurality of non-zero-position baffles are connected to the rotating wheel, and the center of gravity of the deflection assembly is located at the counterweight block.

5. The intelligent stair transport device according to claim 1, characterized in that: The rotating body further comprises a plurality of telescopic rods, each of which is connected to one end of two adjacent connecting rods away from the wheel hub.

6. The intelligent staircase transport device according to claim 1, characterized in that: The support foot includes a support rod, a support foot rotating motor and a support roller. The support rod is connected to the rotating body, the support roller is connected to the side of the support rod away from the rotating body, and the support foot rotating motor is arranged on the support rod and is transmission-connected to the support roller.

7. The intelligent stair transport device according to any one of claims 1 to 4, characterized in that: The intelligent stair handling device also includes a support centering mechanism, which is installed on the second support end. The support centering mechanism includes a support seat, a support clamping assembly and a centering adjustment assembly. The support seat includes the bearing surface, and the support clamping assembly is movably arranged on the support seat and protrudes from the bearing surface. The centering adjustment assembly is arranged on the support seat and connected to the support clamping assembly, and is used to drive the support clamping assembly to move.

8. The intelligent staircase transport device according to claim 7, characterized in that: The support clamping assembly includes a first clamp group and a second clamp group, the centering adjustment assembly includes a driving motor and an elliptical adjustment block, the driving motor is signal-connected to the control mechanism, the first clamp group abuts against two ends of the long axis direction of the elliptical adjustment block, and the first clamp group is slidably arranged on the support seat along the long axis direction, the second clamp group abuts against two ends of the short axis direction of the elliptical adjustment block, and the second clamp group is slidably arranged on the support seat along the short axis direction.

9. The intelligent stair transport device according to claim 8, characterized in that: The support seat includes a first support plate, a second support plate and a plurality of support columns, the first support plate is installed on the second support end, the second support plate is opposite to the first support plate, the plurality of support columns are connected between the first support plate and the second support plate, the bearing surface is arranged on a side of the second support plate away from the first support plate, the elliptical adjustment block is located between the first support plate and the second support plate, and the support clamping assembly is movably installed on the first support plate and protrudes from the second support plate.

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