A load-bearing module lifting method and climbing device

Abstract

The present invention discloses a load-bearing module lifting method and climbing device, belonging to the field of prefabricated installation construction technology. The load-bearing module lifting method includes the following steps: S1, maintaining vertical balance of the load-bearing module within two spatial boundaries; S2, tilting the load-bearing module toward one or the other spatial boundary; S3, pushing or pulling the load-bearing module in the opposite direction of the tilting direction to lift the load-bearing module a first distance; S4, maintaining vertical balance of the load-bearing module; S5, repeating steps S2 to S4 to lift the load-bearing module a second distance, a third distance, and so on, until the load-bearing module is lifted into place. The present invention enables the load-bearing module to be lifted upward while changing its vertical balance, tilt, and lifting state, and is capable of vertically lifting cargo or equipment within two spatial boundaries, particularly in narrow spaces.

Description

Technical Field

[0001] The present invention relates to the technical field of assembled installation construction, and in particular to a load-bearing module lifting method and a climbing device. Background Art

[0002] With the development of construction machinery, various large-scale mechanical equipment such as cranes, excavators, and road rollers have emerged and are widely used. The popularity of these mechanical equipment has greatly improved the efficiency and quality of construction projects, allowing people to complete construction projects of various sizes more quickly.

[0003] With the continuous development of computer and automation technologies, construction machinery is playing an increasingly important role in the construction industry. Modern construction machinery and equipment are becoming increasingly specialized, adapting to their application environments and user needs. They are also equipped with advanced sensors and control systems, enabling more precise operation and higher efficiency. Automated devices used in prefabricated installation operations can improve efficiency, accuracy, and safety, while reducing costs and increasing project management efficiency. These advantages have made their adoption a trend in prefabricated installation construction.

[0004] Prefabricated installation construction often faces a variety of construction site environments. Among them, working directly in a narrow space or having narrow spaces within the working range is a common construction site environment. Existing construction machinery is often too large to function in narrow spaces, which makes lifting goods or equipment in narrow spaces unpredictable and challenging.

[0005] Therefore, how to vertically lift goods or equipment in a narrow space is a technical problem that urgently needs to be solved in this field. Summary of the Invention

[0006] The purpose of the present invention is to provide a load-bearing module lifting method and climbing device to solve the problems existing in the above-mentioned prior art, so that the load-bearing module can be lifted upward during the changes in vertical balance, tilt, and lifting state, and can vertically lift goods or equipment within the boundaries of two spaces, especially in a narrow space.

[0007] To achieve the above object, the present invention provides the following solutions:

[0008] The present invention provides a load-bearing module lifting method, comprising the following steps:

[0009] S1. Maintain vertical balance of the load-bearing module within the boundaries of the two spaces;

[0010] S2, tilting the carrying module toward one side or the other side of the space boundary;

[0011] S3, pushing or pulling the carrying module in the opposite direction of the tilting direction to lift the carrying module by a first distance;

[0012] S4, maintaining the vertical balance of the load-bearing module;

[0013] S5. Repeat steps S2 to S4 to lift the supporting module by a second distance, a third distance, ..., until the supporting module is lifted into place.

[0014] Preferably, when step S2 is repeated, tilting toward one side of the space boundary and tilting toward the other side of the space boundary are performed alternately.

[0015] Preferably, when step S2 is repeated, the module is always tilted toward one side of the space boundary or toward the other side of the space boundary. In step S4, the supporting module is reset in the horizontal direction and then maintained in vertical balance.

[0016] The present invention also provides a climbing device, including a control module, a load-bearing module, and a lifting module and a balancing module connected to the load-bearing module, the balancing module including a balancing telescopic rod and a balancing control component, the balancing telescopic rod being connected on both sides of the load-bearing module, the balancing telescopic rod being used to adjust the load-bearing module to a vertical state or an inclined state, the lifting module including a lifting telescopic rod and a lifting control component, the lifting telescopic rod being connected on one side or both sides of the load-bearing module, the lifting telescopic rod being used to push the load-bearing module to lift obliquely upward, the balancing control component and the lifting control component are both electrically connected to the control module to receive control signals from the control module.

[0017] Preferably, the carrying module includes parallel supporting plates and limiting links connecting the supporting plates, the limiting links are distributed along the circumference of the supporting plates, the lifting telescopic rod, the balancing telescopic rod and the control module are provided on the supporting plates, and the supporting plates have space for installing and storing components after being unfolded.

[0018] Preferably, it further comprises a tilt triggering member and a horizontal monitoring member, wherein the tilt triggering member is arranged at the four corners of the bearing plate, and the horizontal monitoring member is arranged in the middle of the bearing plate.

[0019] Preferably, the tilt trigger member includes a contact portion, a trigger spring connected to the contact portion, a spring plate spaced apart from the contact portion, and a deformation sensing assembly connected to the spring plate.

[0020] Preferably, the limiting connecting member includes a first hollow sleeve rod and a second hollow sleeve rod, the first hollow sleeve rod is provided with a first column and a third column, the second hollow sleeve rod is provided with a second column and the third column, the first column and the second column are respectively connected to different bearing plates, and the first hollow sleeve rod and the second hollow sleeve rod are connected through the third column.

[0021] Preferably, the balancing telescopic rods are distributed in three rows and three columns on the bearing plate.

[0022] Preferably, the balancing telescopic rod is connected to the supporting plate through a tilting guide plate, the tilting guide plate includes a supporting plate and a tilting reset member and a tilting limit member connected to the supporting plate, the balancing telescopic rod is connected to the middle of the supporting plate, the tilting reset member is located on both sides of the balancing telescopic rod in the vertical direction, and the tilting limit member is located on both sides of the balancing telescopic rod in the horizontal direction; a limiting spring is arranged between the tilting limit member and the balancing telescopic rod, and a reset spring is arranged between the tilting reset member and the supporting plate.

[0023] Preferably, the lifting telescopic rods are arranged on the bearing plate in the middle of the balancing telescopic rod distribution area, and two lifting telescopic rods are arranged in parallel in a row.

[0024] Preferably, the lifting telescopic rod is connected to the bearing plate through a fastener, and the free end of the lifting telescopic rod is hinged with a serrated plate. When in a free state, the serrated plate relies on gravity to maintain a vertical state.

[0025] Preferably, it also includes a connecting module, which includes a kit, a plug-in and a fastener. The kit and the plug-in are used to penetrate the supporting plate and be plugged in to form a cross bar that carries the container component. The fastener is respectively fastened and connected to the end of the kit located on the outside of the supporting plate and the end of the plug-in located on the outside of the supporting plate.

[0026] Compared with the prior art, the present invention has achieved the following technical effects:

[0027] The present invention enables the carrying module to be lifted upward in the process of changing the vertical balance, tilt and lifting state, and can vertically lift goods or equipment within the boundaries of two spaces, especially within a narrow space.

[0028] Other technical solutions included in the present invention can also achieve the following technical effects:

[0029] The carrying module of the present invention includes parallel supporting plates and limiting connectors connecting the supporting plates. It has a foldable structure and can be stored in a small volume, which is convenient for meeting the management needs of small space storage and forming a convenient storage device that meets the management needs.

[0030] The present invention is provided with a balancing module with a balancing telescopic rod. The balancing telescopic rod is distributed in three rows and three columns, which can maintain the relative position and posture of the carrying module, adapt to various layout environmental conditions, and achieve multi-scenario versatility based on narrow space.

[0031] The lifting telescopic rod of the present invention is hinged with a serrated plate, which can rely on gravity to maintain a vertical state, can adapt to different inclination degrees of the carrying module, can promote climbing at various inclination degrees, and complete the smooth operation of the device at multiple posture angles.

[0032] The connection module of the present invention includes a kit, a plug-in and a fastener. After the kit and the plug-in are connected, a cross bar is formed to carry the container components. It can be used to carry various forms of container components. By assembling various container components, it can respond to various types of loading requirements of production operation components.

[0033] The present invention is provided with a control module, which links the balance control parts, lifting control parts and other control components to work together in a cluster to achieve accurate, efficient and reliable operation of the device. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0035] Figure 1 This is a diagram of the component architecture of the present invention;

[0036] Figure 2 This is a flow chart of the control system of the present invention;

[0037] Figure 3 This is a diagram of the climbing device of the present invention;

[0038] Figure 4 This is a disassembled diagram of the climbing device of the present invention;

[0039] Figure 5 It is a side view of the climbing device of the present invention;

[0040] Figure 6 It is the carrier module diagram;

[0041] Figure 7 It is a balanced module diagram;

[0042] Figure 8 To improve the module diagram;

[0043] Figure 9 This is a disassembly diagram of the connection module;

[0044] Figure 10 This is an anatomical diagram of a tilt trigger;

[0045] Figure 11 This is an anatomical diagram of a tilt guide disc;

[0046] Figure 12 It is the limit connection diagram;

[0047] Figure 13 It is a diagram of replacing the container assembly of the present invention;

[0048] Figure 14 It is the folding diagram of the carrier module;

[0049] Figures 15 to 22 The schematic diagram of each state of the working steps of the embodiment of the present invention is as follows: placing device ( Figure 15 ), balanced in place ( Figure 16 ), tilt posture ( Figure 17 )、Promote improvement( Figure 18 )、Balance reset( Figure 19 ), reverse tilt ( Figure 20 )、Boost and promote( Figure 21 )、Balance reset( Figure 22 );

[0050] in,

[0051] 1. Carrying module; 6. Carrying plate; 7. Tilt trigger; 71. Contact portion; 711. First plate-shaped limiter; 712. Second plate-shaped limiter; 72. Trigger spring; 73. Reed; 74. Deformation sensing assembly; 75. First limit ring; 76. Housing; 8. Limiting connector; 81. First hollow sleeve; 82. Second hollow sleeve; 83. First column; 84. Second column; 85. Third column; 9. Level monitoring component;

[0052] 2. Balancing module; 10. Tilt guide plate; 101. Tilt reset member; 102. Tilt limiter; 103. Carrying plate; 11. Balancing telescopic rod; 12. Balancing control member;

[0053] 3. Lifting module; 13. Fastener; 14. Lifting telescopic rod; 141. Sawtooth plate; 15. Lifting control part;

[0054] 4. Connection module; 16. Plug-in; 17. Kit; 18. Fastener; 19. Cable reel; 20. Carrying box;

[0055] 5. Control module; 21. Integrated control unit; 22. Battery assembly. DETAILED DESCRIPTION

[0056] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0057] The purpose of the present invention is to provide a load-bearing module lifting method and climbing device to solve the problems existing in the prior art, so that the load-bearing module can be lifted upward during the changes in vertical balance, tilt, and lifting state, and can vertically lift goods or equipment within the boundaries of two spaces, especially in a narrow space.

[0058] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0059] like Figures 1 to 22 As shown, the present invention provides a method for lifting a load-bearing module. The load-bearing module 1 is a structure with load-bearing and transportation functions. It can be in the form of a plate, block or frame structure. It is provided with a corresponding action module or a structure with the help of a space boundary. It climbs up or descends in a space range, especially a narrow space range, in a self-driven manner. The width of the load-bearing module 1 should be smaller than the distance between the space boundaries on both sides of the space. When lifting, the following steps may be included:

[0060] S1. Place the carrier module 1 within two space boundaries, such as a narrow space, so that the carrier module 1 maintains vertical balance within the two space boundaries. A certain distance is maintained between the two sides of the carrier module 1 and the space boundaries. The vertical balance can be maintained by adjusting the distance from the space boundaries using a telescopic balancing rod 11, or by using a non-contact force (such as electromagnetic force or permanent magnetic force). Any method is acceptable as long as vertical balance can be achieved.

[0061] S2. Tilt the carrier module 1 toward one side of the space boundary or toward the other side of the space boundary. When tilting the carrier module 1, the balancing telescopic rod 11 or non-contact force in step S1 can be used to apply forces in opposite directions to the upper and lower parts of the carrier module 1 to achieve the tilting of the carrier module 1.

[0062] S3. If the carrying module 1 is tilted toward one side of the space boundary in step S2, the carrying module 1 is pushed or pulled toward the other side of the space boundary in this step. If the carrying module 1 is tilted toward the other side of the space boundary in step S2, the carrying module 1 is pushed or pulled toward the one side of the space boundary in this step. That is, no matter which side the carrying module 1 is tilted, the carrying module 1 is pushed or pulled in the opposite direction of the tilting direction to lift the carrying module 1 a first distance. The first distance can be set according to parameters such as the volume, elongation, and spacing of the space boundaries of the carrying module 1, and no specific restrictions are imposed. In addition, the structure for pushing or pulling the carrying module 1 to move can be a lifting telescopic rod 14 or a magnetic mechanism that can achieve the corresponding function.

[0063] S4. Maintaining vertical balance of the load-bearing module 1. It should be noted that after the load-bearing module 1 is lifted a first distance, it has already approached the boundary of the space opposite to the tilting direction. Therefore, while maintaining vertical balance, it can be reset in the horizontal direction to adapt to the process of tilting and lifting again. If the tilting directions are different during two consecutive lifting processes, it is not necessary to reset in the horizontal direction or to move only a portion of the distance in the reset direction.

[0064] S5. Repeat steps S2 to S4 to lift the supporting module 1 to the second distance, the third distance, ..., until the supporting module 1 is lifted into place.

[0065] Furthermore, when implementing step S5 and repeating step S2, the method of alternating between tilting toward one side of the space boundary and tilting toward the other side of the space boundary can be adopted. At this time, the reset requirement of the carrier module 1 can be reduced, and it can be reset, slightly reset, or not reset at all, to realize the process of forward and reverse swing lifting.

[0066] Slightly different from the above-mentioned solution, when implementing step S5, when repeating step S2, it can also always tilt toward the direction of the space boundary on one side or always tilt toward the direction of the space boundary on the other side. Since the tilt directions are the same for two adjacent times, each time it is lifted, it will move toward the space boundary in one direction, which may cause collision and interference with the space boundary and fail to lift smoothly. Therefore, in step S4, the supporting module 1 can be reset in the horizontal direction and then maintain vertical balance. At this time, it can be lifted smoothly.

[0067] like Figures 1 to 22As shown, the present invention also provides a climbing device, comprising a control module 5, a load-bearing module 1, and a lifting module 3 and a balancing module 2 connected to the load-bearing module 1. The load-bearing module 1 is used for both carrying and transporting items and for carrying and installing various functional modules. The balancing module 2 includes a balancing telescopic rod 11 and a balancing control member 12. The balancing telescopic rod 11 is connected to both sides of the load-bearing module 1. The balancing telescopic rod 11 can be an electric rod or a hydraulic rod, without specific limitation. The balancing telescopic rod 11 is used to adjust the load-bearing module 1 to a vertical or tilted state. The lifting module 3 includes a lifting telescopic rod 14 and a lifting control member 15. The lifting telescopic rod 14 is connected to one or both sides of the load-bearing module 1 (if tilting and lifting in only one direction is required, a solution of only providing the lifting telescopic rod 14 on one side can be adopted). The lifting telescopic rod 14 can be an electric rod or a hydraulic rod, without specific limitation. The lifting telescopic rod 14 is used to propel the load-bearing module 1 diagonally upward. The control module 5 can be installed on the carrier module 1 or installed separately from the carrier module 1, and communicate through wired or wireless means. The balance control component 12 and the lifting control component 15 are both electrically connected to the control module 5 to receive the control signal of the control module 5, so that the control module 5 uniformly controls the operation of each module of the climbing device to realize an integrated control system.

[0068] The control module 5 primarily coordinates and links control components installed in other modules of the device (such as the lifting module 3 and the balancing module 2). Through integrated hydraulic group control, posture recognition and adjustment, and coordinated motion control, precise and efficient device movement is achieved. The control module 5 can be implemented as an integrated device control component and located in the upper center of the carrier module 1. The control module 5 includes an integrated control unit 21 and a battery assembly 22 that powers the integrated control unit 21. The integrated control unit 21 is an electrical component that integrates wireless signal reception, wireless signal transmission, logic rule execution, and motion coordination. Its primary functions are to receive wireless signals from the deformation sensor assembly 74 of the tilt trigger 7, the level monitoring unit 9, the pressure sensor assembly of the tilt reset unit 101, and wireless hydraulic pressure signals from the balancing control unit 12 and the lifting control unit 15. It then transmits hydraulic adjustment signals to the balancing control unit 12 and the lifting control unit 15. The integrated control unit 21 can be located in the upper center of the carrier plate 6. It executes the device's operating logic according to input rules, linking the various control components in a clustered manner. The battery assembly 22 can be arranged in the middle upper part of the supporting plate 6 , and its main function is to serve as a power source to provide electrical energy to the integrated control component 21 .

[0069] The balancing control component 12 is an electrical component that integrates wireless signal reception, hydraulic adjustment action, hydraulic pressure monitoring, and wireless signal transmission. Its main function is to receive the wireless signal transmitted by the integrated control component 21, perform hydraulic adjustment action on the balancing telescopic rod 11, monitor the hydraulic pressure and transmit wireless signals to the integrated control component 21. The balancing control component 12 can be arranged at the rear of the balancing module 2 and connected to the inner side of the supporting plate 6.

[0070] The lifting control component 15 is an electrical component that integrates wireless signal reception, hydraulic adjustment action, hydraulic pressure monitoring, and wireless signal transmission. Its main function is to receive the wireless signal transmitted by the integrated control component 21, perform hydraulic adjustment action on the lifting telescopic rod 14, monitor the hydraulic pressure and transmit wireless signals to the integrated control component 21. The lifting control component 15 can be arranged at the rear of the balancing module 2 and connected to the inner side of the load-bearing plate 6.

[0071] Under the control of the control module 5, the climbing device of the present invention can achieve lifting according to the following steps:

[0072] S1. The supporting module 1 maintains vertical balance within the two space boundaries by telescoping the balancing telescopic rod 11 in the balancing module 2;

[0073] S2, using the telescopic movement of the lifting telescopic rod 14 in the lifting module 3 to tilt the carrying module 1 toward one side or the other side of the space boundary;

[0074] S3, pushing or pulling the carrying module 1 in the opposite direction of the tilt direction by lifting the telescopic rod 14, so that the carrying module 1 is lifted by a first distance;

[0075] S4. Under the action of the balancing telescopic rod 11, the carrying module 1 maintains vertical balance;

[0076] S5. Repeat steps S2 to S4 to lift the supporting module 1 to the second distance, the third distance, ..., until the supporting module 1 is lifted into place.

[0077] From the above content, it can be seen that the present invention places the carrying module 1 in the climbing space, so that the two sides of the carrying module 1 are respectively supported on the boundaries of the climbing space. Under the control of the control module 5, the carrying module 1 can be lifted upward while changing the vertical balance, tilt, and lifting state, and can vertically lift goods or equipment within the boundaries of the two spaces, especially in a narrow space.

[0078] Combine Figures 3 to 6As shown, the main function of the carrier module 1 is to form the device structure to support other modules, provide posture information to achieve the device operation phase node determination, and at the same time, its foldable structure provides a smaller storage space for the device, forming a convenient storage device that meets management requirements. The carrier module 1 is the main structure of the device, and the other modules are arranged on the carrier module 1. Specifically, the carrier module 1 includes parallel load plates 6 and a limiter connector 8 connecting the load plates 6. The load plates 6 can be made of thin plates, such as rectangular plates with rounded corners. The main function of the carrier module 1 is to form the main structure of the device, maintain the stability of the device structure, and support other components of the device. The limiter connector 8 is distributed along the circumference of the load plates 6. The limiter connector 8 has a telescopic deformation function, which can limit the maximum distance between the two load plates 6 and can also be retracted to allow the two load plates 6 to fold closer. The load plates 6 are equipped with a lifting telescopic rod 14, a balancing telescopic rod 11, and a control module 5. The load plates 6 can be folded and unfolded. When the load plates 6 are unfolded, there is space between the two load plates 6 to install and store components.

[0079] The support module 1 also includes a tilt trigger 7 and a level monitoring element 9. The tilt trigger 7 can be installed at the four corners of the support plate 6, and the level monitoring element 9 can be arranged on the outer middle surface of the support plate 6. The tilt trigger 7 mainly functions when the device is in operation and tilted to the maximum allowable working environment, the tilt trigger 7 touches the environmental boundary and transmits a signal to the integrated control unit 21. The level monitoring element 9 is an electrical component that integrates levelness monitoring, tilt angle monitoring, and wireless signal transmission. It is mainly used to monitor levelness and tilt angle and transmit signals to the integrated control unit 21.

[0080] Combine Figure 10 As shown, the tilt trigger 7 includes a contact portion 71, a trigger spring 72 connected to the contact portion 71, a spring 73 spaced apart from the contact portion 71, and a deformation sensing assembly 74 connected to the spring 73. The main body of the tilt trigger 7 is a housing 76. The contact portion 71 is disposed throughout the housing 76 and is limited in position by a first plate-shaped stopper 711 on the outside of the housing 76 and a second plate-shaped stopper 712 located inside the housing 76, preventing the contact portion 71 from being overcompressed or dislodged from the housing 76. The spring 73 is configured to receive downward pressure from the contact portion 71 (or the second plate-shaped stopper 712 connected to the contact portion 71) and deform. This pressure is then transmitted via a wire to the deformation sensing assembly 74 below the spring 73. The deformation sensing assembly 74 is an electrical component that integrates deformation recognition and wireless signal transmission. The deformation sensing assembly 74 transmits the wireless signal to the integrated control unit 21 of the control module 5. The trigger spring 72 is compressed and deformed after the contact portion 71 is subjected to force to provide a restoring force for assisting the tilt trigger member 7 to return to normal state. A first limiting ring 75 is provided at the bottom of the trigger spring 72 to prevent the trigger spring 72 from falling out of a predetermined position.

[0081] Combine Figure 12 As shown, the position-limiting link 8 includes a first hollow sleeve 81 and a second hollow sleeve 82. The first hollow sleeve 81 is fitted with a first column 83 and a third column 85, while the second hollow sleeve 82 is fitted with a second column 84 and a third column 85. The first hollow sleeve 81 (or the second hollow sleeve 82) is arranged in a double layer, with the second hollow sleeve 82 (or the first hollow sleeve 81) sandwiched in the middle. The first column 83 and the second column 84 are connected to different support plates 6, respectively. Covers may be provided at the ends of the first and second columns 83 and 84 to prevent the first and second hollow sleeves 81 and 82 from falling out. The first and second hollow sleeves 81 and 82 are connected by the third column 85, and covers are provided at each end of the third column 85 to prevent the first and second hollow sleeves 81 and 82 from falling out. The first hollow sleeve rod 81 and the second hollow sleeve rod 82 can both slide relative to the third column 85 and slide relative to the first column 83 and the second column 84 respectively, so as to achieve telescopic adjustment of the limiting link 8 .

[0082] like Figures 3-5 and Figure 7 As shown, the main function of the balancing module 2 is to provide supporting power to maintain the balance of the device, obtain the operation information of the device in the layout environment, maintain the relative position and posture of the device in each stage of operation, and achieve high adaptability of the device to the use environment based on space, especially narrow space. Specifically, the balancing telescopic rod 11 can be a hydraulic rod with a rounded bottom. Its main function is to provide supporting force for the device by extending to contact the boundary of the environment. Under the joint action of multiple balancing telescopic rods 11, the device can provide posture adjustment force such as tilt and translation. The balancing telescopic rods 11 can be distributed in three rows and three columns on the bearing plate 6, and can be specifically arranged on the upper part of both sides of the bearing module 1. The first row is evenly arranged with three rods, respectively arranged at the front, middle and rear positions; the second row is arranged with two rods, respectively arranged at the front and rear positions; and the third row is evenly arranged with three rods, respectively arranged at the front, middle and rear positions.

[0083] Furthermore, the balancing telescopic rod 11 can be connected to the supporting plate 6 through the tilting guide plate 10. The tilting guide plate 10 includes a supporting plate 103 and a tilting reset member 101 and a tilting limit member 102 connected to the supporting plate 103. The balancing telescopic rod 11 is connected to the middle of the supporting plate 103 and is rotatably connected to the tilting limit member 102. The tilting reset member 101 is located on both sides of the vertical direction of the balancing telescopic rod 11, and the tilting limit member 102 is located on both sides of the horizontal direction of the balancing telescopic rod 11.

[0084] The tilting pressure reset member 101 can be in the shape of a rectangular box, and its main function is to receive the tilting pressure of the balancing telescopic rod 11, assist in resetting the balancing telescopic rod 11, and transmit the pressure value signal to the integrated control component 21; a rectangular pressure block is set on the top of the tilting pressure reset member 101, and the rectangular pressure block is used to receive the pressure generated after the balancing telescopic rod 11 tilts. One or two reset springs are arranged at the bottom of the rectangular pressure block. The reset spring is used to provide support and reset reaction force to the balancing telescopic rod 11. A second limit ring is set at the bottom of the reset spring. The second limit ring is used to prevent the reset spring from falling out of the predetermined position. A pressure sensing component is set in the middle of the second limit ring. The pressure sensing component is an electrical component for integrated pressure value acquisition and wireless signal transmission. The pressure sensing component transmits the wireless signal to the integrated control component 21.

[0085] The tilt limiter 102 can be in the shape of a rectangular box, and its main function is to maintain the relative position of the balancing telescopic rod 11 and limit the change of the rotation axis of the balancing telescopic rod 11. A limit groove is opened in the rectangular box of the tilt limiter 102 to accommodate the balancing telescopic rod 11. A limit spring is provided on the inner surface of the tilt limiter 102. The limit spring is used to maintain the relative position of the balancing telescopic rod 11. A third limit ring is provided at the bottom of the limit spring. The third limit ring is used to prevent the limit spring from falling out of the predetermined position.

[0086] The carrying plate 103 can be a circular plate, which mainly carries the tilting reset member 101 and the tilt limiting member 102 , receives the pressure from the balancing telescopic rod 11 , and connects the balancing telescopic rod 11 and the carrying plate 6 .

[0087] like Figures 3-5 and Figure 8 As shown, the lifting module 3 primarily provides propulsion for lifting the device, maintaining stable lifting in a self-sustaining structure and enabling smooth operation at various angles. Lifting telescopic rods 14 are positioned in the upper center of both sides of the supporting module 1, two evenly spaced in a row on each side, on the supporting plate 6, located in the middle of the distribution area of ​​the balancing telescopic rods 11.

[0088] Furthermore, each lifting module 3 includes a fastener 13, a lifting telescopic rod 14 and a lifting control part 15. The lifting telescopic rod 14 is connected to the supporting plate 6 through the fastener 13. The free end of the lifting telescopic rod 14 is hinged with a serrated plate 141. When in the free state, the serrated plate 141 relies on gravity to maintain a vertical state, which can better adapt to and abut the space boundary, and help the smooth lifting of the device.

[0089] like Figures 3-5 and Figure 9As shown, the device also includes a connection module 4. The main function of the connection module 4 is to provide support to maintain the stability of the device structure. It carries a variety of storage components in a plug-in and fastening manner to meet the requirements of multi-type component storage required by production operations. The connection module 4 is a structural component for fixing and stabilizing the device load and can be arranged in the lower center of the carrier module 1. Specifically, the connection module 4 may include a kit 17, a plug-in 16, and a fastener 18. The kit 17 and the plug-in 16 are used to penetrate the carrier plate 6 for plug-in connection to form a crossbar that carries the storage components. The storage components can be a storage box 20 or a wire reel 19. The fastener 18 is respectively fastened to the end of the kit 17 located outside the carrier plate 6 and the end of the plug-in 16 located outside the carrier plate 6.

[0090] More specifically, the insert 16 can be cylindrical, with a cross-shaped protrusion at the front end (the end closest to the sleeve 17) and a cross-shaped plate-shaped protrusion at the rear end (the end away from the sleeve 17). The insert 16 primarily functions to cooperate with the sleeve 17 to support components such as a cable tray 19 or a storage box 20, and to connect to the support plate 6 with fasteners 18 to maintain structural stability. The sleeve 17 can be cylindrical, with a cross-shaped groove at the front end (the end closest to the insert 16) and a cross-shaped plate-shaped protrusion at the rear end (the end away from the insert 16). The insert 17 primarily functions to cooperate with the insert 16 to support components such as a cable tray 19 or a storage box 20, and to connect to the support plate 6 with fasteners 18 to maintain structural stability. Fastener 18 can be cylindrical, with a groove at the head end (the end used to connect to plug 16 or kit 17). The groove is divided into two layers, the first layer groove is cross-plate-shaped, and the bottom layer groove is angular fan-shaped. Fastener 18 mainly functions to cooperate with plug 16 and kit 17 to connect to support plate 6. At the same time, after inserting the cross-plate-shaped protrusion at the end of plug 16 and kit 17, it rotates 45° to clamp, providing support for the device and maintaining structural stability. Wire drum 19 is disc-shaped with a circular hole in the middle for plug 16 and kit 17 to be inserted. Wire drum 19 mainly functions to support linear construction components and is located in the lower middle portion between the two support plates 6. Storage box 20 is a hollow semi-circular disk with a circular hole in the upper middle portion for plug 16 and kit 17 to be inserted. Storage box 20 mainly functions to support non-linear construction components and is located in the lower middle portion between the two support plates 6.

[0091] The climbing device of the present invention solves the problems in the traditional narrow space assembly and installation construction process, such as the inconvenience in carrying assembly accessories due to the narrow working space, resulting in reduced work efficiency; the workers' concentration and work quality are reduced due to the quality constraints of the working environment, resulting in frequent construction quality problems; the dangerous factors are increased due to the limited scope of working activities, resulting in a high incidence of accidents and difficulty in rescue; and the problems of low efficiency of prefabricated installation work, frequent construction quality problems, inconvenience in material access, increased safety risks, difficulty in work coordination and difficulty in emergency rescue in a narrow space working environment caused by the above reasons.

[0092] The input rules of control module 5 are as follows:

[0093] (1) Balance posture adjustment rules

[0094] 1) The integrated control component 21 obtains the hydraulic pressure transmitted by the 16 balancing control components 12. The pressure data on one side of the load-bearing plate 6 are recorded in sequence A, as shown in Formula 1. The pressure data on the other side of the load-bearing plate 6 are recorded in sequence B, as shown in Formula 2.

[0095] A sequence is recorded as (Formula 1)

[0096] The B sequence is recorded as (Equation 2)

[0097] In the formula The hydraulic pressure data transmitted by the balancing control element 12 of the first row and first column on the A-series side, The hydraulic pressure data transmitted by the balancing control element 12 in the first row and second column on the A-series side is The hydraulic pressure data transmitted by the balance control element 12 in the 1st row and 3rd column on the A-series side, The hydraulic pressure data transmitted by the balance control element 12 of the 2nd row and 1st column on the A-series side, The hydraulic pressure data transmitted by the balancing control element 12 of the 2nd row and 2nd column on the A-series side is The hydraulic pressure data transmitted by the balance control element 12 in the 3rd row and 1st column on the A-series side is The hydraulic pressure data transmitted by the balance control element 12 in the 3rd row and 2nd column on the A-series side is: The hydraulic pressure data transmitted by the balance control element 12 in the 3rd row and 3rd column on the A-series side; The hydraulic pressure data transmitted by the balance control element 12 of the 1st row and 1st column on the B-sequence side, The hydraulic pressure data transmitted by the balance control element 12 in the first row and second column on the B-sequence side is The hydraulic pressure data transmitted by the balance control element 12 of the 1st row and 3rd column on the B-sequence side, The hydraulic pressure data transmitted by the balance control element 12 of the 2nd row and 1st column on the B-sequence side, The hydraulic pressure data transmitted by the balance control element 12 of the 2nd row and 2nd column on the B-sequence side, The hydraulic pressure data transmitted by the balance control element 12 in the 3rd row and 1st column on the B-sequence side, The hydraulic pressure data transmitted by the balance control element 12 in the 3rd row and 2nd column on the B-sequence side is: The hydraulic pressure data is transmitted to the balancing control element 12 of the 3rd row and 3rd column on the B-sequence side.

[0098] At this point, the acquisition of the balance posture balance control component 12 data set information is completed.

[0099] 2) The integrated control unit 21 compares the A sequence data in sequence according to formula 4

[0100] (Formula 4)

[0101] According to the comparison results, the rule of formula 5 is executed, and the A sequence data with the largest data is assigned to the A sequence one by one.

[0102] (Formula 5)

[0103] In the formula is the first maximum data of sequence A, This is the second maximum data of sequence A. This is the third maximum data of sequence A. This is the fourth maximum data of sequence A. This is the fifth maximum data of sequence A. This is the 6th maximum data in sequence A.

[0104] The integrated control component 21 transmits the hydraulic pressure data to each balance control component 12 of the A sequence one by one. The balance control component 12 receives the wireless signal transmitted by the integrated control component 21, and the balance control component 12 performs hydraulic adjustment on the balance telescopic rod 11, thereby completing the balance posture adjustment of the device A sequence surface.

[0105] The integrated control unit 21 compares the B sequence data in sequence according to formula 6

[0106] (Equation 6)

[0107] According to the comparison results, the rule of formula 7 is executed, and the B sequence data with the largest data is assigned to the B sequence one by one.

[0108] (Equation 7)

[0109] In the formula is the first maximum data of the B sequence, is the second maximum data of the B sequence, This is the third maximum data of the B sequence. This is the fourth maximum data of the B sequence. This is the fifth maximum data of the B sequence. This is the sixth maximum data of the B sequence.

[0110] The integrated control component 21 transmits the hydraulic pressure data to each balance control component 12 of the B sequence one by one. The balance control component 12 receives the wireless signal transmitted by the integrated control component 21, and the balance control component 12 performs hydraulic adjustment on the balance telescopic rod 11, thereby completing the balance posture adjustment of the device B sequence surface.

[0111] 3) The integrated control unit 21 obtains the level detection transmitted by the two level monitoring units 9, which is recorded as 、 , calculate the average level of the device according to formula 8;

[0112] (Equation 8)

[0113] In the formula The level detection data transmitted by the level monitoring component 9 on the A series side, The level detection data transmitted by the level monitoring component 9 on the B-series side, is the average level; Preset weight data for the A sequence side, Preset weight data for the B sequence side, 、 The value of is selected according to the restricted environment, but should satisfy .

[0114] The integrated control unit 21 compares the Compared with the device balance level setting value, the device balance level setting value is usually set to 1.

[0115] (Equation 9)

[0116] In the formula Sets the balance level for the unit.

[0117] when When , repeat step 2) that is, find the largest value in the sequence set, and then continue to step 3); when When the device balance posture adjustment is completed; when When the balance posture adjustment of the device is completed.

[0118] (2) Tilt posture adjustment rules

[0119] 1) The integrated control component 21 obtains the deformation value signals transmitted by the deformation sensor components 74 of the four tilt trigger components 7 and records them in sequence into the D set

[0120] The D set is denoted as

[0121] In the formula The deformation value signal of the deformation sensing component 74 of the first tilt triggering component 7 received by the integrated control component 21, The deformation value signal of the deformation sensing component 74 of the second tilt triggering component 7 received by the integrated control component 21, The deformation value signal of the deformation sensing component 74 of the third tilt triggering component 7 received by the integrated control component 21, It is the deformation numerical signal of the deformation sensing component 74 of the fourth tilt triggering component 7 received by the integrated control component 21.

[0122] The deformation data comparison of the D set is performed according to formula 10.

[0123] (Equation 10)

[0124] In the formula is the average value of the deformation value signals transmitted by the deformation sensing components 74 of the four tilt triggering members 7, is the maximum value of the deformation value signals transmitted by the deformation sensing components 74 of the four tilt triggering members 7, The minimum value of the deformation numerical signals transmitted by the deformation sensing components 74 of the four tilt triggering members 7.

[0125] when When , the integrated control component 21 continues to obtain the deformation value signal transmitted by the deformation sensor components 74 of the four tilt trigger components 7, and records it in sequence into the D set, overwriting the previously obtained data one by one; when When , continue to execute the current rule; when , continue to execute the current rule.

[0126] 2) As in step 1 of the balance attitude adjustment rule (1), the balance control element 12 data set information is obtained in the same manner, and the tilt attitude is established. sequence sum Sequence data collection.

[0127] The sequence is recorded as (Equation 11)

[0128] The sequence is recorded as (Equation 12)

[0129] At this point, the acquisition of the data set information of the tilt posture balance control component 12 is completed.

[0130] 3) The integrated control unit 21 performs the following steps according to formula 13: Sequence data comparison

[0131] (Equation 13)

[0132] According to the comparison results, the formula 14 is executed. Sequence data comparison maximum data is assigned one by one sequence.

[0133] (Equation 14)

[0134] In the formula for The first maximum data in the sequence, for The second largest data in the sequence, for The third maximum data in the sequence.

[0135] The integrated control unit 21 transmits the hydraulic pressure data to the corresponding Each balance control part 12 in sequence receives the wireless signal transmitted by the integrated control part 21, and the balance control part 12 performs hydraulic adjustment on the balance telescopic rod 11, thus completing the device. Sequential face tilt attitude adjustment.

[0136] The integrated control unit 21 performs the following steps in sequence according to formula 6: Sequence data comparison

[0137] (Equation 6)

[0138] According to the comparison results, follow the formula 7 rule to execute Sequence data comparison maximum data is assigned one by one sequence.

[0139] (Equation 7)

[0140] In the formula for The first maximum data in the sequence, for The second largest data in the sequence, for The third maximum data in the sequence.

[0141] The integrated control unit 21 transmits the hydraulic pressure data to the corresponding Each balance control part 12 in sequence receives the wireless signal transmitted by the integrated control part 21, and the balance control part 12 performs hydraulic adjustment on the balance telescopic rod 11, thus completing the device. Sequential face tilt attitude adjustment.

[0142] The present invention provides specific embodiments as follows:

[0143] Step 1 is the assembly of the device; Steps 2 to 3 are the formation of the balanced posture of the device; Steps 4 to 6 are the formation of the tilted posture of the device; Steps 7 to 9 are the lifting and movement of the device; Steps 10 to 11 are the turnover and climbing of the device.

[0144] Step 1: Separate the two supporting plates 6 of the supporting module 1. The limiting connector 8 will expand as the supporting plates 6 move. Place the cable reel 19 or the carrying box 20 of the connection module 4 between the two supporting plates 6. Insert the plug-in 16 into the sleeve 17 and pass it through the holes at the bottom of the two supporting plates 6. Use the fasteners 18 to fasten the assembled plug-in 16 and sleeve 17 at both ends to complete the device assembly.

[0145] Step 2: Place the assembled device in a narrow space. The battery assembly 22 of the control module 5 supplies power to the integrated control component 21. The integrated control component 21 transmits a wireless signal to the balance control component 12 of the balance module 2. The balance control component 12 receives the wireless signal transmitted by the integrated control component 21. The balance control component 12 performs a hydraulic adjustment action on the balance telescopic rod 11, and the balance telescopic rod 11 starts to extend.

[0146] Step 3: The balancing telescopic rod 11 contacts the environmental limit boundary, the balancing control component 12 detects the change in hydraulic pressure, the balancing control component 12 transmits a wireless signal to the integrated control component 21, the integrated control component 21 receives the signal transmitted by the balancing control component 12, the horizontal monitoring component 9 transmits a wireless signal to the integrated control component 21, the integrated control component 21 receives the wireless signal transmitted by the horizontal monitoring component 9, and the integrated control component 21 starts to execute the (1) balancing posture adjustment rule in the control module 5. After the rule is executed, the integrated control component 21 transmits a wireless signal to the balancing control component 12, the balancing control component 12 receives the wireless signal transmitted by the integrated control component 21, the balancing control component 12 performs a hydraulic adjustment action on the balancing telescopic rod 11, and the balancing telescopic rod 11 stops moving, thus completing the formation of the device's balancing posture;

[0147] Step 4: The integrated control unit 21 transmits a wireless signal to the balance control unit 12. The balance control unit 12 receives the wireless signal transmitted by the integrated control unit 21 and performs a hydraulic adjustment on the balance telescopic rod 11. The right side (reference Figure 5 (As shown, the left and right sides are distinguished, and the same applies hereinafter) the first row of balancing telescopic rods 11 continues to extend, the first row of balancing telescopic rods 11 on the left side continues to shorten, the second row of balancing telescopic rods 11 on the right side slowly extends, the second row of balancing telescopic rods 11 on the left side slowly shortens, the third row of balancing telescopic rods 11 on the right side continues to shorten, and the third row of balancing telescopic rods 11 on the left side continues to extend;

[0148] Step 5: As the position of the balanced telescopic rod 11 continues to change, the device begins to tilt. The tilting guide plate 10 receives pressure from the balanced telescopic rod 11. The tilting reset member 101 on the carrier plate 103 retracts under pressure. The tilt limiter 102 limits the tilting of the balanced telescopic rod 11 to a specified axis. The pressure sensing component of the tilting reset member 101 transmits a wireless signal to the integrated control member 21. The integrated control member 21 receives the wireless signal transmitted by the pressure sensing component of the tilting reset member 101. The integrated control member 21 transmits a wireless signal to the balancing control member 12. The balancing control member 12 receives the wireless signal transmitted by the integrated control member 21. The balancing control member 12 performs a hydraulic adjustment action on the balanced telescopic rod 11, and the balanced telescopic rod 11 gradually slows down its change speed.

[0149] Step 6: When the device tilts to a certain degree, the tilt trigger 7 located at the upper left side and the lower right side of the device contacts the environmental boundary, and the tilt trigger 7 transmits a wireless signal to the integrated control component 21. The integrated control component 21 receives the wireless signal transmitted by the tilt trigger 7, and the integrated control component 21 starts to execute the (2) tilt attitude adjustment rule in the control module 5. After the rule is executed, the integrated control component 21 transmits a wireless signal to the balance control component 12. The balance control component 12 receives the wireless signal transmitted by the integrated control component 21, and the balance control component 12 performs a hydraulic adjustment action on the balance telescopic rod 11. The balance telescopic rod 11 stops moving, and the device tilt attitude is formed.

[0150] Step 7: The integrated control component 21 transmits a wireless signal to the lifting control component 15 of the lifting module 3. The lifting control component 15 on the left side of the device receives the wireless signal transmitted by the integrated control component 21, and the lifting control component 15 performs a hydraulic adjustment action on the lifting telescopic rod 14, thereby extending the lifting telescopic rod 14.

[0151] Step 8: The lifting telescopic rod 14 contacts the environmental limit boundary, and the lifting control component 15 detects a change in hydraulic pressure. The lifting control component 15 transmits a wireless signal to the integrated control component 21. The integrated control component 21 receives the wireless signal transmitted by the lifting control component 15, and the integrated control component 21 transmits a wireless signal to the balancing control component 12. The balancing control component 12 receives the wireless signal transmitted by the integrated control component 21, and the balancing control component 12 performs a hydraulic adjustment action on the balancing telescopic rod 11. The left balancing telescopic rod 11 begins to extend, and the right balancing telescopic rod 11 begins to shorten, and the device begins to move to the upper right side.

[0152] Step 9: When the device moves to a certain extent, the tilt trigger 7 located at the lower right side of the device contacts the environmental boundary. The tilt trigger 7 transmits a wireless signal to the integrated control component 21. The integrated control component 21 receives the wireless signal transmitted by the tilt trigger 7. The integrated control component 21 transmits a wireless signal to the lifting control component 15. The lifting control component 15 receives the signal transmitted by the integrated control component 21. The lifting control component 15 performs a hydraulic adjustment action on the lifting telescopic rod 14. The lifting telescopic rod 14 stops extending. The integrated control component 21 transmits a wireless signal to the balance control component 12. The balance control component 12 receives the wireless signal transmitted by the integrated control component 21. The balance control component 12 performs a hydraulic adjustment action on the balance telescopic rod 11. The balance telescopic rod 11 stops changing. At this point, the device completes the lifting movement.

[0153] Step 10: The integrated control component 21 transmits a wireless signal to the lifting control component 15. The lifting control component 15 on the left side of the device receives the signal transmitted by the integrated control component 21. The lifting control component 15 performs a hydraulic adjustment action on the lifting telescopic rod 14. The lifting telescopic rod 14 begins to retract. At the same time, the integrated control component 21 starts to execute the (1) balance posture adjustment rule in the control module 5 as described in step 3. The execution is completed. The integrated control component 21 transmits a wireless signal to the balance control component 12. The balance control component 12 receives the wireless signal transmitted by the integrated control component 21. The balance control component 12 performs a hydraulic adjustment action on the balance telescopic rod 11. The balance telescopic rod 11 stops moving. At this point, the balance posture of the device is reset.

[0154] Step 11: The device repeats steps 4 to 10, climbing alternately in three postures: tilting posture, lifting movement, and balance reset.

[0155] The present invention uses specific examples to illustrate the principles and implementation methods of the present invention. The above examples are only intended to help understand the method and core concept of the present invention. At the same time, those skilled in the art will find that the specific implementation methods and application scopes may vary based on the concept of the present invention. In summary, the contents of this specification should not be construed as limiting the present invention.

Claims

1. A climbing device, characterized in that: The invention comprises a control module, a carrying module, and a lifting module and a balancing module connected to the carrying module, wherein the balancing module comprises a balancing telescopic rod and a balancing control member, wherein the balancing telescopic rod is connected to both sides of the carrying module and is used to adjust the carrying module to a vertical state or an inclined state, and the lifting module comprises a lifting telescopic rod and a lifting control member, wherein the lifting telescopic rod is connected to one side or both sides of the carrying module and is used to push the carrying module to lift obliquely upwards, and the balancing control member and the lifting control member are both electrically connected to the control module to receive control signals from the control module; The carrying module includes parallel supporting plates and limiting connecting parts connecting the supporting plates, the limiting connecting parts are distributed along the circumference of the supporting plates, the lifting telescopic rod, the balancing telescopic rod and the control module are provided on the supporting plates, and the supporting plates have space for installing and storing components after being unfolded.

2. The climbing device according to claim 1, characterized in that: It also includes a tilt trigger and a level monitoring component. The tilt trigger is arranged at the four corners of the bearing plate, and the level monitoring component is arranged in the middle of the bearing plate.

3. The climbing device according to claim 2, characterized in that: The tilt triggering member includes a contact portion, a trigger spring connected to the contact portion, a spring sheet spaced apart from the contact portion, and a deformation sensing assembly connected to the spring sheet.

4. The climbing device according to claim 1, characterized in that: The limiting connecting element includes a first hollow sleeve rod and a second hollow sleeve rod, the first hollow sleeve rod is provided with a first column and a third column, the second hollow sleeve rod is provided with a second column and the third column, the first column and the second column are respectively connected to different bearing plates, and the first hollow sleeve rod and the second hollow sleeve rod are connected through the third column.

5. The climbing device according to claim 4, characterized in that: The balancing telescopic rod is connected to the supporting plate through a tilting guide plate, and the tilting guide plate includes a supporting plate and a tilting reset member and a tilting limit member connected to the supporting plate. The balancing telescopic rod is connected to the middle of the supporting plate, and the tilting reset member is located on both sides of the balancing telescopic rod in the vertical direction, and the tilting limit member is located on both sides of the balancing telescopic rod in the horizontal direction; a limiting spring is arranged between the tilting limit member and the balancing telescopic rod, and a reset spring is arranged between the tilting reset member and the supporting plate.

6. The climbing device according to claim 4, characterized in that: The balancing telescopic rods are distributed in three rows and three columns on the bearing plate, the lifting telescopic rods are arranged on the bearing plate in the middle of the balancing telescopic rod distribution area, and two lifting telescopic rods are arranged in parallel in the same row; the lifting telescopic rods are connected to the bearing plate through fasteners, and the free ends of the lifting telescopic rods are hinged with a serrated plate. When in a free state, the serrated plate relies on gravity to maintain a vertical state.

7. The climbing device according to claim 1, characterized in that: It also includes a connection module, which includes a kit, a plug-in and a fastener. The kit and the plug-in are used to penetrate the carrier plate and be plugged in to form a cross bar that carries the container component. The fastener is respectively fastened and connected to the end of the kit located on the outside of the carrier plate and the end of the plug-in located on the outside of the carrier plate.

8. A method for lifting a load-bearing module, characterized in that: Applying the climbing device according to any one of claims 1 to 7 comprises the following steps: S1. Maintain vertical balance of the load-bearing module within the boundaries of the two spaces; S2, tilting the carrying module toward one side or the other side of the space boundary; S3, pushing or pulling the carrying module in the opposite direction of the tilting direction to lift the carrying module by a first distance; S4, maintaining the vertical balance of the load-bearing module; S5. Repeat steps S2 to S4 to lift the carrying module by a second distance, a third distance, ..., until the carrying module is lifted into place.

9. The load-bearing module lifting method according to claim 8, characterized in that: When step S2 is repeated, the tilting toward one side of the space boundary and the tilting toward the other side of the space boundary are performed alternately; or, when step S2 is repeated, the tilting toward one side of the space boundary or the tilting toward the other side of the space boundary is always performed, and in step S4, the supporting module is reset in the horizontal direction and then maintained in vertical balance.

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