An adaptive anti-tilt protection system for transfer machines based on multiple sensors

Abstract

The present invention discloses an adaptive anti-tilt protection system for a transfer machine based on multiple sensors. The system belongs to the field of medical transfer machines, and includes a lowering and translational module, a bed module and a counterweight support anti-tilt module; the lifting and translational module includes a lifting motor, a lifting mechanism, a translational motor, a translational mechanism, a strain sensor, a slave controller and a hanger; the bed module includes a bed motor, a bed board, a bed bottom frame, a universal wheel, a strain sensor and a main controller; the counterweight support anti-tilt module includes a counterweight motor, a support motor, a counterweight mechanism, a support mechanism, a strain sensor and an obstacle sensor; the present invention monitors and detects the center of gravity of the current equipment through a strain sensor, and calculates the position of the current counterweight support anti-tilt module that needs to be adjusted in combination with the weight of the person being transferred measured by the lifting and translational module and the expected transfer distance, so as to realize the automation of anti-tilt adjustment during the transfer process, save the transfer time, and avoid the equipment overturning and human body injury caused by manual adjustment.

Description

Technical Field

[0001] The present invention belongs to the field of medical transfer machines, and relates to a medical transfer machine based on multiple sensors, that is, a medical transfer machine that can adapt to an application environment; specifically, it relates to a transfer machine adaptive anti-tilt protection system based on multiple sensors. Background Art

[0002] In the prior art, medical transfer machines are mainly used to directly transfer disabled patients or immobilized patients between operating tables, examination tables and hospital beds. In medical institutions, patients with severe illnesses or spinal injuries are very likely to suffer secondary injuries during manual transfer, and require experienced caregivers to focus on operations; and the increasing number of overweight patients often requires several medical staff to complete a transfer, which puts a great burden on medical staff. Conventional transfer machines are mainly divided into two types: overhead rails and floor-standing hanging types. The overhead rail type requires laying tracks in wards and operating rooms, and all through doors need to be modified for the tracks. It is not applicable to multi-floor transfers of elevators, so it is less used in China. At present, the floor-standing hanging type is more widely used in China, among which the simple structure of sitting-type lifting is more common, which requires caregivers to have certain nursing knowledge to assist patients in sitting up, and the scope of application is limited. Lying-type lifting has been the mainstream research and development direction in the industry in the past two years, and is used to solve the problem of transferring overweight patients or patients who cannot change their positions.

[0003] The main difficulty of lying lifting at present is that the equipment usually adopts the form of support or counterweight to adjust the center of gravity of the equipment, but the current adjustment method relies on the operator's estimation, and it is impossible to correctly confirm whether the current center of gravity adjustment method is effective, which may easily cause the equipment to overturn due to insufficient or excessive center of gravity when lifting patients, causing safety accidents. In addition, the two anti-tilt methods require the operator to fully observe the on-site environment. If they are not careful, the anti-tilt mechanism may interfere with external objects, which may cause the anti-tilt mechanism to cause damage to pedestrians, or cause overturning due to interference between the mechanism and walls, bed, etc. Summary of the invention

[0004] Purpose of the invention: The purpose of the present invention is to solve the problem of overturning caused by improper adjustment of the center of gravity, reduce the difficulty of operation for operators, eliminate the possibility of interference between the mechanism and external objects, and improve the safety of the product. An adaptive anti-tilt protection system for a transfer machine based on multiple sensors is provided, which can effectively solve the problems involved in the above-mentioned background technology.

[0005] Technical solution: The multi-sensor based adaptive anti-tilt protection system for a transfer machine described in the present invention comprises a bed module (2), and a lifting and translation module (1) is installed at the upper end of the bed module (2);

[0006] The lifting and translation module (1) comprises two translation mechanisms (104) mounted on the bed module (2), wherein a translation motor (103) is respectively mounted in the translation mechanism (104).

[0007] A lifting mechanism (102) is connected to the other ends of the two translation motors (103), and a lifting motor (101) is fixedly mounted on the lifting mechanism (102);

[0008] A hanger (107) is installed at the upper end of the lifting mechanism (102);

[0009] At least four strain sensors (105) are installed between the four corner connection ends of the hanger (107) and the lifting mechanism (102); the hanger (107) is connected to the lifting mechanism (102) via the installed strain sensors (105).

[0010] Furthermore, the translation mechanism (104) is installed on both sides of the lifting mechanism (102);

[0011] A slave controller (106) is installed inside the lifting mechanism (102);

[0012] Each device is connected to the slave controller (106) via wireless signals.

[0013] Furthermore, the bed module (2) comprises a bed bottom frame (203), bed motors (201) are respectively installed on both sides of the upper wall of the bed bottom frame (203), and bed boards (202) are installed on the upper ends of the bed motors (201) on both sides;

[0014] A second strain sensor (205) is installed between the bed board (202) and the bed motor (201); the bed board (202) and the bed motor (201) are connected via the installed second strain sensor (205);

[0015] At least four universal wheels (204) are also installed on the bed bottom frame (203); the four universal wheels (204) are respectively installed on the bed bottom frame (203) through four installed strain sensors (205);

[0016] A main controller (206) is installed inside the bed bottom frame (203);

[0017] Each device is connected to the main controller (206) mutually.

[0018] Furthermore, the slave controller (106) and the master controller (206) are interconnected.

[0019] Furthermore, a counterweight support anti-tilt module (3) is installed on the bed module (2).

[0020] The counterweight support anti-tilt module (3) comprises at least two counterweight motors (301), a support motor (302), a counterweight mechanism (303) and a support mechanism (304);

[0021] The two counterweight mechanisms (303) are respectively installed on both sides of the rear part of the bed module (2).

[0022] The two counterweight motors (301) are respectively mounted on the two counterweight mechanisms (303).

[0023] The counterweight motor (301) is connected to the main controller (206);

[0024] The two support mechanisms (304) are respectively installed on both sides of the front of the bed module (2), and strain sensors (305) are also installed on the front support feet of the support mechanisms (304);

[0025] A supporting motor (302) is also installed on the bed module (2).

[0026] Furthermore, a weight is installed at the other end of the counterweight mechanism (303), and obstacle sensors (306) are installed on the outsides of the two weights respectively.

[0027] An obstacle sensor (306) is installed at the other end of the support mechanism (304).

[0028] Furthermore, the main controller (206) calculates the current center of gravity of the device in real time based on the strain sensor 2 (205) installed on the universal wheel (204) and the strain sensor 3 (305) installed on the support mechanism (304);

[0029] The main controller (206) obtains the strain sensor 1 (105) installed under the hanger (107) from the slave controller (106), and integrates the strain sensor 2 (205) installed under the bed board (202) to calculate the current equipment load in real time.

[0030] Furthermore, according to the current center of gravity and load of the device, combined with the travel data of the translation motor (103) obtained from the controller (106), the current movement amount of the counterweight mechanism (303) and the support mechanism (304) is dynamically calculated;

[0031] The main controller (206) coordinates the amount of movement between the counterweight mechanism (303) and the support mechanism (304) based on obstacle sensors (306) installed on the counterweight mechanism (303) and the support mechanism (304) to avoid interference with external objects.

[0032] Beneficial effect: Compared with the prior art, the present invention is characterized in that: the present invention can detect the current actual environmental conditions through the obstacle detection function of the counterweight support anti-tilt module, monitor the center of gravity of the current equipment in real time through the strain sensors of the bed module and the support mechanism, and detect, combined with the weight of the transported person and the expected transport distance measured by the lifting and translation module, calculate the position that needs to be adjusted for the current counterweight support anti-tilt module, realize the automation of anti-tilt adjustment during the transport process, effectively save the transport time, and avoid equipment overturning and human injury caused by manual adjustment of the anti-tilt mechanism. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0034] Figure 2 It is a structural schematic diagram of the lifting and translation module in the present invention;

[0035] Figure 3 It is a structural schematic diagram of the bed module in the present invention;

[0036] Figure 4 It is a connection diagram of the counterweight support anti-tilt module in the present invention;

[0037] Figure 5 Schematic diagram of the center of gravity measurement principle and threshold setting range in an embodiment of the present invention;

[0038] Figure 6 is a flow chart of the logic of the inward transport process in an embodiment of the present invention;

[0039] Figure 7 It is a flow chart of the outward transport process logic in an embodiment of the present invention;

[0040] Figure 8 is a flow chart of the dynamic adjustment logic of the adaptive anti-tilt system in an embodiment of the present invention;

[0041] In the figure, 1 is a lifting and translation module, 101 is a lifting motor, 102 is a lifting mechanism, 103 is a translation motor, 104 is a translation mechanism, 105 is a strain sensor 1, 106 is a slave controller, and 107 is a hanger;

[0042] 2 is a bed module, 201 is a bed motor, 202 is a bed board, 203 is a bed bottom frame, 204 is a universal wheel, 205 is a strain sensor 2, and 206 is a main controller;

[0043] 3 is a counterweight support anti-tilt module, 301 is a counterweight motor, 302 is a support motor, 303 is a counterweight mechanism, 304 is a support mechanism, 305 is a strain sensor 3, and 306 is an obstacle sensor. DETAILED DESCRIPTION

[0044] The present invention will be further described below in conjunction with the embodiments.

[0045] As shown in the figure, the multi-sensor based adaptive anti-tilt protection system for a transfer machine described in the present invention is composed of three modules, namely: a lifting and translation module 1, a bed module 2 and a counterweight support anti-tilt module 3;

[0046] Among them, the lifting and translation module 1 is mainly responsible for adjusting the height and horizontal movement of the person being transported;

[0047] Four strain sensors 105 are integrated on the lifting and translation module 1, which can measure the weight of the transported object;

[0048] The bed module 2 mainly cooperates with the lifting and translation module 1 to achieve leveling between the equipment and the transport bed through sensors;

[0049] The counterweight support anti-tilt module 3 adjusts the center of gravity of the device by adjusting the counterweight mechanism at the rear of the device or adjusting the support mechanism at the front of the device. At the same time, it integrates an obstacle detection function and can monitor in real time whether there is any object interference in the movement path of the mechanism;

[0050] The lifting and translation module includes a lifting motor 101, a lifting mechanism 102, a translation motor 103, a translation mechanism 104, a strain sensor 105, a slave controller 106 and a hanger 107;

[0051] The hanger 107 can carry the person being transported, and four strain sensors 105 are installed between the hanger 107 and the lifting mechanism component 102;

[0052] The lifting mechanism 102 and the lifting motor 101 are connected to each other, and the lifting motor 101 controls the movement of the lifting mechanism 102 to achieve the lifting and lowering of the hanger 107;

[0053] The translation motor 103 is connected to the lifting mechanism 102 to control the horizontal movement of the lifting mechanism 102; the slave controller 106 is installed in the lifting mechanism 102 to control the translation motor 103 and the lifting motor 101, obtain the data of the strain sensor 105, and communicate with the main controller 206 in the bed module 2, and is controlled by the main controller 206;

[0054] The bed module 2 includes a bed motor 201, a bed board 202, a bed bottom frame 203, universal wheels 204, a strain sensor 205 and a main controller 206;

[0055] The bed board 202 can carry the person being transported, and the bed motor 201 and the bed board 202 are connected to each other via a strain sensor 205 installed therein, and the strain sensor 2 can measure the load weight on the bed board 202;

[0056] The bed motor 201 is installed on the bed bottom frame 203 and can control the bed board 202 to move up and down;

[0057] The four universal wheels 204 are connected to the bed bottom frame 203 via the strain sensor 206, so as to measure the current center of gravity range of the device;

[0058] The main controller 206 is installed on the bed bottom frame 203, and is used to control the bed motor 201 and the counterweight support anti-tilt module 3, and is used to obtain data from the strain sensor 205 and the obstacle sensor 306 in the counterweight support anti-tilt module 3, and communicate with the slave controller 106 in the lifting and translation module 1, so as to control the slave controller 106;

[0059] The counterweight support anti-tilt module 3 includes a counterweight motor 301, a support motor 302, a counterweight mechanism 303, a support mechanism 304, a strain sensor 305 and an obstacle sensor 306;

[0060] The counterweight motor 301 and the counterweight mechanism 303 are installed on the bed module 2. The counterweight motor 301 is controlled by the main controller 206 in the bed module 2 and is used to drive the counterweight mechanism 303 to change the center of gravity of the device.

[0061] The support motor 302 and the support mechanism 304 are installed on the bed module 2, and the support motor 302 is controlled by the main controller 206 in the bed module 2 to drive the support mechanism 304 to change the center of gravity position of the device;

[0062] A strain sensor 305 is installed on the support mechanism 304, which can be used together with the strain sensor 205 in the bed module 2 to calculate the current center of gravity position;

[0063] Obstacle sensors 306 are installed on both the counterweight mechanism 303 and the support mechanism 304 to detect whether there is interference with external objects between the two mechanisms.

[0064] Furthermore, the system will measure the weight of the person being transported based on the current bed module 2 and the lifting and translation module 1 to confirm whether the person being transported exceeds the safety load limit designed for the equipment.

[0065] Furthermore, the system may define the user's transfer distance based on the user's settings and give priority to the use of counterweights or anti-tilt mechanisms.

[0066] Furthermore, the system will predict in advance whether the equipment can be safely transferred based on the currently set transfer mode and transfer distance, combined with the weight of the person being transferred.

[0067] Furthermore, during the transportation process, the system will dynamically adjust the center of gravity according to the center of gravity conditions measured by the bed module 2 and the counterweight support anti-tilt module 3 to ensure that the center of gravity is always within the safety threshold.

[0068] Furthermore, during the transportation process, when a mechanism in the counterweight or support detects an obstacle and cannot continue to move, another anti-tilt mechanism will be used to compensate. When both mechanisms cannot meet the current anti-tilt requirements, the system will prompt the user that further transportation is impossible and needs to be recovered.

[0069] Furthermore, in the default state, the system will use both the counterweight and the support mechanism to achieve transfer in the minimum space.

[0070] Specifically, the present invention provides a multi-sensor based adaptive anti-tilt system for a transfer machine, which is composed of three modules, namely: a lifting and translation module 1, a bed module 2 and a counterweight support anti-tilt module 3;

[0071] The lifting and translation module includes a lifting motor 101, a lifting mechanism 102, a translation motor 103, a translation mechanism 104, a strain sensor 105, a slave controller 106 and a hanger 107;

[0072] Among them, the lifting motor 101 is fixed on the lifting mechanism 102 to control the lifting and lowering of the lifting mechanism 102; the hanger 107 is connected to the lifting mechanism 102 through four strain sensors 105; the two translation motors 103 are respectively installed in the two translation mechanisms 104, and the translation mechanisms 104 are installed on both sides of the lifting mechanism 102; the slave controller 106 is installed inside the lifting mechanism 102 to control the movement of the lifting motor 101 and the two translation motors 103, and collect data from the four strain sensors 105, and communicate with the main controller 206 in the bed module 2, and is controlled by the main controller 206.

[0073] The bed module 2 includes a bed motor 201, a bed board 202, a bed bottom frame 203, a universal wheel 204, a strain sensor 205 and a main controller 206;

[0074] The bed board 202 is installed on two bed motors 201 through four strain sensors 205, and the two bed motors 201 can control the rise and fall of the bed board 202;

[0075] The two bed motors 201 are mounted on the bed bottom frame 203;

[0076] The four universal wheels 204 are respectively mounted on the bed bottom frame 203 through four strain sensors 205;

[0077] The main controller 206 is installed in the bed bottom frame 203, and is used to control the operation of the bed motor 201 and the counterweight support anti-tilt module 3, and communicate with the slave controller 106 through wireless signals to control the lifting and translation module 1.

[0078] The counterweight support anti-tilt module 3 includes a counterweight motor 301, a support motor 302, a counterweight mechanism 303, a support mechanism 304, a strain sensor 305 and an obstacle sensor 306;

[0079] Among them, two counterweight mechanisms 303 are respectively installed on both sides of the rear part of the bed module 2, a weight is respectively installed on the counterweight mechanism, and obstacle sensors 306 are respectively installed on the outside of the two weights; two counterweight motors 301 are respectively installed on the two counterweight mechanisms 303 to control the movement of the counterweight mechanisms 303; two support mechanisms 304 are respectively installed on both sides of the front part of the bed module 2, strain sensors 305 are installed on the front support feet of the support mechanisms 304, and obstacle sensors 306 are installed at the front end of the support mechanisms 304 to detect the state of the front part of the support.

[0080] The working principle of the present invention is as follows: Figure 5 As shown, through the four strain sensors 205 installed under the bed module 2 and the two strain sensors 305 installed on the support feet, and through the extension of the two support motors 302, multiple boundaries of the center of gravity of the equipment can be calculated;

[0081] Among them, the limit boundary determines the gravity limit of the equipment. When the gravity center exceeds this boundary, the equipment is not allowed to move; the safety boundary determines the safe working boundary of the equipment. When the gravity center of the equipment is between the limit boundary and the safety boundary, except for the counterweight support anti-tilt module 3, other mechanisms are not allowed to move;

[0082] When within the safety boundary, all agencies can move freely;

[0083] The stability boundary determines the stability posture boundary of the device. When the center of gravity of the device is within the stability boundary, the counterweight support anti-tilt module 3 does not need to move, and the other mechanisms move on their own.

[0084] The system adjustment process is to adjust the center of gravity toward the stable boundary. The center of gravity can still be within the normal working range within the safety boundary, but at this time the counterweight support anti-tilt module 3 needs to intervene to adjust the center of gravity; after exceeding the safety boundary, continuing to move the lifting and translation module 1 may cause the equipment to overturn, so at this time the lifting and translation module 1 will be prohibited from moving until the counterweight support anti-tilt module 3 adjusts the center of gravity to within the safety boundary.

[0085] like Figure 6 The process flow of the equipment inward transfer shown in the figure requires manual input of the weight of the person being transferred at the beginning of the transfer. If the weight is not input, the maximum load weight will be used for execution. If the input weight exceeds the safe motion load of the equipment, it will be prompted that the next step cannot be performed. If it does not exceed the safe load, the transfer distance will be set. If the transfer distance is not set, the maximum transfer distance will be used for execution. At this time, the amount of movement that the counterweight support anti-tilt module 3 needs to perform in advance can be calculated based on the weight and the transfer distance, and then the translation mechanism 104 is controlled to extend, the bed plate 202 is lowered, and the counterweight mechanism 303 and the support mechanism 304 are extended according to this control amount.

[0086] When the translation mechanism 104 reaches the position of the person to be transferred, the lifting mechanism 102 is controlled to rise while continuously measuring the current load. When the current weight exceeds the safe load, a warning is issued and the movement is stopped; when the weight is greater than the expected weight, the movement amount of the anti-tilt mechanism is recalculated and updated; finally, according to the movement amount, the lifting mechanism is controlled to descend, the translation mechanism 104 is recovered, the bed board 202 is raised, and the counterweight mechanism 303 and the support mechanism 304 are recovered.

[0087] like Figure 7 As shown in the process flow of outward transport of the equipment, the equipment will first measure the current weight of the person being transported through the strain sensors on the bed board 202 and the lifting mechanism 102. If the person being transported is overweight, it will issue a warning and stop the movement. If it is not overweight, the transfer distance will be set, and the movement of the counterweight support anti-tilt module 3 will be calculated according to the current transfer distance and load capacity, and the lifting mechanism 102 will be controlled to rise, the translation mechanism 104 will be extended, the bed board 202 will be lowered, the counterweight mechanism 303 will be extended, and the support mechanism 304 will be extended.

[0088] like Figure 8, during the inward and outward transport processes, the system will automatically perform the work of adjusting the center of gravity to achieve the purpose of anti-tilting; through the strain sensor 2 205 installed on the four universal wheels 204 under the bed module 2, and the strain sensor 3 305 installed on the support mechanism 304 on the counterweight support anti-tilt module 3, the current center of gravity position can be measured in real time, and the current limit boundary, safety boundary and stability boundary can be determined according to the current support mechanism 304 stroke; when the equipment is within the stability boundary, the equipment does not adjust the counterweight support mechanism 304; when the center of gravity exceeds the stability boundary but is still within the safety boundary, it will first be determined whether the equipment is over-limited in the X-axis or the Y-axis. Since the equipment does not have a processing measure for the X-axis over-limit, the equipment movement will be stopped when the X-axis exceeds the limit; when the Y-axis of the equipment is in the positive over-limit, the center of gravity of the equipment is deviated forward, and there is a possibility of forward overturning; at this time, the counterweight mechanism 303 is adjusted first, when When the counterweight mechanism 303 reaches its limit or the obstacle sensor 306 on the counterweight mechanism 303 detects that the obstacle cannot continue to move, the support mechanism 304 is adjusted. When the support mechanism 304 reaches its limit or the obstacle sensor 306 on the support mechanism 304 detects that the obstacle cannot continue to move, it means that the adjustment limit has been reached, and a warning will be issued at this time; when the center of gravity returns to the stable boundary, the warning is eliminated; when the Y-axis of the device is in a negative overlimit, it means that the center of gravity of the device is deviated backward and there is a possibility of overturning backward; when the center of gravity exceeds the safety boundary but is still within the limit boundary, a warning will be issued at this time, the movement of the upgraded translation module 1 is stopped, and the counterweight support anti-tilt module 3 is controlled to adjust the center of gravity. When the center of gravity returns to the stable boundary, the warning is eliminated; when the center of gravity exceeds the limit boundary, the device is very likely to overturn. At this time, the system will immediately stop all mechanism movements to ensure the safety of the equipment and issue continuous warnings until the center of gravity is restored.

[0089] The above are only preferred embodiments of the present invention, and the protection scope of the present invention is not limited to the above embodiments. All technical solutions under the concept of the present invention belong to the protection scope of the present invention. It should be pointed out that for ordinary technicians in this technical field, some improvements and modifications without departing from the principle of the present invention should be regarded as the protection scope of the present invention.

Claims

1. A multi-sensor based adaptive anti-tilt protection system for a transfer machine, characterized in that: It comprises a bed module (2), wherein a lifting and translation module (1) is installed at the upper end of the bed module (2); The lifting and translation module (1) comprises two translation mechanisms (104) mounted on the bed module (2), wherein a translation motor (103) is respectively mounted in the translation mechanism (104). A lifting mechanism (102) is connected to the other ends of the two translation motors (103), and a lifting motor (101) is fixedly mounted on the lifting mechanism (102); A hanger (107) is installed at the upper end of the lifting mechanism (102); At least four strain sensors (105) are installed between the four corner connection ends of the hanger (107) and the lifting mechanism (102); the hanger (107) is connected to the lifting mechanism (102) via the installed strain sensors (105); The bed module (2) comprises a bed bottom frame (203), bed motors (201) are respectively installed on both sides of the bed bottom frame (203), and bed boards (202) are installed on the upper ends of the bed motors (201) on both sides; A second strain sensor (205) is installed between the bed board (202) and the bed motor (201); the bed board (202) and the bed motor (201) are connected via the installed second strain sensor (205); At least four universal wheels (204) are also installed on the bed bottom frame (203); the four universal wheels (204) are respectively installed on the bed bottom frame (203) through four installed strain sensors (205); A plurality of main controllers (206) are installed inside the bed bottom frame (203), and the bed motor (201) is connected to the main controllers (206); Each device is connected to a main controller (206); A counterweight support anti-tilt module (3) is also installed on the bed module (2). The counterweight support anti-tilt module (3) comprises at least two counterweight motors (301), two support motors (302), two counterweight mechanisms (303) and two support mechanisms (304); The two counterweight mechanisms (303) are respectively installed on both sides of the rear part of the bed module (2). The two counterweight motors (301) are respectively mounted on the two counterweight mechanisms (303). The counterweight motor (301) is connected to the main controller (206); The two support mechanisms (304) are respectively installed on both sides of the front of the bed module (2), and strain sensors (305) are also installed on the front support feet of the support mechanisms (304); A support motor (302) for controlling the movement of the support mechanism (304) is also installed on the bed module (2); The main controller (206) calculates the current center of gravity of the device in real time based on the strain sensor 2 (205) installed on the universal wheel (204) and the strain sensor 3 (305) installed on the support mechanism (304); The main controller (206) obtains the strain sensor 1 (105) installed under the hanger (107) from the slave controller (106), and integrates the strain sensor 2 (205) installed under the bed board (202) to calculate the current equipment load in real time.

2. The multi-sensor based adaptive anti-tilt protection system for a transfer machine according to claim 1, characterized in that: The translation mechanism (104) is installed on both sides of the lifting mechanism (102); A slave controller (106) is installed inside the lifting mechanism (102); Each device is connected to the slave controller (106).

3. The multi-sensor based adaptive anti-tilt protection system for a transfer machine according to claim 1, characterized in that: The slave controller (106) and the master controller (206) are interconnected.

4. The multi-sensor based adaptive anti-tilt protection system for a transfer machine according to claim 1, characterized in that: A weight is installed at the other end of the counterweight mechanism (303), and obstacle sensors (306) are installed on the outsides of the two weights respectively; An obstacle sensor (306) is installed at the other end of the support mechanism (304).

5. The multi-sensor based adaptive anti-tilt protection system for a transfer machine according to claim 1, characterized in that: According to the current center of gravity and load condition of the equipment, the main controller (206) combines the travel data of the translation motor (103) obtained from the slave controller (106) to dynamically calculate the current movement amount of the counterweight mechanism (303) and the support mechanism (304) and control them to achieve anti-tilt; The main controller (206) coordinates the amount of movement between the counterweight mechanism (303) and the support mechanism (304) based on obstacle sensors (306) installed on the counterweight mechanism (303) and the support mechanism (304) to avoid interference with external objects.

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