Improved self-propelled stair climber

Abstract

The invention relates to a self-propelled cargo ladder climber (1), comprising: first and second motorized tracks (2, 3) having an elongated configuration parallel to a straight forward direction of travel; a load surface (4) implemented to be inclined relative to the tracks (2, 3) about a first transverse axis perpendicular to the tracks; an actuating stabilizing member (6') movable between an extended position, wherein the weight of the ladder climber is at least partially carried by the stabilizing member, and a retracted position, wherein the stabilizing member is not loaded with the weight; a proximity or support sensor (32, 33) carried by the stabilizing member (6') to send a signal of proximity or contact with a floor; and an electronic control unit programmed to activate the first track (2) and the second track (3) based on the signal when the stabilizing member (6') is extended, and to check that the inclination of the load surface (4) is maintained within a predetermined angular range relative to the horizontal.

Description

Technical Field

[0001] The present invention relates to a high performance ladder climber. More particularly, the present invention relates to a cart-type ladder climber for transporting at least one load and / or person, and can be used to climb stairs, ramps or other inclined paths, as well as on generally flat paths. Background Art

[0002] Motorized ladder climbers are known for transporting bulk goods (e.g., on construction sites) and packaged goods (e.g., boxes including various types of objects) along a climbing portion of a ladder, particularly where no elevator or freight elevator is present. For example, loads to be transported (whether packaged or not) may include vending machines, copy machines, motors and parts for elevators, furnaces, fireplaces, boilers, machinery and generally various materials (including building materials).

[0003] There is currently an increasing demand to increase the level of automation of known motorized stair climbers and at the same time ensure a high level of safety, in particular to prevent them from tipping over.

[0004] Furthermore, it is important that the overall dimensions of the ladder climber are compact and in particular that the center of gravity of the ladder climber is as low as possible to make tipping more difficult, thereby allowing for proper protection of the cargo and / or the safety of operators or persons passing near the ladder climber while it is in operation.

[0005] US2006 / 124366 discloses a motor vehicle provided with two tracks, and a pair of front wheels and a pair of rear wheels. In particular, the pair of rear wheels are driven and mounted on an oscillating arm operated by an actuator so that the rear wheels can present two conditions: a first condition in which the movement of the vehicle is performed only by the wheels, and a second condition in which the movement of the vehicle is performed by the track in combination with the pair of driven rear wheels.

[0006] US2003 / 121705 discloses a motor vehicle having a chassis on which a seat is mounted and provided with a pair of parallel rails. Furthermore, corresponding to the rear area of ​​the vehicle, a retractable stabilizing arm is mounted, at the end of which an idler wheel is mounted, in order to prevent the vehicle from tipping over during the climbing phase. Furthermore, a lifting arm is mounted between the rails, which is operated by a hydraulic cylinder and has one end hinged to the frame, while a support base is mounted at the other end; in particular, when the lifting arm is activated, the support base protrudes under the rails and contacts the landing part of the climbing part of the ladder or the end of the step, so that the rear area of ​​the entire vehicle is lifted relative to the support base. Summary of the invention

[0007] The object of the present invention is to propose a step climber which allows at least partially to meet the above requirements.

[0008] Another object of the present invention is to propose a stair climber allowing to at least partially overcome the drawbacks and operating limitations of traditional solutions.

[0009] Another object of the invention is to propose a ladder climber which can be used by a single operator and which is extremely safe both during the climbing of the ladder and during the descent.

[0010] Another object of the present invention is to propose step climbers which maintain the carrying characteristics of known step climbers during movement on flat, horizontal or non-inclined surfaces.

[0011] Another object of the present invention is to propose a ladder climber that allows safe and stable handling of the transported goods during the ascent and descent of stairs or generally inclined planes.

[0012] Another object of the present invention is to propose a ladder climber which is simple in construction, inexpensive to manufacture, simple to maintain, easy to transport, and has a reduced size when unloaded.

[0013] Another object of the invention is to propose a step climber that is reliable and durable over time.

[0014] A further object of the invention is to provide a stair climber which can be produced simply, quickly and cost-effectively.

[0015] Another object of the present invention is to propose a ladder climber which has a low weight and is easy to transport.

[0016] Another object of the invention is to propose a stair climber which is an alternative and / or an improvement with respect to conventional solutions.

[0017] Another object of the invention is to propose a stair climber which has an alternative and / or improved configuration with respect to conventional solutions in terms of construction and function.

[0018] In particular, the self-propelled ladder climber according to the present invention comprises:

[0019] a first motorized track and a second motorized track having an elongated configuration parallel to a straight forward direction of travel of the ladder climber;

[0020] a load surface, the load surface being embodied inclined relative to the rail about a first transverse axis, preferably perpendicular to the rail;

[0021] a stabilizing member, for example, comprising an arm, which is embodied for movable stabilization between an extended position, in which the weight of the step climber is at least partially borne by the arm resting on the road surface, and a retracted position, in which the stabilizing arm is not loaded with the weight of the step climber;

[0022] a proximity or support sensor carried by the arm, the proximity or support sensor being actuated to signal proximity or contact with a road surface;

[0023] A control unit programmed to:

[0024] When the stabilizing arm is withdrawn, activating the first track and the second track based on the signal;

[0025] The inclination of the load surface is checked so that the inclination is maintained within a predetermined angle range relative to the horizontal direction.

[0026] Advantageously, in one possible embodiment, a ladder climber according to such a configuration may implement automatic and intelligent functions, in particular by means of a stabilizing member (which advantageously comprises at least one stabilizing arm and a proximity or support sensor), in order to assist the operator, for example when an ascent is ended or a descent is started.

[0027] Preferably, when the stabilizing arm is in the extracted position, the floor of the path along which the step climber moves is approached or supported by the sensor, and the floor can be both an indoor environment (and thus includes floor tiles of various natural materials or artificial and / or concrete slabs, etc.) and an open place (and includes dirt roads or roads not protected by gravel and / or asphalt layers, etc.). Non-limiting examples of contact or proximity sensors are simple switches, optical, inductive, capacitive, magnetic or ultrasonic sensors.

[0028] According to a preferred embodiment of the invention, in the climbing end mode, the electronic control unit is programmed so that when the first rail and the second rail are driven to ascend, the stabilizing arm is progressively (in continuous and / or step mode) extracted based on a signal of the proximity or support sensor indicating contact between the stabilizing arm and the road surface or indicating that the distance between the stabilizing arm and the floor is less than a predetermined threshold.

[0029] In this way, the stabilizing arm remains close to or in contact with the road surface while the step climber continues to advance on the ascending or climbing portion of the stairs, and this generally contributes to increasing the stability of the step climber in the transition complex defined by the end of the inclined path (e.g. the climbing portion of the stairs). In fact, when the track moves backward from the inclined path, the stabilizing arm has approached or contacted the road surface, because the shift in the center of gravity has caused the weight to shift on the stabilizing arm in the retracted position. In fact, the stabilizing arm defines a support on which a progressively increasing portion of the weight of the step climber can be loaded when the track is raised at the rear. Conveniently, by the presence of an inertial sensor (e.g. an inertial platform or one or more accelerometers) on the load surface, the control unit is programmed to adjust the position of the load surface while the load of the stabilizing arm is progressively increasing and the track only partially contacts the ascending portion of the stairs. In this condition, in fact, the frame undergoes a change in angular position relative to the horizontal, which change is caused by the advancement of the track. The position of the load surface must be modified by compensation (i.e., compared to this change in the angular position of the frame) to keep the load in a sufficiently stable position, i.e., sufficiently close to the horizontal. This compensation can be synchronized with the movement of the track, or it can be sequential, i.e., the track advances a predetermined amount, stops, and the load floor rotates towards the horizontal, etc.

[0030] Conveniently, the detection of the landing may be performed generally automatically using sensors, or manually via a user (or operator) entering commands on a user interface.

[0031] Advantageously, the end-of-climbing process can be initiated when the operator sees that the stabilizing arms may be withdrawn or manually, for example via remote control, while the rail is still in stable contact with the inclined path. Otherwise, suitable sensors (e.g. optical sensors, such as cameras or proximity or support sensors, where "proximity" is interpreted as a measure of distance, such as ultrasound, radar, etc.) are provided on the ladder climber to detect the end of climbing, i.e. the absence of an obstacle, and allow the electronic control unit to automatically initiate the end-of-climbing process after processing the signals generated by the sensors and / or other obstacle detectors. This makes it possible to automate the operation of the ladder climber during the transport of the load and to increase comfort and safety when, according to a non-limiting example, the load floor carries a wheelchair for a disabled person, who can then climb the stairs facing upward.

[0032] According to a preferred embodiment of the invention, in the descent start mode, the control unit is programmed to cause the stabilizing arm to be withdrawn to lift a portion of the track away from a portion of the track adjacent to the descent start area; the track is then operated to descend the ladder and after a signal generated by the stabilizing sensor indicating a non-contact (particularly, the landing is initiated) or indicating that the distance between the arm and the floor (particularly, the ground surface for the landing is initiated) is above a predetermined threshold, the stabilizing arm is brought to the retracted position. Preferably, synchronously with the movement of the stabilizing arm or in a preparatory phase before the inclination of the track, the inclination of the load surface is modified by the control unit and a suitable actuator to maintain the load in a position suitable for descent, for example horizontally or inclined towards the rear to move the center of gravity and therefore the weight of the ladder climber towards the stabilizing arm.

[0033] In this way, the track is pre-inclined before advancing on the descending part, and this makes the transients smoother, especially in the case of edges with high local slope changes, as occur, for example, at the climb of stairs. In addition, in this case, the electronic control unit controls the angular position of the load surface by means of inertial sensors in a synchronous or sequential manner with the drive motor of the track, so as to keep the load stable in a predetermined position. Conveniently, the descent start process is initiated manually by the operator, for example, via remote control or via specific sensors, such as sensors of the end of the ascending process, for example optical sensors and / or proximity or support sensors capable of detecting the descent start or slope change before the ladder climber travels on this descending part or advances on a new slope. According to a first embodiment, the extracted position of the stabilizing arm makes the track reach a predetermined inclined position to have an angle less than or equal to the slope according to the ladder standard (such as, for example, 75° in Italy), making it possible for the advancement of the track to overcome the edge of the first descending step and reach the edge of the second descending step, while the inclination change of the track itself is relatively small or negligible. During such movement, the predetermined position of the load floor is such as to ensure that the center of gravity of the loaded step climber is positioned so that most of the weight is carried by the stabilizing arm. According to this embodiment, the track motor includes a speed sensor (e.g., an angle encoder) or other sensor configured to measure the advancement of the step climber toward the second step. Retraction of the stabilizing arm is commanded after sufficient progress is detected (e.g., above a predetermined threshold and calculated such that the track rests on the edge of the first and second steps) so that the track can continue along the descending portion.

[0034] Alternatively, the ladder climber may include a second inertial sensor to measure the inclination of the track, and this measurement is compared with the measurement of the load surface to establish a retraction condition for the stabilizing arm. For example, when the load surface inclination sensor and the track sensor measure a constant angle with each other at a predetermined time, the stabilizing arm is retracted while the ladder climber is advanced along the descent: in fact, this condition is verified when the track rests on the edge of two adjacent steps.

[0035] According to a preferred embodiment of the present invention, the ladder climber comprises a hollow support structure to which a load surface is hinged and connected to the first and second rails, and a first actuator for controlling the inclination of the load surface and a second actuator for controlling the stabilizing arm are accommodated in the hollow support structure.

[0036] In this way, the actuators (preferably but not exclusively linear and preferably electrically powered) are accommodated in their respective retracted configurations in a compact manner (eg side by side), and this allows the centre of gravity of the ladder climber to be kept particularly low.

[0037] Furthermore, in the retracted configuration, the two actuators are advantageously substantially parallel and are preferably housed in a volume defined between the rails, thereby making the step climber particularly compact. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] The invention is further described below in some of its preferred embodiments, which are given purely by way of non-limiting examples with reference to the accompanying drawings, in which:

[0039] Figure 1 A left side view of a self-propelled ladder climber according to the present invention;

[0040] Figure 2a to Figure 2e for Figure 1 a corresponding side view of the ladder climber during a relevant phase of a descent start operation;

[0041] Figures 3a to 3e is a corresponding side view of the ladder climber during a relevant phase of an end-of-climb operation;

[0042] Figure 4 A perspective view of a step climber according to the present invention with details removed for clarity;

[0043] Figure 5 a is a plan view of the ladder climber of the present invention, wherein the load surface is inclined; Figure 5 b is based on Figure 5 a sectional view of plane AA;

[0044] Figure 6is an enlarged perspective view of a component of the ladder climber of the present invention, which component relates to a stabilizing member;

[0045] Figure 7 for Figure 8 A left side view of a component;

[0046] Figure 8 is an enlarged perspective view of a component of the ladder climber of the present invention, which relates to a stabilizing member in a second embodiment thereof;

[0047] Fig. 9 for Figure 8 A top plan view of the stabilizing member;

[0048] Fig.10 For along Fig. 9 Side cross-sectional view of the stabilizing member obtained by the XX trace. DETAILED DESCRIPTION

[0049] Figure 1 1 shows a self-propelled ladder climber as a whole, which includes a pair of motorized rails 2, 3 (only one of which is in Figure 1 ) (which is configured to extend along the forward travel direction of the step climber 1); an inclined load surface 4 relative to the rails 2, 3 (for example, to maintain a predetermined position, in particular relative to a horizontal plane); variables (in particular relative to the aforementioned rails 2, 3, based on the inclination of the rails 2, 3; such as, for example, the cargo loaded while the step climber is ascending / descending); a battery pack 5 (to power the onboard actuators of the step climber); and a stabilizing member 6' (which preferably includes one or more stabilizing arms 6, which in the extracted position ( Figure 1 The stabilizing arm 6 is movable between a stabilizing position (shown) and a retracted position (in which the weight of the step climber 1 cannot be applied to the arm 6 itself). For example, the retracted position is such that the stabilizing arm 6 does not protrude relative to the straight main section 7 of the rails 2, 3 in a side view or does not protrude towards the road surface on which the main section rests ( Figure 1 ), or it does not protrude relative to the straight extension of the section.

[0050] exist Figure 1 In the preferred embodiment shown, each track 2, 3 further comprises a lifting section 8, a handle 9 for an operator and a user interface 10; the lifting section 8 is inclined relative to the main section 7 and preferably has a shorter length compared to the latter; the handle 9 is advantageously arranged at a vertical height corresponding substantially to the height of the operator's torso; the user interface 10 is preferably arranged on the handle 9 to manually control the electronic actuator of the ladder climber and / or to activate one or more automatic movement sequences, as will be explained more effectively below. Figure 1In the embodiment example of the invention, the handle 9 is carried by a pair of uprights 11 to define a portal structure, but other configurations are possible, in order to fix the handle 9 at a desired height. Conveniently, the uprights 11 extend between lower and upper ends provided near the rails 2, 3, corresponding to the aforementioned appropriate mechanical mounting and / or restraint of the handle 9. Furthermore, the handle 9 is advantageously tilted together with the uprights 11 about an axis parallel to the load surface 4, and in particular substantially horizontal, in order to make the grip more ergonomic when the ladder climber 1 travels up and down. Preferably, the handle 9 is tilted by rigidly rotating together with the load surface 4, and thus shares the axis of rotation with the latter.

[0051] exist Figure 1 In a preferred but non-limiting example, the user interface 10 is fixed to the handle 9 and may include a keyboard and / or a touch screen which may also be releasable from a support (with or without wires) arranged elsewhere, so that the operator can control the ladder climber 1 even when not in front of the handle 9.

[0052] For example, the user interface 10 comprises at least a button panel and / or a joystick configured to allow a user to operate the ladder climber 1 in a substantially automatic manner in the descent and / or ascent phases, i.e., wherein the ascent and / or descent phases are performed by the ladder climber 1 according to the invention in a substantially autonomous or automatic manner (both manually), i.e., wherein an operator sends commands to the ladder climber via the aforementioned user interface 10 to start and / or complete at least one of the phases provided for descent and / or ascent.

[0053] Preferably, the handle 9 and the lifting section 8 are arranged on the same side of the step climber 1 to conveniently define a rear portion of the step climber, which for example faces the ascending portion. The lifting section 8 allows to have a higher adhesion with the upper edge of the first step of the ascending portion of the ladder, for example; and thus simplifies the advancement of the step climber when the slope along the path changes locally (for example, in a substantially punctual manner) and by a significant degree (according to a non-limiting example, at least 20°).

[0054] This expedient is particularly useful in the case of rails having an elongated configuration, such as in Figure 1 In an embodiment in which the rear drive wheel 12 defines the lifting section 8 and is lifted by the road surface (at this time, the road surface is horizontal), the track is driven to the belt 13, which is preferably connected to the front wheel 14 and the intermediate wheel 45 (which is inserted between the rear wheel 12 and the front wheel 14) and defines the angle change area between the main section 7 and the lifting section 8.

[0055] Advantageously, according to the preferred embodiment shown in the accompanying drawings, the stabilizing member 6 ′ and in particular the stabilizing arm 6 are generally arranged so that, when in the retracted configuration, they are housed in an area laterally delimited between the two rails 2 , 3 corresponding to a lifting section 8 which is inclined relative to the main section 7 of said rails 2 , 3.

[0056] The stair climber 1 also comprises an electronic control unit (not shown in the drawings) programmed to control the onboard electrical / electronic devices based on commands received via the user interface 10 and other possible commands received via specific electronic data communication modules (particularly in the case of wireless materials, for example by Wi-Fi communication protocol, radio frequency, etc.). It is possible that the electronic control unit has several modules, for example a first module programmed to control the load surface 4, a second module programmed to control the stabilizing arm 6, and a third module mechanically mounted on the handle 9 and connected to the other two in a digital exchange manner.

[0057] The electronic control unit is also advantageously programmed to control the automatic execution of the descent start and / or climb start operation and to coordinate the activation of the rails 2 and 3, the load surface 4 and the stabilizing arms 6, in particular following commands given by the user by operating the user interface 10, for example by pressing a dedicated key on a button panel or a joystick.

[0058] In more detail, before starting the descent (e.g. along the climbing portion of the stairs), the electronic control unit commands the withdrawal of the stabilizing arm 6 according to step 100 to raise the middle area of ​​the track ( Figure 2b ). In this configuration, the main section 7 acquires the inclination relative to the road surface before the descent, and the weight of the ladder climber 1 is carried by the stabilizing arm 6 and the front part of the rails 2, 3. As shown in FIG2 , the stabilizing arm 6 is mounted at the rear part of the ladder climber 1, i.e., the part preferably having the lifting part 8 and / or the handle 9; and before the start of the descent start mode, the ladder climber 1 is oriented by the operator to present the rear part of the ladder climber 1 in a position distal to the descent and the front part of the ladder climber 1 in a position adjacent to the descent, as Figure 2a .

[0059] According to step 101, the control unit is also programmed to control the rails 2, 3 synchronously or sequentially with the stabilizing arm 6; and in particular, the rails 2, 3 are sequentially advanced towards the descending portion from the moment when the middle portion loses adhesion (i.e. detaches from the road surface). It is possible that first the stabilizing arm 6 reaches the maximum extracted position and then the rails 2, 3 move forward. According to step 102, the load surface 4 is operated by the electronic control unit based on the inclination of the rails 2, 3 to maintain a predetermined angular position relative to the horizontal plane before and during the descent, for example detected by an inertial sensor (such as one or more accelerometers). In the descent start operation, the load surface 4 may start to tilt synchronously before or after the extraction of the stabilizing arm 6; and advantageously, step 102 is sequential and precedes step 100, i.e. the load surface 4 is tilted, in particular rotated about a substantially horizontal axis of rotation towards the rear portion (preferably together with the handle 9) before the extraction of the stabilizing arm 6, so that when the stabilizing arm 6 is extracted and the main section 7 is lifted, the load plane 4 is brought to a substantially horizontal position or slightly (i.e. in an exemplary and non-limiting manner, not more than 10°) tilted relative to a horizontal reference plane. Preferably, before step 101, the load plane 4 is horizontal or tilted towards the rear portion. In the latter case, the center of gravity of the load is shifted further rearwards, so that most of the load is carried by the stabilizing arm 6, and this weight distribution improves the stability of movement along the descent.

[0060] Continuing with step 102 (i.e., ), the control unit is programmed to push the ladder climber 1 forward on the descending part until the front part of the rails 2, 3 contacts the second step or inclined plane. It should be noted that, although the rails 2, 3 are advanced most of the time except for the first moment, a part of the front end of the rails 2, 3 is suspended on the step / inclined plane until the end part does not contact the second step or inclined plane due to the advancement and sequential rigid rotation of the ladder climber 1. Therefore, it is proposed that the inclination relative to the horizontal part of the rails 2, 3 achieved in stage 100 is close to and may reach but not exceed the inclination of the descending part. According to this embodiment, the extracted position of the arm 6 and / or the length of the arm itself and / or the length of the rails 2, 3 is such as less than or similar to the inclination of the ladder, for example, according to current building construction standards, such as 75° in Italy. In addition, the ladder climber 1 includes a revolution counter or other sensor for directly or indirectly measuring the distance traveled by the rails 2, 3, in particular after the stabilizing arm 6 has been extracted to pre-inclined the rails 2, 3. By means of this measurement, the control unit calculates the distance and compares it with a preset condition to ensure that when this condition is reached, the rails 2, 3 have reached and rest securely on the edge of the second step ( Figure 2b ).

[0061] Otherwise, for example, to be able to adapt to various types of descents, the contact condition of the front part of the rails 2, 3 with the second step / inclined plane is detected and processed by the electronic control unit in various ways, for example by inertial sensors (the contact with the step generates a well-recognizable acceleration peak) or by a dynamometer arranged on the stabilizing arm 6 (by the contact of the front part of the rails 2, 3, the weight is redistributed and in particular the stabilizing arm 6 is unloaded, but at the same time, becomes an obstacle to the further advancement of the rails 2, 3). It is also possible that the step climber 1 comprises other inertial sensors (such as those of the load platform 4, for example) to measure the absolute inclination of the rails 2, 3. In this case, the electronic control unit can be programmed during the descent start process to compare the inclinations of the load surface 4 and the rails 2, 3 and to retract the stabilizing arm 6 when the difference between these inclinations remains constant for a predetermined time (while the step climber 1 is advanced at a predetermined speed): when the rails 2, 3 rest firmly on the two edges of the adjacent steps ( Figure 2b ), this condition occurs.

[0062] When the control unit has satisfied the forward condition or has received a control signal indicating the fact that the main section 7 is sufficiently supported by the step, in step 103 the stabilizing arm 6 is lifted off the floor and retracted. Figure 2b For the transient state, the track is already on the edge of the step, the ladder climber advances and the stabilizing arm retracts synchronously with the advancement, wherein phase 101, step 102 and step 103 are substantially synchronously executed at the same time.

[0063] The descent start operation can be initiated via a manual command, for example, via the user interface 10, by an operator or automatically via an obstacle sensor 15, for example, capable of measuring distances, preferably carried by the front part of the ladder climber 1. Examples of such sensors have been indicated in the previous paragraphs (i.e. optical), for example a video camera or a proximity camera (such as radar or ultrasound). The obstacle sensor 15 is connected to the control unit in a data exchange manner, and the latter is programmed to initiate the descent start operation after a signal of the obstacle sensor 15 indicates that the distance of the front part of the ladder climber 1 relative to the floor exceeds a predetermined threshold, for example, the front part protruding from the floor and facing under the step (Figure 3).

[0064] According to a preferred embodiment, according to the attached Figures 3a to 3e , the control unit is also programmed to automatically perform the end-of-climb operation and coordinate the activation of the rails 2 and 3 , the load surface 4 and the stabilizing arms 6 .

[0065] Advantageously, the movement activation of the stabilizing member 6 ′ and in particular the stabilizing arm 6 may be automatically controlled based on signals of sensors, which are for example obstacle sensors 15 , 16 etc., or it may be controlled based on input provided by an operator acting on a user interface 10 of the ladder climber 1 .

[0066] In particular, at the end of a climb (e.g., along the ascending portion of a staircase), the electronic control unit commands the withdrawal of the stabilizing arm 6 at step 200 in order to bring the arm itself closer to the surface of the climb ( Figure 3a ). In this configuration, the main section 7 remains adhered to the slope (eg to the climbing portion of the stairs) and the weight of the ladder climber 1 is carried by the rails 2 , 3 .

[0067] Advantageously, the extraction of the stabilizing arm 6 is blocked based on the signal of a proximity or support sensor mechanically associated with the stabilizing arm 6 itself to detect contact between the floor and the extracted stabilizing arm 6 or to detect a shorter distance between one head of the stabilizing arm 6 and the floor, such as at a predetermined threshold (e.g. 0.5 cm). Thus, the ladder climber 1 is first oriented by the operator to travel upwards so that the rear part of the ladder climber faces the climbing part itself.

[0068] Advantageously, according to another embodiment in which the sensor 33 is a proximity sensor (for example of the optical type), the proximity or support sensor 33 of the stabilizing arm 6 of the stabilizing member 6 ′ allows to know precisely the relative position of the stabilizing arm 6 with respect to the ground, thus avoiding the need for the arm 6 to be close to the ground itself.

[0069] Advantageously, the provision of mechanically associating / mounting the proximity or support sensor 33 to the stabilizing arm 6 allows knowing the distance to the ground without having to place the ladder climber 1 in an unstable position, thereby keeping the stabilizing arm 6 in the position foreseen in each operating condition, thus contributing to maintaining the overall stability of the ladder climber according to the invention in each operating condition during the entire duration of the ascent and / or descent. The control unit is programmed, after stopping the extraction of the stabilizing arm 6, to activate the advancement of the rails 2, 3 according to step 201 (see attached). Figure 3c). This causes the stabilizing arm 6 to be disengaged from the road surface or to be at a distance greater than a predetermined threshold from said road surface, which follows the ascending portion. This is detected by a contact or proximity sensor; and during step 201, by means of a control unit, the stabilizing arm 6 is further withdrawn until it contacts the road surface or falls below a predetermined threshold. This movement of the stabilizing arm 6 is preferably performed synchronously or sequentially with the movement of the rails 2, 3 (i.e., when the desired contact or proximity of the stabilizing arm 6 to the road surface following the ascending portion is detected, e.g., landing), the rails 2, 3 are controlled to advance by a predetermined amount and measured, for example, by a speed sensor (e.g., an encoder) of the traction motor of the rails. At the end of this predetermined advancement, the rails 2, 3 are locked and the stabilizing arm 6 is further withdrawn until it contacts the landing portion or is adjacent to the landing portion. The withdrawal movement of the stabilizing arm 6 and the advancement of the rails 2, 3 on the ascending portion may be synchronous or sequential. Moreover, at this stage, the stabilizing arm 6 essentially performs the function of a road surface sensor and the weight of the stair climber 1 is carried by the rails 2, 3. When the center of gravity of the ladder climber subsequently exceeds the edge of the last step, the stabilizing arm will begin to carry an increasing share of the weight of the ladder climber.

[0070] According to the climbing end operation, due to the advancement of the rail, the extraction of the arm 6 continues until in step 202, the rear part of the ladder climber 1 loses its grip on the climbing part (e.g., the step), for example, the distance itself ( Figure 3c ). This can be detected directly via the control unit by means of suitable sensors such as, for example, a dynamometer, a microswitch or a proximity / distance sensor present on the stabilizing arm 6 , or indirectly, for example as follows.

[0071] When the front part loses grip, the weight of the step climber 1 is carried by the rails 2, 3 and the stabilizing arm 6, and therefore, the detachment of the stabilizing arm 6 after the advancement of the rails 2, 3 is not caused by the floor. The control unit can determine (e.g. by monitoring the time in which a signal indicating the detachment or removal of the stabilizing arm 6 is received after the advancement of the rails 2, 3) whether the front part is still adhered to the step or inclined plane; or when no signal indicating the detachment or removal of the stabilizing arm 6 is received after the advancement of the rails 2, 3, the weight of the step climber 1 is partially carried by the arm itself and the front part is spaced from the step. Alternatively, an indirect investigation involves the advancement of the step climber 1, for example measured via a tachometer of one or more rail motors and a contact sensor (not approach) of the stabilizing arm 6: if contact (not approach) is detected for a number of revolutions or a predetermined fraction of revolutions of the motor, it means that the stabilizing arm 6 carries a part of the weight of the step climber and the front part of the rails 2, 3 has detached from the step / climbing part.

[0072] Furthermore, in this case it is important that the maximum extracted position of the stabilizing arm 6 is such that the head of the stabilizing arm is spaced from the floor when the main section 7 and in particular the front part contacts the step.

[0073] The end-of-climb operation may be initiated via a manual command of an operator (e.g. via the user interface 10), or automatically by an obstacle sensor 16, which is preferably carried by the rear part of the stair climber 1. Examples of such sensors are optical, e.g. a camera or a proximity camera, examples of which have been indicated in the previous paragraphs. The obstacle sensor is connected to the control unit in a data exchange manner, and the latter is programmed to initiate the end-of-climb operation after the obstacle sensor signal indicates a significant reduction in the inclination, e.g. the achievement of a level surface and / or the absence of an obstacle within a predetermined distance from the rear part ( Figure 3a ).

[0074] Advantageously, the electronic control unit is programmed to ignore the signal of the proximity or contact sensor 33 during the descent start phase.

[0075] In this way, due to the thrust of the stabilizing member 6', the ladder climber 1 can be tilted towards the descent, thereby nominally reaching an unstable equilibrium condition, which is necessary to be able to reach the desired inclination of the inclined plane of the stairs or descent.

[0076] Advantageously, the obstacle detector 16 is mechanically mounted in a rear portion of the step climber 1 and is configured to detect a larger area than the further obstacle detector 15 which is mechanically mounted at a front portion of the step climber 1 .

[0077] Figure 4 A preferred embodiment of a step climber 1 is shown, wherein a support structure 17 carrying rails 2 and 3, a preferred linear actuator 18 for the load surface 4, and a preferred linear actuator 19 for the load stabilizing arm 6 are shown. In particular, the actuator 18 is partially withdrawn, and the actuator 19 is retracted.

[0078] To include the overall dimensions and to keep the center of gravity of the ladder climber 1 low, the support structure 17 defines a window inside which the actuators 18, 19 are housed substantially parallel to each other, the actuators 18, 19 being substantially side by side with the rails 2, 3, respectively, in the retracted configuration, preferably substantially parallel to each other. In particular, the window defined by the support structure 17 opens towards the load surface 4 to allow the actuators 18, 19 to tilt upwards during extraction.

[0079] Preferably, in the retracted configuration, the actuators 18 , 19 are substantially parallel to the longitudinal development direction of the rails 3 , 4 , and in particular, they are substantially parallel to the longitudinal development direction of the main section 7 of the rails 3 , 4 .

[0080] Advantageously, the angle of the actuators 18, 19 with the aforementioned longitudinal development direction of said rails 3, 4 defines a relatively small angle, 30°, preferably less than 20°, and more preferably less than 10°.

[0081] Advantageously, the window defined by the support structure 17 remains defined between the rails 2, 3. Conveniently, in the retracted configuration, the actuator 18 for the load surface 4 and the actuator 19 for the stabilizing arm 6 are side by side, they are parallel to each other and are completely contained within the area (space) defined laterally between the two rails 2, 3 and preferably they are also contained within the overall height defined by said two rails 2, 3, respectively.

[0082] Furthermore, because the actuator 18 is adjacent to the track 2 and is generally parallel (when retracted to the relatively straight main section 7), and the actuator 19 is adjacent to the track 3 and is generally parallel (when retracted to the relatively straight main section 7), the actuator 18 is connected to the load surface 4 at a hinge 20 that is laterally spaced from the centerline of the load surface 4. In particular, the maximum angle defined by at least one of the extractable shafts of the actuators 18, 19 in the retracted configuration together with the main straight section 7 is 30°, when the main straight section 7 rests on the road surface.

[0083] according to Figure 4 In the embodiment of the present invention, the support structure 17 preferably comprises a front cross member 21, a first longitudinal member (hidden by a track cover 22 for carrying the track 2), in particular the intermediate wheels, the front wheels and the rear wheels, a second side member (hidden by a track cover 23 for carrying the track 3), and a rear cross member (not shown). The rear cross member and the front cross member connect the side members to each other, and the actuators 18, 19 are respectively placed side by side with the side members when retracted.

[0084] The load surface 4 comprises a flat wall ( Figure 4 ), and is hinged to the support structure 17, the flat wall being carried underneath by a frame 24. Figure 4 In the embodiment of FIG. 4 , the actuator 18 also tilts the mounting element 11 and the handle 9 , which are rigidly connected to the load surface 4 .

[0085] Figure 5 a is a plan view of the ladder climber 1, wherein the load surface 4 is inclined; and Figure 5 b shows Figure 5 a, wherein the stabilizing arm 6 rotates about the rotation axis A (in the vicinity of Figure 6 and Figure 8 ), the rotation axis A is substantially parallel to the front crossbeam 21 and the inclination axis of the load surface 4. The rotation axis A is therefore transverse, in particular perpendicular to the straight forward travel direction of the ladder climber 1.

[0086] Figure 6 and Figure 8 According to the present invention, a stabilizing member 6' of a ladder climber 1 is shown. Figure 6 The stabilizing member 6' is shown in its first embodiment and is attached Figure 8 The stabilization component 6 ′ is shown in its second embodiment.

[0087] Conveniently, the stabilizing member 6' defines at least one contact area 27', 28', in particular formed by respective rollers 27, 28. These contact areas 27, 28 are configured to contact the ground with the stabilizing member 6' in the retracted configuration to impart a stable balanced configuration to the step climber 1 .

[0088] Advantageously, according to the embodiment of the attached figures, the stabilizing member 6 ′ comprises the aforementioned stabilizing arm 6; the stabilizing arm 6 is double (as will be more clearly described below) and advantageously defines a lever of the first type, about the axis of rotation A, which is disadvantageous for the actuator 19. In this way, a shorter stroke of the actuator 19 corresponds to a greater angular movement of the stabilizing arm 6. The term “lever of the first type” (also known by the term “lever of the first kind” or “lever of the first category”) must be understood in the sense of the present patent as a lever in which the fulcrum is substantially interposed between the two forces acting on the lever.

[0089] Preferably, the stabilizing arm 6 comprises a first branch 25 and a second branch 26 (advantageously substantially parallel to each other) each carrying a respective roller 27, 28 configured to be placed in contact with the floor with the arm 6 in the extracted configuration.

[0090] In more detail, the branches 25, 26 have a generally elongated shape and develop between a first end 25', 26' rotatably mounted to the support structure 17, in particular about the axis of rotation A, and a second end 25", 26", remaining defined corresponding to the aforementioned contact areas 27', 28'.

[0091] Preferably, the contact areas 27 ′, 28 ′ and the axis of rotation A are substantially coplanar.

[0092] Preferably, according to the embodiments shown in the accompanying drawings and with particular reference to the accompanying drawings, Figure 6 To Attachment Fig.10The contact areas 27 ′, 28 ′ remain defined on the outer surfaces (in particular substantially cylindrical) of the two aforementioned rollers 27 , 28 , which are suitably constrained to the branches 25 , 26 rotatably around a second axis of rotation B substantially parallel to the axis of rotation A.

[0093] The branches 25 , 26 are advantageously connected transversely, in particular at their respective first ends 25 ′, 26 ′, by means of a rod 29 which extends along the axis of rotation A and rotates about it.

[0094] Conveniently, the stair climber 1 comprises articulation means 30' mechanically interposed between said actuator 9 and said stabilizing member 6', said articulation means 30' advantageously being configured to allow the linear movement of said actuator 19 to be converted into a rotational movement of said stabilizing member 6' to move it between an extended configuration and a retracted configuration.

[0095] In more detail, the articulation means 30 ′ comprises at least one protruding element mechanically associated with said stabilization member 6 ′ and capable of defining at least one articulation axis C substantially parallel to the rotation axis A. Advantageously, the articulation axis C is also parallel to the second rotation axis B of the rollers 27 , 28 .

[0096] Conveniently, with reference to the axis of rotation A, the contact areas 27 ′, 28 ′ are defined on opposite sides relative to the axis C of articulation.

[0097] Advantageously, moreover, the rotation axis A defines together with the articulation axis C a first rest plane D and together with the contact areas 27 ′, 28 ′ and in particular with the second rotation axis B of the rollers 27 , 28 a second rest plane E which is inclined relative to the first rest plane D.

[0098] Preferably, the first rest plane D and said second rest plane E define an articulation angle suitable for allowing at least partial transfer of a linear movement of the actuator 19 into a rotational movement of the stabilizing member 6 ′.

[0099] Conveniently, the articulation means 30 comprises at least one fork 30 defining the aforementioned articulation axis C, in particular by means of two eyes 30 ″ adapted to rotatably house corresponding terminal pins of the actuator 19 .

[0100] In particular, the branches 25, 26 are moved via the actuator 19 through a fork 30 carried by a rod 29. The fork 30 has a shorter usable length than the branches 25, 26 and is spaced transversely relative to the centre plane of the branches 25, 26. This plane preferably coincides with the centre plane of the load plane 4.

[0101] Advantageously, the proximity or support sensor 33 is mechanically fixed to at least one of the first branch 25 and the second branch 26. Preferably, the proximity or support sensor (33) is mechanically fixed at least in the vicinity of the rollers (27, 28). Conveniently, the proximity sensor 33 is activatable to detect the distance of the stabilizing arm 6 of the stabilizing member 6' from the ground before at least one of the rollers 27, 28 contacts the ground.

[0102] Preferably, the proximity sensor 33 may be activated with the stabilizing member 6' in the retracted and / or extracted configuration, advantageously such that the step climber 1 obtains and / or maintains a stable balanced configuration.

[0103] More clearly, the proximity sensor 33 can be activated to measure the distance of the stabilizing member 6 ′ from the ground, whether the stabilizing member 6 ′ has been extracted (e.g. at the end of a climb), or whether it has been retracted during a climb and / or descent, without having to move said stabilizing member 6 ′ if this is not necessary.

[0104] Fig. 9 FIG. 2 shows an embodiment of the proximity or contact sensor 33 described in the previous paragraph. In particular, each roller 27, 28 of the stabilizing arm 6 is rotatably engaged to at least one corresponding slot guide, Figure 7 and Fig.10 The middle one is clearly visible.

[0105] In more detail, each roller 27 , 28 comprises at least one pin housed inside a corresponding slot guide 31 defined by the respective branch 25 , 26 .

[0106] The slot 31 is elongated in the circumferential direction relative to the rotation axis A and advantageously in the radial direction relative to the second rotation axis B of the rollers 27, 28. The aforementioned proximity or contact sensor 33 is also associated with each roller 27, 28, such as in particular a switch (according to the attached Figure 8 and Fig. 9 ), which switches based on the position of the rollers 27, 28 along the slot 31 and is connected to the electronic control unit in a data exchange manner. In this way, when the stabilizing arm 6 is drawn toward the road surface, each roller 27, 28 defines a corresponding contact head.

[0107] In other words, the contact areas 27', 28' are slidingly engaged, in particular by means of lateral pins which are at least partially inside the corresponding slot guide 31, and are operable to slide together with the contact areas 27', 28' inside the slot guide 31, wherein the stabilizing member is in an extended configuration and the contact areas 27', 28' are in contact with the ground and / or road surface.

[0108] Thus, when the contact area 27', 28' contacts the ground, the pin engaged inside the slot guide 31 moves inside the slot guide 31. This movement of the pin inside the slot guide can be detected by the proximity or contact sensor 33 and a corresponding signal is sent to the control unit.

[0109] Conveniently, the stabilizing member 6 ′ comprises at least one retaining spring 40 designed to oppose the movement of the pins of the contact areas 27 ′, 28 ′.

[0110] In operation, with the stabilizing member 6 ′ in the retracted configuration, the retaining spring 40 holds the pin away from the proximity or contact sensor 33 to avoid the risk of the latter detecting an undesired movement.

[0111] Otherwise, with the stabilizing member 6 ′ in the extended configuration and the contact areas 27 ′, 28 ′ contacting the ground and / or the road surface, the weight of the step climber 1 acts on these contact areas and forces the movement of the pin inside the slot guide 31 , overcoming the elastic force of the stop spring 40 .

[0112] Advantageously, the stabilizing member 6 ′ and in particular at least one branch 25 , 26 of the stabilizing arm 6 of the stabilizing member 6 ′ comprises at least one radial seat obtained at the second end 25 ″, 26 ″ of the branch 25 , 26 itself, placed in communication with the slot guide 31 .

[0113] Conveniently, the aforementioned stop spring 40 is housed inside a radial seat which projects inside the slotted guide 41 to interface with the pins of the contact areas 27 ′, 28 ′ and in particular with the pins of the rollers 27, 28. Finally, it is obvious that modifications or variations may be made to the stair climber described and illustrated herein, without departing from the scope of protection of the appended claims.

[0114] For example, it is possible to shape the flange 30 so that the action of the actuator 18 is a pulling force to obtain the extraction of the stabilizing arm 6, rather than a pushing force, as in Fig. 9 occurs under such circumstances.

Claims

1. A self-propelled ladder climber (1) for cargo, comprising: - a first track (2) and a second track (3) which are motorised and have an elongated configuration parallel to the straight forward direction of travel of the step climber; a load surface (4) which is embodied so as to be inclined about a first transverse axis relative to the first rail (2) and the second rail (3); a stabilizing member (6') movable between an extended position, in which the weight of the step climber is at least partially borne by the stabilizing member, and a retracted position, in which the stabilizing member is unloaded with the weight of the step climber; - a proximity or contact sensor (33) carried by the stabilizing member (6') to signal proximity or contact with the floor; - an electronic control unit programmed to: When the stabilizing member (6') is withdrawn, the first track (2) and the second track (3) are activated based on the signal; Checking the inclination of the load surface (4) so ​​that the inclination is maintained within a predetermined angle range relative to the horizontal direction; The stair climber comprises a hollow support structure (17), the load surface (4) is hinged to the hollow support structure (17) and connected to the first track (2) and the second track (3), the hollow support structure (17) accommodating a first actuator (18) for controlling the inclination of the load surface (4), and a second actuator (19) for controlling the stabilizing member (6'); The first actuator (18) and the second actuator (19) are arranged such that when in the retracted position, they are clamped between the first track (2) and the second track (3).

2. A stair climber according to claim 1, wherein in a climbing end mode, the electronic control unit is programmed so that when the first rail (2) and the second rail (3) are operated to ascend along a slope, the stabilizing member (6') is withdrawn based on a signal from the proximity or contact sensor (33) indicating that the stabilizing member is in contact with the road surface or a signal indicating that the distance between the stabilizing member and the floor is less than a predetermined threshold.

3. A stair climber according to claim 2, comprising an obstacle detector (16) which is connected to the control unit in a data exchange manner, so that the stabilizing member (6') is operated to leave the retracted position and the end-of-climbing mode is automatically initialized based on a second signal emitted by the obstacle detector (16).

4. A step climber according to claim 3, wherein the electronic control unit is programmed to ignore the signal of the proximity or contact sensor (33) during a descent start phase.

5. A step climber according to claim 4, wherein in a descent start mode, the control unit is programmed to cause the stabilizing member (6') to be withdrawn to lift the proximal portions of the first rail (2) and the second rail (3), so that the distal portions of the first rail (2) and the second rail (3) face the descending portion, and the first rail (2) and the second rail (3) are operated to cause the distal portions to descend, so that the stabilizing member (6') is automatically brought into the retracted position when a preset condition is met or a sensor generates a signal, the preset condition and / or the signal indicating a state of the step climber in which the first rail (2) and the second rail (3) contact the edges of two adjacent steps.

6. A stair climber according to claim 5, comprising a further obstacle detector (15) which is connected to the control unit in a data exchange manner, so that the stabilizing member (6') is operated to leave the retracted position and the descent start mode is automatically initialized based on a third signal emitted by the further obstacle detector (15).

7. A step climber according to claim 6, wherein the first actuator (18) and / or the second actuator (19) is a linear actuator and the stabilizing member (6') is hinged to the hollow support structure (17).

8. A step climber according to claim 7, wherein the stabilizing member (6') is a first type lever having a free end portion to contact the floor and articulated to reduce the force applied to the free end portion by the second actuator (19).

9. The ladder climber according to claim 8, characterized in that: The obstacle detector (16) is mechanically mounted in a rear portion of the step climber (1) and is configured to detect a larger area than the other obstacle detector (15) which is mechanically mounted corresponding to the front portion of the step climber (1).

10. A step climber according to claim 9, wherein the proximity or contact sensor (33) comprises rollers (27, 28) movable along a guide (31), and when the moving contact is moved due to the weight applied by the step climber (1), the proximity or contact sensor (33) comprises at least one switchable switch.

11. A step climber according to claim 10, wherein the first actuator (18) and the second actuator (19) are arranged so as to be parallel to each other and completely contained within an area defined laterally between the first rail (2) and the second rail (3) when in the retracted position.

12. A step climber according to claim 11, wherein the first actuator (18) and the second actuator (19) are arranged so as to be completely contained within a height obstruction defined by the first track (2) and the second track (3), respectively, when in the retracted position.

13. A step climber according to claim 12, wherein the stabilizing member (6') comprises a stabilizing arm (6), the stabilizing arm (6) comprising a first branch (25) and a second branch (26), the first branch (25) and the second branch (26) respectively carrying respective rollers (27, 28), the rollers (27, 28) being configured to be placed in contact with the floor when the stabilizing arm (6) is in the extracted position.

14. A step climber according to claim 13, wherein the proximity or contact sensor (33) is mechanically fixed to at least one of the first branch (25) and the second branch (26).

15. A step climber according to claim 14, wherein the proximity or contact sensor (33) is mechanically fixed in the vicinity of at least the rollers (27, 28).

16. A step climber according to claim 15, wherein the proximity or contact sensor (33) is configured to detect contact of the stabilising member (6') with the floor.

17. A step climber according to claim 16, wherein the proximity or contact sensor (33) is activatable to detect the distance of the stabilising member (6') from the floor before at least one of the rollers (27, 28) contacts the floor.

18. A step climber according to claim 17, wherein the proximity or contact sensor (33) is activatable with the stabilizing member (6') in the retracted position and / or in the extracted position.

19. A step climber according to claim 18, wherein the stabilizing member (6') is arranged so that, when in the retracted position, it is housed in an area which is laterally delimited between the first rail (2) and the second rail (3) corresponding to an ascending section (8) which is inclined relative to the main section (7) of the first rail (2) and the second rail (3).

20. The step climber according to claim 19, wherein the first actuator (18) and the second actuator (19) are parallel to the longitudinal development direction of the first rail (2) and the second rail (3).

21. A step climber according to claim 20, wherein the first actuator (18) and the second actuator (19) define together with the aforementioned longitudinal development direction of the first rail (2) and the second rail (3) an angle of 30°.

22. A step climber according to claim 21, wherein the angle is less than 20°.

23. The step climber of claim 21, wherein the angle is less than 10°.

24. A step climber according to claim 10, wherein the step climber comprises an articulation device (30') mechanically interposed between the second actuator (19) and the stabilizing member (6'), the articulation device (30') being configured to allow the linear movement of the second actuator (19) to be converted into a rotational movement of the stabilizing member (6') to move it between the extracted position and the retracted position.

25. A step climber according to claim 24, wherein the articulation means (30') comprises at least one protruding element mechanically associated with the stabilization member (6') and defining at least one articulation axis (C) parallel to the rotation axis (A).

26. A step climber according to claim 25, wherein the articulation axis (C) of the articulation means (30') is parallel to the second rotation axis (B) of the rollers (27, 28).

27. A step climber according to claim 26, wherein the rotation axis (A) together with the articulation axis (C) defines a first rest plane (D) and together with the second rotation axis (B) of the rollers (27, 28) defines a second rest plane (E), the second rest plane (E) being inclined relative to the first rest plane (D).

28. A step climber according to claim 27, wherein the first rest plane (D) and the second rest plane (E) define an articulation angle suitable for allowing a linear movement of the second actuator (19) to be at least partially converted into a rotational movement of the stabilizing member (6').

29. A step climber according to claim 28, wherein the articulation means (30') comprises at least one fork (30) defining the articulation axis (C) by means of two eyes (30") adapted to rotatably receive corresponding terminal pins of the second actuator (19).

30. A step climber according to claim 29, wherein activation of the movement of the stabilising member (6') is controlled automatically based on signals of an obstacle detector (16) and a further obstacle detector (15), or it is controlled based on input provided by an operator acting on a user interface (10).

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