Crawler for climbing stairs with anti-tilt

Abstract

This application relates to the field of cargo handling equipment and discloses a tracked stair climber for preventing tipping. It includes a climbing assembly, a rack assembly, an adjusting assembly, a control assembly, and a power supply assembly. The climbing assembly drives the stair climber to climb, the rack assembly carries cargo and is rotatably connected to the climbing assembly, and rollers are provided at the bottom of the rack assembly. The adjusting assembly adjusts the angle of the rack assembly relative to the climbing assembly. The climbing assembly and the adjusting assembly are electrically connected to the control assembly, and the control assembly is electrically connected to the power supply assembly. The rack assembly includes a horizontal plate and a pull plate fixedly connected to each other and arranged at an angle. The connecting ends of the horizontal plate and the pull plate are rotatably connected to the climbing assembly. The control assembly and the power supply assembly are both fixedly connected to the side wall of the pull plate away from the climbing assembly, and the rollers are located at the bottom of the horizontal plate. This application improves the stability of the stair climber during use by improving its structure.

Description

Technical Field

[0001] This application relates to the field of cargo handling equipment technology, and more specifically, to a tracked stair climber for preventing tipping. Background Technology

[0002] In the process of moving goods, some goods often need to be moved up and down stairs. This requires workers to repeatedly climb stairs, placing a significant burden on them. Stair-climbing machines can move goods up and down stairs, thus saving workers' energy. For example, patent CN106585677B (application number: 201710019043.8) discloses a transport trolley that combines flat-ground transport, stair-climbing, and cargo-lifting functions. It includes a stair-climbing section, a flat-ground walking section, and a lifting section. These three sections can respectively perform different functions such as stair climbing, ground walking, and cargo lifting. During use, the functions of these three sections can be switched according to the needs, especially facilitating workers' movement up stairs and saving them the physical exertion required.

[0003] However, when using the transport trolley disclosed in patent CN106585677B, the unstable center of gravity of the goods may cause the stair climber to tip over in the forward and backward direction, affecting its normal operation. Furthermore, the lifting section, which includes a load-bearing rod, lifting rod, load-bearing rod, angle fixing device, telescopic fork, and electric push rod, can raise goods to a certain height for easy loading and unloading. However, when the goods are raised to a certain height, the high center of gravity makes it more difficult to maintain balance on the stair climber, often causing it to tip over in the forward and backward direction. This can seriously endanger worker safety, damage goods, and affect the effectiveness of the stair climber. Summary of the Invention

[0004] The purpose of this application is to provide a tracked stair climber for preventing tipping, which solves the technical problem of unstable center of gravity after the stair climber is loaded with goods, and achieves the technical effect of improving the stability of the stair climber when loading goods.

[0005] This application provides a tracked stair climber for preventing tipping, comprising a climbing component, a rack component, an adjusting component, a control component, and a power supply component. The climbing component drives the stair climber to climb, the rack component carries goods and is rotatably connected to the climbing component, the bottom of the rack component is provided with rollers, the adjusting component is used to adjust the angle of the rack component relative to the climbing component, the climbing component and the adjusting component are electrically connected to the control component, and the control component is electrically connected to the power supply component.

[0006] In one possible implementation, the shelving assembly includes a horizontal plate and a pull plate that are fixedly connected to each other and arranged at an angle. The connecting ends of the horizontal plate and the pull plate are rotatably connected to a climbing assembly. The control assembly and the power supply assembly are both fixedly connected to the side wall of the pull plate away from the climbing assembly. Rollers are located at the bottom of the horizontal plate. When the horizontal plate is in a horizontal state, the rollers bear the weight of the stair climber and the goods. When the horizontal plate is in an inclined state, the climbing assembly bears the weight of the stair climber and the goods.

[0007] In another possible implementation, a first pull rod is connected to the pull plate. The first pull rod is annular and coplanar with the pull plate. A second pull rod is provided on the side of the pull plate or the first pull rod near the climbing component.

[0008] In another possible implementation, the adjustment component includes an electric push rod, the two ends of which are rotatably connected to the climbing component and the horizontal plate, respectively. When the electric push rod extends or retracts, it drives the horizontal plate to rotate relative to the climbing component. The electric push rod is electrically connected to the control component, and the control component is provided with a first switch for controlling the extension or retraction of the electric push rod.

[0009] In another possible implementation, the climbing assembly includes a drive assembly, an intermediate frame, and two tracked wheels. The two tracked wheels are arranged parallel to each other and are fixedly connected through the intermediate frame. The drive assembly is fixedly connected to the intermediate frame. The drive assembly and the control assembly are electrically connected. The control assembly is provided with a second switch for controlling the operation of the drive assembly. The tracked wheel includes a wheel frame, a track, and multiple support wheels. The multiple support wheels are rotatably connected to the wheel frame, and the track is wrapped around the multiple support wheels. The drive assembly drives the track to rotate on the wheel frame.

[0010] In another possible implementation, the wheel frame includes a horizontal section and an inclined section, the inclined section being inclinedly connected to the horizontal section and inclined relative to the horizontal section being set upward; the drive assembly includes a drive motor and a drive wheel that are mutually connected, the drive wheel being rotatably connected to the inclined section, the track being driven and connected to the drive wheel, and a tension wheel that abuts against the track is rotatably connected to the wheel frame, the tension wheel being located on the outside of the track at the connection between the horizontal section and the inclined section.

[0011] In another possible implementation, a first tilt sensor is connected to the bottom of the horizontal plate, and a second tilt sensor is also provided on the side wall of the pull plate away from the climbing component. The first tilt sensor and the second tilt sensor are electrically connected to the control component respectively. The control method of the stair climber includes: acquiring the first tilt value of the first tilt sensor and the second tilt value of the second tilt sensor; when both the first tilt value and the second tilt value are greater than a preset angle value, controlling the drive component to drive the track to rotate.

[0012] In another possible implementation, a first weighing component and a second weighing component are provided on the horizontal plate. The first weighing component is located close to the pull plate, and the second weighing component is located away from the pull plate. A prompter is provided on the control component. The control method of the stair climber also includes: obtaining the first weighing value of the first weighing component and the second weighing value of the second weighing component; when the second weighing value is greater than the first weighing value, the control prompter issues an alarm.

[0013] In another possible implementation, a third weighing component is provided on the side of the pull plate near the horizontal plate, and the third weighing component is located near the bottom of the pull plate; the control method of the stair climber further includes: obtaining a third weighing value of the third weighing component and determining a first target weight value; wherein, the first target weight value is 10% to 20% of the total weight value of the first weighing value, the second weighing value and the third weighing value; when the total weight value of the first weighing value and the second weighing value is greater than the third weighing value, and when the difference between the total weight value of the first weighing value and the second weighing value and the third weighing value is greater than the first target weight value, the control prompt prompts to adjust the center of gravity of the goods on the pull plate assembly; when the total weight value of the first weighing value and the second weighing value is less than the third weighing value, and when the difference between the total weight value of the first weighing value and the second weighing value and the third weighing value is greater than the first target weight value, the control prompt prompts to adjust the center of gravity of the goods on the horizontal plate assembly.

[0014] In another possible implementation, the control method of the stair climber further includes: determining a target weight value, which is 10% to 30% of the total weight of the first weighing value and the second weighing value; when both the first tilt angle value and the second tilt angle value are greater than a preset angle value, and when the second weighing value is greater than the first weighing value, and the difference between the second weighing value and the first weighing value is greater than the target weight value, the control prompt prompts to adjust the center of gravity of the goods in the rack assembly to the pull plate.

[0015] In another possible implementation, the control component also includes a timing component, and the control method for the stair climber further includes: acquiring a third weighing value from a third weighing component and determining a first target weight value; wherein the first target weight value is 10% to 20% of the total weight value of the first, second, and third weighing values; when the total weight value of the first and second weighing values ​​is continuously greater than the third weighing value within a preset time period, and when the difference between the total weight value of the first and second weighing values ​​and the third weighing value is continuously greater than the first target weight value, the control adjustment component is activated. Adjust the center of gravity of the goods on the shelf assembly to the pull plate until the difference between the total weight of the first and second weighing values ​​and the third weighing value is less than the first target weight value; when the total weight of the first and second weighing values ​​is continuously less than the third weighing value within a preset time period, and when the difference between the total weight of the first and second weighing values ​​and the third weighing value is continuously less than the first target weight value, control the adjustment component to adjust the center of gravity of the goods on the shelf assembly to the horizontal plate until the difference between the total weight of the first and second weighing values ​​and the third weighing value is less than the first target weight value.

[0016] In another possible implementation, the control method of the stair climber further includes: when the variation range of the first tilt angle value and the second tilt angle value is less than 10° within a preset time period, the total weight value of the first weighing value and the second weighing value is continuously greater than the third weighing value, and when the difference between the total weight value of the first weighing value and the second weighing value and the third weighing value is continuously greater than the first target weight value, the control adjustment component adjusts the center of gravity of the goods on the shelf assembly towards the pull plate until the difference between the total weight value of the first weighing value and the second weighing value and the third weighing value is less than the first target weight value; when the variation range of the first tilt angle value and the second tilt angle value is less than 10° within a preset time period, the total weight value of the first weighing value and the second weighing value is continuously less than the third weighing value, and when the difference between the total weight value of the first weighing value and the second weighing value and the third weighing value is continuously less than the first target weight value, the control adjustment component adjusts the center of gravity of the goods on the shelf assembly towards the horizontal plate until the difference between the total weight value of the first weighing value and the second weighing value and the third weighing value is less than the first target weight value.

[0017] The beneficial effects of the embodiments in this application compared with the prior art are:

[0018] This application provides a tracked stair climber for preventing tipping, including a climbing component, a rack component, an adjusting component, a control component, and a power supply component. The climbing component drives the stair climber to climb, the rack component carries goods and is rotatably connected to the climbing component, and the bottom of the rack component is equipped with rollers. The adjusting component adjusts the angle of the rack component relative to the climbing component. The climbing component and the adjusting component are electrically connected to the control component, and the control component is electrically connected to the power supply component. When in use, this tracked stair climber for preventing tipping can adjust the relative angle between the climbing component and the rack component through the adjusting component, thereby facilitating the adjustment of the angle of the rack component and the goods on the rack component. When the goods are transitioned from a flat ground state to a stair climbing state, the climbing action can be initiated simply by driving the rack component to rotate a certain angle through the adjusting component. This lowers the center of gravity of the goods, preventing the stair climber from tipping over in the front-to-back direction and improving the stability of the stair climber during use. Attached Figure Description

[0019] To more clearly illustrate the technical solutions in the embodiments of this application, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0020] Figure 1 This is a front view structural diagram of a tracked stair climber for preventing tipping, provided in an embodiment of this application;

[0021] Figure 2 This is a three-dimensional structural diagram of a tracked stair climber for preventing tipping, provided in an embodiment of this application;

[0022] Figure 3 This is a schematic diagram of the internal structure of a tracked stair climber for preventing tipping, provided in an embodiment of this application.

[0023] Figure 4 This is a front exploded view of an anti-tipping tracked stair climber provided in an embodiment of this application;

[0024] Figure 5 This is a first-view exploded perspective structural diagram of a tracked stair climber for preventing tipping, provided in an embodiment of this application;

[0025] Figure 6 This is a second-view exploded perspective structural diagram of a tracked stair climber for preventing tipping, provided in an embodiment of this application;

[0026] In the diagram, 1. Climbing assembly; 11. Drive assembly; 111. Drive motor; 112. Drive wheel; 12. Intermediate frame; 13. Track wheel; 131. Wheel frame; 131a. Horizontal section; 131b. Inclined section; 132. Track; 133. Support wheel; 134. Tensioning wheel; 2. Shelf assembly; 21. Roller; 22. Horizontal plate; 221. First weighing assembly; 222. Second weighing assembly; 23. Pull plate; 231. First pull rod; 232. Second pull rod; 233. Third weighing assembly; 3. Adjustment assembly; 31. Electric push rod; 4. Control assembly; 41. First tilt sensor; 42. Second tilt sensor; 43. Indicator; 5. Power supply assembly. Detailed Implementation

[0027] To make the technical problems, technical solutions, and beneficial effects to be solved by this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and are not intended to limit the scope of this application.

[0028] It should be noted that when a component or structure is referred to as being "fixed to" or "set on" another component or structure, it can be directly on or indirectly on the other component or structure. When a component or structure is referred to as being "connected to" another component or structure, it can be directly connected to or indirectly connected to the other component or structure.

[0029] It should be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", and "outer" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device, component, or structure referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0030] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, "multiple" means two or more, unless otherwise explicitly specified.

[0031] The handling trolley disclosed in patent CN106585677B has a problem: when transporting goods up stairs via the stair-climbing section, the unstable center of gravity of the goods may cause the stair-climbing machine to tip over in the forward and backward direction, affecting its normal operation. Furthermore, the lifting section, which includes a load-bearing rod, lifting rod, load-carrying rod, angle fixing device, telescopic front fork, and electric push rod, can raise goods to a certain height for easy loading and unloading. However, when the goods are raised to a certain height, the high center of gravity makes it more difficult for the stair-climbing machine to maintain balance, often causing it to tip over in the forward and backward direction. This can seriously endanger worker safety, damage goods, and affect the machine's overall performance.

[0032] Based on the above reasons, this application provides a tracked stair climber for preventing tipping, including a climbing component, a rack component, an adjustment component, a control component, and a power supply component. The climbing component drives the stair climber to climb, the rack component carries goods and is rotatably connected to the climbing component, and the bottom of the rack component is equipped with rollers. The adjustment component adjusts the angle of the rack component relative to the climbing component. The climbing component and the adjustment component are electrically connected to the control component, and the control component is electrically connected to the power supply component. When using this tracked stair climber for preventing tipping, the relative angle between the climbing component and the rack component can be adjusted by the adjustment component, thereby facilitating the adjustment of the angle of the rack component and the goods on the rack component. When the goods are transitioned from a flat ground state to a stair climbing state, the rack component only needs to be rotated by the adjustment component to perform the stair climbing action, which lowers the center of gravity of the goods and prevents the stair climber from tipping over in the front-to-back direction, thus improving the stability of the stair climber during use.

[0033] In some scenarios, the tracked stair climber for preventing tipping, as described in this application embodiment, can be applied to the work of handling goods in the warehousing industry, thereby improving the stability of the stair climber during the handling of goods.

[0034] In other scenarios, the tracked stair climber for preventing tipping, as described in this application embodiment, can also be applied to the process of carrying luggage in places such as stations, which can improve the stability of the stair climber when carrying luggage.

[0035] The following is a detailed description of a tracked stair climber for preventing tipping, provided in the embodiments of this application, using specific examples.

[0036] Figure 1 This is a front view structural diagram of a tracked stair climber for preventing tipping, provided in an embodiment of this application. Figure 2 This is a three-dimensional structural diagram of a tracked stair climber for preventing tipping, provided in an embodiment of this application. Figure 3This is a schematic diagram of the internal structure of a tracked stair climber for preventing tipping, provided in an embodiment of this application. Figures 1 to 3 As shown in the embodiment of this application, a tracked stair climber for preventing tipping includes a climbing component 1, a rack component 2, an adjusting component 3, a control component 4, and a power supply component 5. The climbing component 1 is used to drive the stair climber to climb. The rack component 2 is used to carry goods and is rotatably connected to the climbing component 1. The bottom of the rack component 2 is provided with rollers 21. The adjusting component 3 is used to adjust the angle of the rack component 2 relative to the climbing component 1. The climbing component 1 and the adjusting component 3 are electrically connected to the control component 4, and the control component 4 is electrically connected to the power supply component 5.

[0037] like Figures 1 to 3 As shown, structurally, the climbing component 1 is a tracked climbing component. The climbing component 1 is used to drive the stair climber to climb. When in use, the tracked climbing component 1 can improve the stability of the stair climber.

[0038] like Figures 1 to 3 As shown, the shelf assembly 2 is used to carry goods. The shelf assembly 2 is rotatably connected to the climbing assembly 1, so that the shelf assembly 2 can rotate relative to the climbing assembly 1 after carrying goods, thereby adjusting the angle of the shelf assembly 2 and the goods on the shelf assembly 2. This can adjust the center of gravity of the shelf assembly 2 after carrying goods, and improve the stability of the shelf assembly 2 when used after carrying goods.

[0039] like Figures 1 to 3 As shown, the adjustment component 3 is used to adjust the angle of the shelf component 2 relative to the climbing component 1. After the shelf component 2 carries the goods, it can rotate relative to the climbing component 1, and the angle of the shelf component 2 can be automatically adjusted by the adjustment component 3, which improves the automation level of the stair climber during use.

[0040] like Figures 1 to 3 As shown, the bottom of the shelf assembly 2 is equipped with rollers 21. The rollers 21 can support the weight of the shelf assembly 2 and the goods on the shelf assembly 2, making it convenient to use the rollers 21 to pull the goods on flat ground.

[0041] In use, control component 4 is used to control climbing component 1 and adjustment component 3 respectively.

[0042] In use, the power supply component 5 provides electrical power to the climbing component 1, the adjustment component 3 and the control component 4.

[0043] The beneficial effects of the above implementation method are that the rollers support the rack components and the goods on the rack components on the flat ground, and the climbing components drive the rack components and the goods on the rack components to climb the stairs. This enables the transportation of goods on the flat ground and on stairs. When the goods are switched from the flat ground state to the climbing state, the rack components can be rotated by a certain angle by adjusting the components to climb the stairs. This keeps the center of gravity of the goods at a low position, which can prevent the stair climber from tipping over in the front and back directions and improve the stability of the stair climber during use.

[0044] In some implementations, the shelving assembly 2 includes a horizontal plate 22 and a pull plate 23 fixedly connected to each other and arranged at an angle. The connecting ends of the horizontal plate 22 and the pull plate 23 are rotatably connected to the climbing assembly 1. The control assembly 4 and the power supply assembly 5 are both fixedly connected to the side wall of the pull plate 23 away from the climbing assembly 1. Rollers 21 are located at the bottom of the horizontal plate 22. When the horizontal plate 22 is in a horizontal state, the rollers 21 bear the weight of the stair climber and the goods. When the horizontal plate 22 is in an inclined state, the climbing assembly 1 bears the weight of the stair climber and the goods.

[0045] like Figures 1 to 3 As shown, structurally, the shelf assembly 2 includes a horizontal plate 22 and a pull plate 23 that are fixedly connected to each other and arranged at an angle. The horizontal plate 22 is used to support goods from the bottom, and the pull plate 23 is used to support goods from the side. When handling goods, the goods can be fixed to the shelf assembly 2 by ropes.

[0046] like Figures 1 to 3 As shown, the connecting ends of the horizontal plate 22 and the pull plate 23 are rotatably connected to the climbing assembly 1, so that the horizontal plate 22 and the pull plate 23 can rotate together relative to the climbing assembly 1, which facilitates the adjustment of the angle of the shelf assembly 2.

[0047] like Figures 1 to 3 As shown, the control component 4 and the power component 5 are both fixedly connected to the side wall of the pull plate 23 away from the climbing component 1, so that the control component 4 and the power component 5 will not interfere with the goods fixed on the pull plate 23, and the control component 4 and the power component 5 are easy to install and fix.

[0048] like Figures 1 to 3As shown, rollers 21 are located at the bottom of the horizontal plate 22. During use, when the horizontal plate 22 is horizontal, the lowest point of rollers 21 is lower than the lowest point of the climbing assembly 1. Rollers 21 bear the weight of the stair climber and the goods, allowing the stair climber to be used as a flatbed cart, thus saving energy in the power supply assembly 5. Simultaneously, when the horizontal plate 22 is tilted, the rollers 21 rise, and their lowest point is higher than the lowest point of the climbing assembly 1. This allows the climbing assembly 1 to bear the weight of the stair climber and the goods, enabling the goods to be driven upwards, saving the user's physical effort during goods handling.

[0049] The beneficial effect of the above implementation method is that by carrying goods through the horizontal plate and the pull plate, and by being able to switch between the weight of the stair climber and the goods being carried by the roller 21 and the weight of the stair climber and the goods being carried by the climbing component 1, the stability during use can be improved.

[0050] In some implementations, a first pull rod 231 is connected to the pull plate 23. The first pull rod 231 is annular and coplanar with the pull plate 23. A second pull rod 232 is provided on the side of the pull plate 23 or the first pull rod 231 near the climbing component 1.

[0051] Figure 4 This is a front exploded view of an anti-tipping tracked stair climber provided in an embodiment of this application. Figure 5 This is a first-view exploded perspective structural diagram of a tracked stair climber for preventing tipping, provided in an embodiment of this application. Figure 6 This is a second-view exploded perspective structural diagram of a tracked stair climber for preventing tipping, provided in an embodiment of this application. Figures 4 to 6 As shown, structurally, a first pull rod 231 is connected to the pull plate 23. The first pull rod 231 is annular and coplanar with the pull plate 23, which allows the pull plate 23 to be pulled directly to transport goods when pulling them, thus improving the stability of the pull plate 23 during use.

[0052] like Figures 4 to 6 As shown, structurally, a second pull rod 232 is provided on the side of the pull plate 23 or the first pull rod 231 near the climbing component 1. The second pull rod 232 is away from the side of the pull plate 23 where the goods are placed, so that the second pull rod 232 will not interfere with the goods. When there are many goods, the pull plate 23 can be pulled by the second pull rod 232 to move the goods.

[0053] The beneficial effect of the above implementation method is that by setting a first pull rod and a second pull rod on the pull plate to pull the goods, it is convenient to pull the pull plate directly through the first pull rod, and it is also possible to pull the pull plate through the second pull rod when there are many goods without interfering with the goods.

[0054] In some implementations, the adjustment component 3 includes an electric push rod 31, the two ends of which are rotatably connected to the climbing component 1 and the horizontal plate 22, respectively. When the electric push rod 31 extends or retracts, it drives the horizontal plate 22 to rotate relative to the climbing component 1. The electric push rod 31 is electrically connected to the control component 4, and the control component 4 is provided with a first switch for controlling the extension or retraction of the electric push rod 31.

[0055] like Figures 1 to 6 As shown, the adjustment component 3 includes an electric push rod 31, which is a telescopic structure driven by a motor. The two ends of the electric push rod 31 are rotatably connected to the climbing component 1 and the horizontal plate 22, respectively. When the electric push rod 31 extends or retracts, it drives the horizontal plate 22 to rotate relative to the climbing component 1, thereby enabling the adjustment of the angle of the shelf component 2.

[0056] Structurally, the electric push rod 31 is electrically connected to the control component 4. The control component 4 is equipped with a first switch for controlling the extension and retraction of the electric push rod 31. This allows the electric push rod 31 to be extended or shortened during use by controlling the extension or shortening of the electric push rod 31 through the first switch, enabling manual control of the length of the electric push rod 31 and improving the control of the angle of the electric push rod 31.

[0057] For example, the first switch may be mounted on the first pull rod 231 or the second pull rod 232.

[0058] The beneficial effects of the above implementation method are that the horizontal plate is directly driven to rotate by the electric push rod, and the electric push rod can be manually controlled to extend or shorten by the first switch, which makes it easy to automatically adjust the angle of the goods when using this stair climber, thus improving the stability of the stair climber during use.

[0059] In some implementations, the climbing component 1 includes a drive component 11, an intermediate frame 12, and two track wheels 13. The two track wheels 13 are arranged parallel to each other and are fixedly connected through the intermediate frame 12. The drive component 11 is fixedly connected to the intermediate frame 12. The drive component 11 is electrically connected to the control component 4. The control component 4 is provided with a second switch for controlling the operation of the drive component 11.

[0060] like Figures 1 to 6 As shown, structurally, the climbing assembly 1 includes a drive assembly 11, an intermediate frame 12, and two track wheels 13. The two track wheels 13 are arranged parallel to each other and are fixedly connected by the intermediate frame 12. The intermediate frame 12 can fix the two track wheels 13, so that the two track wheels 13 move synchronously to transport goods. The two track wheels 13 can work together to achieve the purpose of driving the goods up the stairs.

[0061] like Figures 1 to 6As shown, the drive assembly 11 and the control assembly 4 are electrically connected. The control assembly 4 is provided with a second switch for controlling the operation of the drive assembly 11. When the drive assembly 11 is in use, its working state can be controlled by the second switch. The second switch can be installed on the first pull rod 231 or the second pull rod 232 to facilitate manual control of the drive assembly 11.

[0062] In some implementations, the track wheel 13 includes a wheel frame 131, a track 132 and a plurality of support wheels 133, the plurality of support wheels 133 being rotatably connected to the wheel frame 131, the track 132 surrounding the plurality of support wheels 133, and a drive assembly 11 being fixedly connected to an intermediate frame 12, the drive assembly 11 driving the track 132 to rotate on the wheel frame 131.

[0063] like Figures 1 to 6 As shown, structurally, the drive assembly 11 is fixedly connected to the intermediate frame 12, wherein multiple support wheels 133 are rotatably connected to the wheel frame 131, the multiple support wheels 133 are used to support the track 132, the track 132 rotates around the multiple support wheels 133, and the drive assembly 11 drives the track 132 to rotate on the wheel frame 131.

[0064] The beneficial effect of the above implementation is that the cargo is lifted by the track wheels, and the drive assembly 11 drives the track 132 to rotate on the wheel frame 131, which can achieve stable cargo transportation.

[0065] In some implementations, the wheel frame 131 includes a horizontal section 131a and an inclined section 131b, the inclined section 131b being inclinedly connected to the horizontal section 131a, and the inclined section 131b being inclined upward relative to the horizontal section 131a.

[0066] like Figure 2 As shown, structurally, the horizontal section 131a is used to directly abut against the stair steps to support the wheel frame 131, and the inclined section 131b is used to support the head of the wheel frame 131 when it contacts the stair steps, so as to guide the wheel frame 131 when it climbs, and can stably guide the wheel frame 131 onto the stair steps.

[0067] In some implementations, the drive assembly 11 includes a drive motor 111 and a drive wheel 112 that are driven together. The drive wheel 112 is rotatably connected to the inclined section 131b. The track 132 is driven together to the drive wheel 112. A tension wheel 134 that abuts against the track 132 is rotatably connected to the wheel frame 131. The tension wheel 134 is located on the outside of the track 132 at the junction of the horizontal section 131a and the inclined section 131b.

[0068] like Figures 1 to 6As shown, in terms of structure, when the drive motor 111 runs, it drives the drive wheel 112 to rotate. The drive wheel 112 is rotatably connected to the inclined section 131b. The track 132 is driven and connected to the drive wheel 112, thereby enabling the drive wheel 112 to drive the track 132 to run. The track 132 and the drive wheel 112 cooperate with each other through a gear and rack structure.

[0069] like Figures 1 to 6 As shown, structurally, a tensioning wheel 134 that abuts against the track 132 is rotatably connected to the wheel frame 131. The tensioning wheel 134 is located on the outside of the track 132 at the connection between the horizontal section 131a and the inclined section 131b, so that the tensioning wheel 134 can press the track 132 tightly at the connection between the horizontal section 131a and the inclined section 131b, ensuring the stability of the track 132 running on the wheel frame 131 and improving the stability of the track 132 during use.

[0070] The beneficial effect of the above implementation method is that, when this stair climber is in use, it can guide the track wheels to climb the stairs through the inclined section, and the drive motor can drive the track to drive the climbing component to rise along the stairs, which facilitates the stair climber to climb efficiently and stably.

[0071] In some implementations, a first tilt sensor 41 is connected to the bottom of the horizontal plate 22, and a second tilt sensor 42 is provided on the side wall of the pull plate 23 away from the climbing component 1. The first tilt sensor 41 and the second tilt sensor 42 are electrically connected to the control component 4 respectively.

[0072] like Figure 1 As shown, structurally, a first tilt sensor 41 is connected to the bottom of the horizontal plate 22, which is used to detect the tilt angle of the horizontal plate 22. A second tilt sensor 42 is also provided on the side wall of the pull plate 23 away from the climbing component 1, which is used to detect the tilt angle of the pull plate 23. The first tilt sensor 41 and the second tilt sensor 42 are electrically connected to the control component 4, respectively, so that the control component 4 can obtain the tilt angle of the horizontal plate 22 and the tilt angle of the pull plate 23.

[0073] For example, the first tilt sensor 41 and the second tilt sensor 42 can be tilt sensors in the form of capacitive, laser, vibrating wire, and gravity sensors.

[0074] In some implementations, the control method of the stair climber mentioned above includes S110 to S120, which will be described in detail below.

[0075] S110: Obtain the first tilt angle value of the first tilt angle sensor 41 and the second tilt angle value of the second tilt angle sensor 42.

[0076] In use, after obtaining the first tilt angle value of the first tilt angle sensor 41 and the second tilt angle value of the second tilt angle sensor 42, the first tilt angle value of the first tilt angle sensor 41 and the second tilt angle value of the second tilt angle sensor 42 can be transmitted to the control component 4, thereby enabling the control component 4 to control the working state of the stair climber according to the first tilt angle value and the second tilt angle value.

[0077] S120. When both the first tilt angle value and the second tilt angle value are greater than the preset angle value, the drive assembly 11 is controlled to drive the track 132 to rotate.

[0078] When in use, when the horizontal plate 22 and the pull plate 23 are perpendicular to each other, when traveling on a horizontal ground, the tilt angle of the horizontal plate 22 detected by the first tilt angle sensor 41 is generally about 0 degrees, and the tilt angle of the pull plate 23 detected by the second tilt angle sensor 42 is generally about 90 degrees. At this time, the control component 4 controls the working state of the stair climber to the flat ground walking state according to the first tilt angle value and the second tilt angle value.

[0079] When climbing stairs, the tilt angle of the horizontal plate 22 detected by the first tilt sensor 41 is generally between 0 degrees and 90 degrees, and the tilt angle of the pull plate 23 detected by the second tilt sensor 42 is generally between 0 degrees and 90 degrees. At this time, the control component 4 controls the working state of the stair climber to the stair climbing state according to the first tilt angle value and the second tilt angle value.

[0080] For example, when the preset angle value is 20 degrees, the tilt angle of the horizontal plate 22 detected by the first tilt sensor 41 is 30 degrees (greater than 20 degrees), and the tilt angle of the pull plate 23 detected by the second tilt sensor 42 is 60 degrees (greater than 20 degrees), the control component 4 controls the working state of the stair climber to the stair climbing state according to the first tilt angle value and the second tilt angle value. At this time, the control drive component 11 drives the track 132 to rotate, thereby driving the goods to climb, thus realizing the stair climbing control of this stair climber.

[0081] The beneficial effect of the above implementation method is that by combining the first tilt sensor and the second tilt sensor to detect the tilt angle of the rack assembly, it is convenient to control the stair climber to climb the stairs based on the stair climbing status of the rack assembly judged by the first tilt sensor and the second tilt sensor, thus realizing the automated control of the stair climber.

[0082] In some implementations, the horizontal plate 22 is provided with a first weighing component 221 and a second weighing component 222. The first weighing component 221 is located close to the pull plate 23, and the second weighing component 222 is located away from the pull plate 23. The control component 4 is provided with an indicator 43.

[0083] like Figure 1As shown, structurally, the horizontal plate 22 is provided with a first weighing component 221 and a second weighing component 222. The first weighing component 221 is located close to the pull plate 23, so that the first weighing component 221 can weigh the weight of the goods on the side of the horizontal plate 22 close to the pull plate 23. The second weighing component 222 is located away from the pull plate 23, so that the first weighing component 221 can weigh the weight of the goods on the side of the horizontal plate 22 away from the pull plate 23.

[0084] For example, two identical load-bearing plates can be placed above the horizontal plate 22, and the first weighing component 221 and the second weighing component 222 can be placed below the two identical load-bearing plates, so that the first weighing component 221 and the second weighing component 222 can weigh the weight of the goods on the side of the horizontal plate 22 close to the pull plate 23, and can weigh the weight of the goods on the side of the horizontal plate 22 away from the pull plate 23.

[0085] For example, the first weighing component 221 and the second weighing component 222 may be made of pressure sensors.

[0086] like Figure 1 As shown, structurally, the control component 4 is equipped with a prompter 43, which is capable of issuing voice prompts.

[0087] In some implementations, the control method of the stair climber described above also includes S210 to S220, which will be explained below.

[0088] S210: Obtain the first weighing value of the first weighing component 221 and the second weighing value of the second weighing component 222.

[0089] like Figure 1 As shown, structurally, the first weighing component 221 and the second weighing component 222 can weigh the weight of the goods on the side of the horizontal plate 22 close to the pull plate 23, and can weigh the weight of the goods on the side of the horizontal plate 22 away from the pull plate 23. After obtaining the first weighing value and the second weighing value, the working status of the stair climber can be detected and controlled according to the first weighing value and the second weighing value.

[0090] S220. When the second weighing value is greater than the first weighing value, the control prompt 43 issues an alarm.

[0091] When in use, if the second weighing value is greater than the first weighing value, it means that the weight of the goods on the side of the horizontal plate 22 away from the pull plate 23 is greater than the weight of the goods on the side of the horizontal plate 22 closer to the pull plate 23. This indicates that the center of gravity of the goods on the horizontal plate 22 is too far back, which may cause the goods to tip backward. At this time, the control prompt 43 can issue a voice prompt as an alarm, thereby prompting the user to adjust the center of gravity of the goods to avoid the goods and the stair climber tipping backward.

[0092] The beneficial effect of the above implementation method is that by detecting the center of gravity of the goods on the horizontal plate through the first and second weighing components, the prompter can be controlled to issue a voice prompt as an alarm, so that the user can adjust the center of gravity of the goods on the horizontal plate in a timely manner.

[0093] In some implementations, the pull plate 23 is provided with a third weighing component 233 on the side near the horizontal plate 22, and the third weighing component 233 is provided near the bottom of the pull plate 23.

[0094] like Figure 1 As shown, structurally, the third weighing component 233 is capable of weighing the weight of goods on the side of the pull plate 23 near the horizontal plate 22. The third weighing component 233 is located near the bottom of the pull plate 23, so that the third weighing component 233 can weigh the bottom weight on the side of the pull plate 23 near the horizontal plate 22, and can adapt to weighing the weight of goods of various volumes.

[0095] For example, a load plate with weighing function can be provided on the side of the pull plate 23 near the cross plate 22, and a third weighing component 233 is provided between the load plate and the pull plate 23, so that the goods carried on the pull plate 23 can be weighed by the third weighing component 233.

[0096] For example, the third weighing component 233 may be made of a pressure sensor.

[0097] In some implementations, the control method of the stair climber mentioned above also includes S310 to S320, which will be described below.

[0098] S310. Obtain the third weighing value of the third weighing component 233 and determine the first target weight value. The first target weight value is 10% to 20% of the total weight value of the first weighing value, the second weighing value and the third weighing value.

[0099] For example, when the third weighing value of the third weighing component 233 is 15kg, the first weighing value is 60kg, and the second weighing value is 30kg, 10% to 20% of the total weight value of 90kg (the second weighing value of 60kg and the third weighing value of 30kg) can be calculated to be 9kg to 18kg, that is, the first target weight value is 9kg to 18kg.

[0100] S320. When the total weight of the first and second weighing values ​​is greater than the third weighing value, and the difference between the total weight of the first and second weighing values ​​and the third weighing value is greater than the first target weight value, the control prompt 43 prompts the adjustment of the center of gravity of the goods on the shelf assembly 2 towards the pull plate 23. When the total weight of the first and second weighing values ​​is less than the third weighing value, and the difference between the total weight of the first and second weighing values ​​and the third weighing value is greater than the first target weight value, the control prompt 43 prompts the adjustment of the center of gravity of the goods on the shelf assembly 2 towards the horizontal plate 22.

[0101] When in use, if the total weight of the first and second weighing values ​​is greater than the third weighing value, it means that the weight of the goods carried on the horizontal plate 22 is greater than the weight of the goods carried on the pull plate 23. The goods on the stair climber are in a normal placement state, and the stair climber is in a normal horizontal driving state or stair climbing state.

[0102] When in use, if the difference between the total weight of the first and second weighing values ​​and the third weighing value is greater than the first target weight value, it indicates that the difference between the total weight of the first and second weighing values ​​and the third weighing value exceeds a certain threshold. This indicates that the weight difference between the first and second weighing values ​​and the third weighing value is too large. At this time, the stair climber is in a horizontal driving state or stair climbing state with an unstable center of gravity, which may cause the goods to tip backward along the horizontal plate. At this time, it is necessary to adjust the center of gravity of the goods on the horizontal plate.

[0103] For example, when the third weighing value of the third weighing component 233 is 15kg, the first weighing value is 60kg, and the second weighing value is 30kg, 10% to 20% of the total weight of the second weighing value of 60kg and the third weighing value of 30kg is 9kg to 18kg, that is, the first target weight is 9kg to 18kg. At this time, the difference between the total weight of the first weighing value of 60kg and the second weighing value of 30kg and the third weighing value of 15kg is 75kg. The difference of 75kg is greater than the first target weight of 9kg to 18kg. At this time, it is necessary to adjust the center of gravity of the goods on the horizontal plate. At this time, the control prompt 43 prompts to adjust the center of gravity of the goods on the shelf component 2 to the pull plate 23.

[0104] Similarly, when the total weight of the first and second weighing values ​​is less than the third weighing value, it means that most of the weight of the goods is borne on the pull plate. At this time, it is necessary to adjust the center of gravity of the goods towards the horizontal plate. At this time, the stair climber is in a horizontal driving state or stair climbing state with an unstable center of gravity, so as to adjust the center of gravity of the goods back to the middle position of the rack assembly, thereby improving the stability of the stair climber in the front and back directions.

[0105] Similarly, when the difference between the total weight of the first and second weighing values ​​and the third weighing value is greater than the first target weight value, it can be determined that the weight difference between the first and second weighing values ​​and the third weighing value is too large, which may cause the goods to tip forward along the horizontal plate. At this time, it is necessary to adjust the center of gravity of the goods on the horizontal plate. At this time, the control prompt 43 prompts to adjust the center of gravity of the goods on the shelf assembly 2 to the horizontal plate 22.

[0106] The beneficial effect of the above implementation method is that by detecting the overall center of gravity of the rack assembly, it is easy to prompt and adjust the overall center of gravity of the rack assembly, which can improve the overall stability of the stair climber during use.

[0107] In some implementations, the control method of the stair climber also includes S410 to S420, which will be described in detail below.

[0108] S410. Determine the target weight value, which is 10% to 30% of the total weight of the first and second weighing values.

[0109] For example, when the first weighing value is 30 kg and the second weighing value is 60 kg, the target weight value is 10% to 30% of the total weight value of 90 kg, which is the first weighing value of 30 kg and the second weighing value of 60 kg. Specifically, the target weight value is 9 kg to 27 kg.

[0110] S420. When both the first tilt angle and the second tilt angle are greater than the preset angle value, and when the second weighing value is greater than the first weighing value, and the difference between the second weighing value and the first weighing value is greater than the target weight value, the control prompt 43 prompts the pull plate 23 to adjust the center of gravity of the goods in the shelf assembly 2.

[0111] When in use, if both the first tilt angle and the second tilt angle are greater than the preset angle value, it can be determined that the stair climber is in the stair climbing state.

[0112] For example, when the first weighing value is 30kg and the second weighing value is 60kg, if the difference between the second weighing value of 60kg and the first weighing value of 30kg is greater than the target weight value of 9kg to 27kg, it means that the weight borne by the side of the horizontal plate 22 away from the pull plate 23 is greater than the weight borne by the side of the horizontal plate 22 closer to the pull plate 23. At this time, it is necessary to adjust the center of gravity of the goods on the horizontal plate 22, that is, the prompter 43 can be controlled to prompt the adjustment of the center of gravity of the goods in the shelf assembly 2 towards the pull plate 23.

[0113] The beneficial effect of the above implementation method is that by detecting the tilt angle of the shelf assembly, it can be determined whether the stair climber is climbing the stairs, and by using the first and second weighing values, it can be determined whether the center of gravity of the goods on the horizontal plate has shifted, causing instability. This enables the detection and adjustment of the center of gravity during stair climbing, thereby improving the stability of the stair climber in the forward and backward directions.

[0114] In some implementations, the control component 4 mentioned above is also equipped with a timing component. The control method of the stair climber also includes S510 to S520. S510 and S520 are described below.

[0115] S510. Obtain the third weighing value of the third weighing component 233 and determine the first target weight value. The first target weight value is 10% to 20% of the total weight value of the first weighing value, the second weighing value and the third weighing value.

[0116] For example, the preset time period can be 1 minute.

[0117] For example, within a preset time period, the operating status of the stair climber can be detected by acquiring the third weighing value of the third weighing component 233 and determining the first target weight value, which is 10% to 20% of the total weight value of the first weighing value, the second weighing value and the third weighing value.

[0118] For example, the first weighing value can be 60 kg, the second weighing value can be 30 kg, and the third weighing value can be 45 kg. The total weight of the first weighing value of 60 kg, the second weighing value of 30 kg, and the third weighing value of 45 kg is 135 kg, that is, the first target weight value is 13.5 kg to 27 kg.

[0119] For example, the first target weight value, the first weighing value, the second weighing value, and the third weighing value mentioned above can be the average value of these weight values ​​collected within a preset time period.

[0120] S520. When the total weight of the first weighing value and the second weighing value is continuously greater than the third weighing value within a preset time period, and when the difference between the total weight of the first weighing value and the second weighing value and the third weighing value is continuously greater than the first target weight value, the control adjustment component 3 adjusts the center of gravity of the goods on the shelf assembly 2 towards the pull plate 23 until the difference between the total weight of the first weighing value and the second weighing value and the third weighing value is less than the first target weight value. When the total weight of the first weighing value and the second weighing value is continuously less than the third weighing value within a preset time period, and when the difference between the total weight of the first weighing value and the second weighing value and the third weighing value is continuously less than the first target weight value, the control adjustment component 3 adjusts the center of gravity of the goods on the shelf assembly 2 towards the horizontal plate 22 until the difference between the total weight of the first weighing value and the second weighing value and the third weighing value is less than the first target weight value.

[0121] For example, if the total weight of the first weighing value of 60kg and the second weighing value of 30kg (90kg) is consistently greater than the third weighing value of 45kg within a preset time period of 1 minute, it indicates that the stair climbing machine is climbing the stairs.

[0122] For example, within a preset time period of 1 minute, when the difference between the total weight of the first weighing value of 60kg and the second weighing value of 30kg (90kg) and the third weighing value of 45kg (45kg) is continuously greater than the first target weight value of 13.5kg to 27kg, the control adjustment component 3 adjusts the center of gravity of the goods in the shelf assembly 2 towards the pull plate 23 until the difference between the total weight of the first weighing value and the second weighing value and the third weighing value is less than the first target weight value. At this time, it can prevent the stair climber from tilting backward because the center of gravity of the shelf assembly is biased to the side of the horizontal plate away from the pull plate 23.

[0123] Similarly, within a preset time period, if the total weight of the first and second weighing values ​​is consistently less than the third weighing value, and if the difference between the total weight of the first and second weighing values ​​and the third weighing value is consistently less than the first target weight value, the control adjustment component 3 adjusts the center of gravity of the goods on the shelf component 2 towards the horizontal plate 22 until the difference between the total weight of the first and second weighing values ​​and the third weighing value is less than the first target weight value, thereby preventing the stair climber from tipping forward.

[0124] The beneficial effect of the above implementation method is that, within a preset time period, especially during the stable stair climbing process of the stair climber or when the stair climber is stably transporting goods on flat ground, more accurate detection results can be obtained, thereby improving the reliability of prompting the adjustment of the center of gravity of the goods and improving the prompting effect when adjusting the angle of the goods.

[0125] In some implementations, the control method of the stair climber mentioned above also includes S530, which will be described in detail below.

[0126] S530. When the variation range of the first tilt angle value and the second tilt angle value is less than 10° within a preset time period, and the total weight value of the first weighing value and the second weighing value is continuously greater than the third weighing value, and when the difference between the total weight value of the first weighing value and the second weighing value and the third weighing value is continuously greater than the first target weight value, the control adjustment component 3 adjusts the center of gravity of the goods on the shelf assembly 2 towards the pull plate 23 until the difference between the total weight value of the first weighing value and the second weighing value and the third weighing value is less than the first target weight value. When the variation range of the first tilt angle value and the second tilt angle value is less than 10° within a preset time period, and the total weight value of the first weighing value and the second weighing value is continuously less than the third weighing value, and when the difference between the total weight value of the first weighing value and the second weighing value and the third weighing value is continuously less than the first target weight value, the control adjustment component 3 adjusts the center of gravity of the goods on the shelf assembly 2 towards the horizontal plate 22 until the difference between the total weight value of the first weighing value and the second weighing value and the third weighing value is less than the first target weight value.

[0127] For example, the preset time period can be 1 minute. Within the preset time period of 1 minute, the range of change of the first tilt angle value detected is 12° to 20°. The range of change of the first tilt angle value is 8° (12° to 20°). When the range of change of the first tilt angle value is less than 10°, it indicates that the stair climber is operating stably on a horizontal ground or stairs. At this time, by detecting the center of gravity of the stair climber, false detections can be avoided, thereby improving the intelligence level when adjusting the center of gravity of the stair climber.

[0128] For example, when the variation range of the second tilt angle value is less than 10°, it indicates that the stair climber is operating stably on a horizontal ground or stairs. At this time, the center of gravity of the stair climber can be detected, and false detections can be avoided, thereby improving the intelligence level of adjusting the state of the stair climber.

[0129] For example, when the range of change of the first tilt angle value and the range of change of the second tilt angle value are both less than 10°, it can be determined by combining the range of change of the first tilt angle value and the range of change of the second tilt angle value that the stair climber is operating relatively stably on a horizontal ground or on a staircase. At this time, the center of gravity of the stair climber can be detected to improve the level of intelligence in adjusting the state of the stair climber.

[0130] It should be noted that when a user manually adjusts the tilt angle and center of gravity of the stair climber within a short period (less than the preset time period of 1 minute), the total weight of the first and second weighing values ​​may exceed the third weighing value, and the difference between the total weight of the first and second weighing values ​​and the third weighing value may exceed the first target weight value. In this case, automatic adjustment of the cargo's center of gravity would lead to false detection. By determining whether the stair climber is undergoing user adjustment within the preset time period of 1 minute, and under the condition that the changes in both the first and second tilt angles are less than 10°, it can be determined whether the stair climber is operating on a level surface or in a relatively stable climbing state. This avoids false detections when the user manually adjusts the angle and center of gravity of the stair climber in a short period, improving the intelligence level of the stair climber's center of gravity adjustment.

[0131] At this time, similar to S520 above, when the difference between the total weight of the first weighing value and the second weighing value and the third weighing value continues to be greater than the first target weight value, the control adjustment component 3 adjusts the center of gravity of the goods in the shelf assembly 2 towards the pull plate 23 until the difference between the total weight of the first weighing value and the second weighing value and the third weighing value is less than the first target weight value. This achieves the control adjustment component 3 adjusting the center of gravity of the goods in the shelf assembly 2 towards the pull plate 23 until the difference between the total weight of the first weighing value and the second weighing value and the third weighing value is less than the first target weight value. At this time, it can prevent the stair climber from tilting backward because the center of gravity of the shelf assembly is biased to the side of the horizontal plate away from the pull plate 23.

[0132] Similarly, within a preset time period, when the variation range of the first tilt angle value and the second tilt angle value is less than 10°, when the total weight value of the first weighing value and the second weighing value is continuously less than the third weighing value, and when the difference between the total weight value of the first weighing value and the second weighing value and the third weighing value is continuously less than the first target weight value, the control adjustment component 3 adjusts the center of gravity of the goods on the shelf component 2 towards the horizontal plate 22 until the difference between the total weight value of the first weighing value and the second weighing value and the third weighing value is less than the first target weight value. At this time, the variation range of the first tilt angle value and the second tilt angle value within the preset time period can be combined to prevent the stair climber from tilting forward.

[0133] It should be noted that S110 to S120 can be combined with S510 to S530 to comprehensively control the working state of the stair climber based on the value of the first tilt angle, the value of the second tilt angle, the range of variation of the first tilt angle, and the range of variation of the second tilt angle, thereby improving the stability of the stair climber during operation.

[0134] The beneficial effects of the above implementation method are that it can detect the range of changes in the angle of the goods within a preset time period, and thus determine when the angle of the goods is relatively stable during the stair climber's transport of goods. Furthermore, it can detect the center of gravity of the goods when the stair climber's operating state is relatively stable, rather than during the process of the user manually adjusting the stair climber's operation. This can avoid false detections of the stair climber's operating state. Subsequently, the center of gravity of the stair climber can be adjusted to improve the intelligence level of the stair climber's state adjustment, enabling accurate detection and adjustment of the center of gravity of the goods, and improving the stability of the stair climber's operation.

[0135] The above description is merely a preferred embodiment of this application and is not intended to limit this application. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A tracked stair climber for preventing tipping, characterized in that, The system includes a climbing component (1), a shelf component (2), an adjustment component (3), a control component (4), and a power supply component (5). The climbing component (1) is used to drive the stair climber to climb. The shelf component (2) is used to carry goods and is rotatably connected to the climbing component (1). The bottom of the shelf component (2) is provided with rollers (21). The adjustment component (3) is used to adjust the angle of the shelf component (2) relative to the climbing component (1). The climbing component (1) and the adjustment component (3) are electrically connected to the control component (4), and the control component (4) is electrically connected to the power supply component (5). The shelving assembly (2) includes a horizontal plate (22) and a pull plate (23) that are fixedly connected to each other and arranged at an angle. The connecting ends of the horizontal plate (22) and the pull plate (23) are rotatably connected to the climbing assembly (1). The horizontal plate (22) is provided with a first weighing component (221) and a second weighing component (222). The first weighing component (221) is located close to the pull plate (23), and the second weighing component (222) is located away from the pull plate (23). The control component (4) is provided with an indicator (43). The control method for the stair climber also includes: Obtain the first weighing value of the first weighing component (221) and the second weighing value of the second weighing component (222); When the second weighing value is greater than the first weighing value, the prompt device (43) is controlled to issue an alarm; The pull plate (23) is provided with a third weighing component (233) on the side near the horizontal plate (22), and the third weighing component (233) is provided near the bottom of the pull plate (23); The control method for the stair climber also includes: Obtain the third weighing value of the third weighing component (233) and determine the first target weight value; wherein the first target weight value is 10% to 20% of the total weight value of the first weighing value, the second weighing value and the third weighing value; When the total weight of the first weighing value and the second weighing value is greater than the third weighing value, and when the difference between the total weight of the first weighing value and the second weighing value and the third weighing value is greater than the first target weight value, the prompter (43) is controlled to prompt the adjustment of the center of gravity of the goods on the shelf assembly (2) to the pull plate (23); when the total weight of the first weighing value and the second weighing value is less than the third weighing value, and when the difference between the total weight of the first weighing value and the second weighing value and the third weighing value is greater than the first target weight value, the prompter (43) is controlled to prompt the adjustment of the center of gravity of the goods on the shelf assembly (2) to the horizontal plate (22).

2. The tracked stair climber for preventing tipping as described in claim 1, characterized in that, The control component (4) and the power component (5) are both fixedly connected to the side wall of the pull plate (23) away from the climbing component (1), and the roller (21) is located at the bottom of the horizontal plate (22); When the horizontal plate (22) is in a horizontal state, the roller (21) bears the weight of the stair climber and the goods; when the horizontal plate (22) is in an inclined state, the climbing assembly (1) bears the weight of the stair climber and the goods.

3. The tracked stair climber for preventing tipping as described in claim 2, characterized in that, A first pull rod (231) is connected to the pull plate (23). The first pull rod (231) is annular and coplanar with the pull plate (23). A second pull rod (232) is provided on the pull plate (23) or the first pull rod (231) on the side close to the climbing component (1).

4. The tracked stair climber for preventing tipping as described in claim 3, characterized in that, The adjustment component (3) includes an electric push rod (31), the two ends of which are rotatably connected to the climbing component (1) and the horizontal plate (22) respectively. When the electric push rod (31) extends or retracts, it drives the horizontal plate (22) to rotate relative to the climbing component (1). The electric push rod (31) is electrically connected to the control component (4), and the control component (4) is provided with a first switch for controlling the extension or retraction of the electric push rod (31).

5. The tracked stair climber for preventing tipping as described in claim 4, characterized in that, The climbing assembly (1) includes a drive assembly (11), an intermediate frame (12), and two track wheels (13). The two track wheels (13) are arranged parallel to each other and are fixedly connected through the intermediate frame (12). The drive assembly (11) is fixedly connected to the intermediate frame (12). The drive assembly (11) and the control assembly (4) are electrically connected. The control assembly (4) is provided with a second switch for controlling the operation of the drive assembly (11). The track wheel (13) includes a wheel frame (131), a track (132) and a plurality of support wheels (133), the plurality of support wheels (133) being rotatably connected to the wheel frame (131), the track (132) surrounding the plurality of support wheels (133), and the drive assembly (11) driving the track (132) to rotate on the wheel frame (131).

6. The tracked stair climber for preventing tipping as described in claim 5, characterized in that, The wheel frame (131) includes a horizontal section (131a) and an inclined section (131b), the inclined section (131b) being inclinedly connected to the horizontal section (131a), and the inclined section (131b) being inclined upward relative to the horizontal section (131a); The drive assembly (11) includes a drive motor (111) and a drive wheel (112) that are connected to each other. The drive wheel (112) is rotatably connected to the inclined section (131b). The track (132) is connected to the drive wheel (112). A tension wheel (134) that abuts against the track (132) is rotatably connected to the wheel frame (131). The tension wheel (134) is located on the outside of the track (132) at the junction of the horizontal section (131a) and the inclined section (131b).

7. The tracked stair climber for preventing tipping as described in claim 6, characterized in that, The bottom of the horizontal plate (22) is connected to a first tilt sensor (41), and the side wall of the pull plate (23) away from the climbing component (1) is also provided with a second tilt sensor (42). The first tilt sensor (41) and the second tilt sensor (42) are electrically connected to the control component (4) respectively. The control method for the stair-climbing machine includes: Obtain the first tilt angle value of the first tilt sensor (41) and the second tilt angle value of the second tilt sensor (42); When both the first tilt angle value and the second tilt angle value are greater than the preset angle value, the drive component (11) is controlled to drive the track (132) to rotate.

8. The tracked stair climber for preventing tipping as described in claim 7, characterized in that, The control method for the stair climber also includes: A target weight value is determined, wherein the target weight value is 10% to 30% of the total weight value of the first weighing value and the second weighing value; When both the first tilt angle and the second tilt angle are greater than the preset angle value, and when the second weighing value is greater than the first weighing value, and the difference between the second weighing value and the first weighing value is greater than the target weight value, the prompter (43) is controlled to prompt the pull plate (23) to adjust the center of gravity of the goods in the shelf assembly (2).

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