Watt type six-link swing link wheel mechanism dual-purpose vehicle for climbing stairs and leveling the ground

Abstract

The present invention is a stair climbing and leveling dual-purpose vehicle with a Watt-type six-link swing-link wheel mechanism, wherein the key feature of the core structure front four-link mechanism composed of a hinge pin of a wheel link bracket of the Watt-type six-link swing-link wheel mechanism and a main swing arm, a hinge pin axis connecting line segment hinged to a front upper swing arm, a main swing arm front arm, a front wheel support rod upper arm and a front upper swing arm is that the longest rod therein is the main swing arm front arm. Under control and drive, the front and rear wheels of the stair climbing and leveling dual-purpose vehicle roll on the stair step kick plate surface and the pedal surface and climb over the stair step tread, which can enable the hinge pin axis of the wheel link bracket and the main swing arm in the Watt-type six-link swing-link wheel mechanism, that is, the body of the stair climbing and leveling dual-purpose vehicle, to achieve a motion trajectory curve of smooth transition or close to smooth transition along the inclination slope direction of the stair steps, and can also conveniently turn and run on flat ground.

Description

Technical Field

[0001] The present invention relates to a wheeled carrier which can both climb stairs and travel on flat ground, referred to as a stair-climbing and flat ground dual-purpose vehicle. The stair-climbing and flat ground dual-purpose vehicle can climb stairs and travel on flat ground smoothly without or with little impact by means of a swing-type connecting rod wheel mechanism designed and installed under control. Background Art

[0002] The most common vehicle in the prior art that can travel on flat ground and climb stairs is a planetary wheel luggage carrier that is pushed and pulled by human power. This type of stair-climbing and ground-level dual-purpose vehicle is equipped with a pair of planetary wheel groups consisting of three wheels arranged in a planetary shape on the longitudinal symmetrical plane projection of the vehicle, with the support shaft at the bottom of the vehicle body as the rotation center, on both sides of the lower part of the vehicle body. When this type of stair-climbing and ground-level dual-purpose vehicle climbs stairs, it mainly relies on the flipping action of the planetary wheels of the planetary wheel group installed on the support shaft at the bottom of the vehicle body around the support shaft under human support and control and push-pull driving. In the process of going up and down the stairs by human control, pulling or pushing, the wheels of the planetary wheel group roll or lift on the kick plate surface and the pedal surface of the stair steps, and the flipping action of the planetary wheel system generated, which causes the vehicle body to move in the direction of the inclined slope of the stair steps, The movement connection of each section of the movement trajectory curve will produce a large movement direction turning point, so that the rolling movement of the body of this type of stair-climbing and ground-level dual-purpose vehicle on the stairs will have a large The wheel structure of this type of stair climbing and leveling vehicle is relatively large, which makes it inconvenient to carry or place the vehicle. Another point is that when the wheel structure of this type of stair climbing and leveling vehicle with a planetary gear system is running on flat ground, the lower two longitudinally arranged straight-running wheels with a fixed axis structure in the two planetary gear sets installed on the bracket shafts at the lower part of the vehicle body on both sides generally touch the ground at the same time, and the wheels can only be fixed along the flat road surface to keep moving straight in one direction, but it is not convenient to turn. When turning on the flat road surface, the front wheel or the rear wheel that has touched the ground can only slide laterally, which causes the wheel that keeps moving straight to inevitably produce a large relative sliding friction at the contact part between the wheel and the flat road surface when turning, causing difficulty in turning during driving.Another type of stair climbing and ground-leveling vehicle that can be used for climbing up and down stairs is a wheeled vehicle with an electric power-assisted lifting device, such as the electric stair climbing machine of Austria's SANO company and the electric stair climbing machine of Germany's AAT company (AAT Alber Antriebstechnik GmbH). When climbing up and down stairs, this type of stair climbing and ground-leveling vehicle uses an electric lifting mechanism to lift small wheels to assist large wheels in climbing over the stairs. When climbing stairs, the lifting and lowering action of the wheels of this structure and the rolling movement on the stairs cause the vehicle body to be unable to achieve a smooth and continuous transition of the various moving sections in the direction of the inclination of the stairs. The motion trajectory curve of the vehicle body displayed on the longitudinal symmetrical plane projection of the vehicle will produce uneven and impactful vibration fluctuations. This is because when climbing stairs, the motion curve of the vehicle body connected to the wheel system of this type of stair climbing and ground-leveling vehicle after the wheels begin to contact the stair step kick plate surface is a sudden turning rising straight line motion curve that is at right angles or close to right angles to the horizontal motion direction, and when encountering stairs, this type of stair climbing and ground-leveling vehicle Sometimes, after reaching the highest position, there is a phenomenon of falling back after crossing the highest point in places with different height changes. This inevitably causes fluctuations, vibrations and impacts when going up and down stairs. Such stair climbing and leveling vehicles must generally be equipped with auxiliary power drive devices to solve the power lifting problem on stair climbing and leveling. The structure of such stair climbing and leveling vehicles allows them to only achieve the action of going up and down stairs by the power-assisted lifting of the auxiliary power drive mechanism. They cannot be used for the pure manual push-pull up and down stairs without a power-assisted mechanism. Even if the power-assisted drive device suddenly fails during operation on the stairs, such stair climbing and leveling vehicles will not be able to be manually supported and controlled to go down the stairs under gravity. In addition, the auxiliary power lifting device at the bottom of such stair climbing and leveling vehicles is relatively complex and troublesome to operate. ; Summary of the invention

[0003] The purpose of the present invention is to overcome the deficiencies of the above-mentioned prior art, and to design a stair-climbing and leveling dual-purpose vehicle including a planar Watt-type six-link swing-type link wheel mechanism with front and rear wheels arranged longitudinally front and rear. In the structural side view of the embodiment of the stair-climbing and leveling dual-purpose vehicle with the Watt-type six-link swing-type link wheel mechanism, the projection on the longitudinal symmetric plane of the vehicle shows the link components and their connection and installation forms connected to each other, including the front wheel, the rear wheel, the wheel link bracket and the main swing rod movably connected to the wheel link bracket. In the embodiment, the Watt-type six-link swing-type link wheel mechanism is symmetrically installed on the lower part of both sides of the load frame body of the stair-climbing and leveling dual-purpose vehicle with the longitudinal symmetric plane of the vehicle as the symmetry center plane, and the front wheel and the rear wheel therein are in contact with the ground. To facilitate the design of the present invention, the following provisions are made in the structural state and action analysis of the Watt-type six-link swing-type link wheel mechanism shown in the side view in the embodiment of the present invention: when the stair-climbing and leveling dual-purpose vehicle starts to climb the stairs under control, the stair-climbing and leveling dual-purpose vehicle shown on the projection on the longitudinal symmetric plane of the vehicle The wheel that first approaches or contacts the vertical surface of the kick plate of the stair step in the Watt-type six-link swing-type link wheel mechanism of the stair climbing and leveling vehicle is the front wheel, that is, it is stipulated that the horizontal displacement direction of the stair climbing and leveling vehicle moving in the direction of the upward stair step under control is the straight-ahead direction of the Watt-type six-link swing-type link wheel mechanism of the stair climbing and leveling vehicle, and correspondingly, the horizontal displacement direction of the stair climbing and leveling vehicle moving in the direction of the downward stair step under control is the Watt-type six-link swing-type link wheel mechanism of the stair climbing and leveling vehicle. The backward direction of the Watt-type six-link swing-link wheel mechanism is that the horizontal movement direction of the upper stair steps under control is the forward direction, and the horizontal movement direction of the lower stair steps is the backward direction. After the above provisions are made for the directions of the upper and lower stair steps of the present invention, this direction setting will be used to analyze and explain the motion trajectory curve direction of the load frame body and the corresponding connecting rods and related points of the wheels of the Watt-type six-link swing-link wheel mechanism in the motion trajectory graph of the related points in the Watt-type six-link swing-link wheel mechanism displayed on the projection of the longitudinal symmetry plane of the vehicle.

[0004] In the Watt-type six-link swing-link wheel mechanism of the present invention, there is a wheel link bracket connected to the load frame body of the stair-climbing and leveling vehicle. The design structure of the present invention ensures that when the stair-climbing and leveling vehicle is being controlled to go up and down stairs or placed and driven on flat ground, the wheel link bracket in the Watt-type six-link swing-link wheel mechanism maintains a planar geometric position posture determined by the design, which is only translated but not rotated, as shown in the projection of the longitudinal symmetry plane of the vehicle. The structural side view of the embodiment of the present invention shows two typical structural position states of the stair-climbing and leveling vehicle of the Watt-type six-link swing-link wheel mechanism in its specific practical use. One is that if the load frame body of the stair-climbing and leveling vehicle on flat ground is tilted in the direction of the inclination slope of the stairs under control and is ready to go up or down the stairs, this can be called the pre-positioning of the stair-climbing and leveling vehicle. Going up and down stairs; secondly, if the stair-climbing and level-terrain vehicle on flat ground under control makes its body or the load frame body in an upright placement state or remains upright and can be easily pushed on flat ground, then the stair-climbing and level-terrain vehicle can be called in an upright body flat ground placement and pushing state; and the wheel connecting rod bracket shown in the two typical structural position states shown in the above embodiment figures is the one that maintains the set plane geometric position posture under control. In the subsequent description of the relevant structures of the present invention, in order to reduce repeated descriptions, in the structural description of the embodiments of the present invention later, except for a few places that need to be emphasized, it is still necessary to write that the wheel connecting rod bracket maintains the set plane geometric position posture under control. The structural name of the wheel connecting rod bracket in the embodiments of the present invention mentioned in other positions refers to the default that it is the wheel connecting rod bracket that has the ability to maintain the set plane geometric position posture under control and only moves in a translational manner but not in a rotational manner during movement.

[0005] From the structural side view of the embodiment of the stair-climbing and ground-leveling vehicle projected on the longitudinal symmetry plane of the vehicle, it can be seen that there is a main swing arm in the Watt-type six-link swing-type link wheel mechanism, the middle part of the main swing arm is hinged to the lower part of the wheel link bracket by a hinge pin, the axis of the hinge pin of the main swing arm and the wheel link bracket is perpendicular to the longitudinal symmetry plane of the vehicle, and the main swing arm can swing relatively around the axis of the hinge pin hinged to the wheel link bracket on a swing plane parallel to the longitudinal symmetry plane of the vehicle within the swing angle range limited by its mechanism. When the stair-climbing and ground-leveling vehicle is controlled, it is straight on the flat ground. When the vertical vehicle body is placed on the ground and pushed, or in the state of preparing to go up and down stairs, or when the stair-climbing and level-land dual-purpose vehicle goes up and down stairs under control, the front extension arm end of the main swing arm extending forward or forward and upward is hinged to a front wheel support rod on the longitudinal symmetrical plane projection of the vehicle, the upper arm end of the front wheel support rod extending rearward and upward or rearward is hinged to the front end of a front upper swing rod, the rear end of the front upper swing rod is hinged to the wheel connecting rod bracket through a hinge pin, the rear extension arm end of the main swing arm extending rearward is hinged to the rear wheel support rod, the upper arm end of the rear wheel support rod extending upward is hinged to the rear end of the rear upper swing rod, and the rear upper The front end of the sway bar is hingedly connected to the wheel link bracket; the axis lines of the three hinge pins of the hinge pin hinged between the wheel link bracket and the main sway bar, the hinge pin hinged between the wheel link bracket and the rear end of the front upper sway bar, and the hinge pin hinged between the wheel link bracket and the rear upper sway bar are parallel to each other, and the axis of the hinge pin hinged between the wheel link bracket and the rear end of the front upper sway bar is always located above the horizontal line of the axis of the hinge pin hinged between the wheel link bracket and the middle part of the main sway bar; the lower arm part of the front wheel support rod of the Watt-type six-link swing link wheel mechanism displayed on the longitudinal symmetry plane projection of the vehicle is along the front The connecting line of the two hinge pin axes, from the hinge pin axis of the upper arm end of the wheel support rod and the front end of the front upper swing rod to the hinge pin axis of the front wheel support rod and the front extension arm end of the main swing rod, passes through the extension line direction of the hinge pin axis of the front wheel support rod and the front extension arm end of the main swing rod, and is bent downward and backward with the hinge pin axis of the front wheel support rod and the front extension arm end of the main swing rod as the origin, and the front wheel is installed on the lower end portion of the lower arm of the front wheel support rod bent downward and backward or on the connecting member at the lower end position of the lower arm of the front wheel support rod bent downward and backward shown on the projection of the longitudinal symmetry plane of the vehicle;The lower arm portion of the rear wheel support rod of the Watt-type six-link swing-link wheel mechanism displayed on the projection of the longitudinal symmetry plane of the vehicle is formed by bending forward with the axis of the two hinge pins connected along the axis of the hinge pin hinged between the upper arm end of the rear wheel support rod and the rear end of the rear upper swing rod and the axis of the hinge pin hinged between the rear wheel support rod and the rear extension arm end of the main swing rod, passing through the extension line direction of the axis of the hinge pin hinged between the rear wheel support rod and the rear extension arm end of the main swing rod, with the axis of the hinge pin hinged between the rear wheel support rod and the rear extension arm end of the main swing rod as the origin, and the rear wheel is installed on the lower end portion of the lower arm of the rear wheel support rod bent forward or on the connecting member at the lower end position of the lower arm of the rear wheel support rod bent forward shown on the projection of the longitudinal symmetry plane of the vehicle; and the hinge pin hinged between the wheel link bracket and the middle part of the main swing rod, and the hinge pin hinged between the wheel link bracket and the rear end of the front upper swing rod. The connecting line segment of the three hinge pin axes of the hinge pin of the wheel link bracket and the front end of the rear upper swing bar, the main swing bar, the front upper swing bar, the upper arm rod portion of the front wheel support rod, the upper arm rod portion of the rear wheel support rod and the rear upper swing bar are projected on the longitudinal symmetric plane of the vehicle to show a one-plane Watt-type six-link mechanism of the Watt-type six-link swing link wheel mechanism, and in the above-mentioned plane of the Watt-type six-link mechanism, the connecting line segment of the hinge pin axes of the wheel link bracket and the middle part of the main swing bar and the hinge pin axes of the wheel link bracket and the rear end of the front upper swing bar, the front arm rod portion of the main swing bar, the upper arm rod portion of the front wheel support rod and the front upper swing bar are projected on the longitudinal symmetric plane of the vehicle to show a one-plane front four-link mechanism, and this front four-link mechanism is the core structure of the Watt-type six-link swing link wheel mechanism of the present invention. ;

[0006] The Watt-type six-bar mechanism in the above plane includes a core structure, and the swing plane of each interconnected link of the front four-bar mechanism is parallel to the longitudinal symmetry plane of the vehicle. The Watt-type six-bar mechanism in the above plane includes a core structure, and each interconnected link of the front four-bar mechanism and the front wheel installed at the lower arm end of the front wheel support rod and the rear wheel installed at the lower arm end of the rear wheel support rod constitute the Watt-type six-bar swing link wheel mechanism of the present invention. It can be seen from the side view of the structure of the embodiment of the present invention that when the stair-climbing and ground-leveling dual-purpose vehicle is in a state of pre-climbing stairs or in a state of placing and pushing the upright vehicle body on the ground, the Watt-type six-bar swing link vehicle The front extension arm of the main swing arm hingedly connected to the lower part of the wheel link bracket in the Watt-type six-link mechanism of the wheel mechanism, which maintains the above-set planar geometric position under control, is at the front end and lower end position or close to the front end and lower end position of the main swing arm swinging forward and downward relative to the swing angle limit position of the wheel link bracket around the hinge pin hinged to the wheel link bracket as defined by the mechanism. The front wheel connected to the lower end of the front wheel support rod hinged to the front extension arm rod end of the main swing arm and the rear wheel connected to the lower end of the rear wheel support rod hinged to the rear extension arm rod end of the main swing arm are arranged longitudinally front and back on the horizontal ground. In the axonometric view of the structure of the embodiment of the present invention, it can also be seen that the The wheel link bracket, the main swing arm, the front upper swing arm, the front wheel support rod, the rear upper swing arm, the rear wheel support rod, the front wheel and the rear wheel of the Watt type six-link swing link wheel mechanism are symmetrically arranged on both sides of the load frame of the stair-climbing and leveling dual-purpose vehicle with the longitudinal symmetry plane of the vehicle as the symmetry center plane. From the overall structure shown in the structural side view of the embodiment of the present invention, the above-mentioned Watt type six-link swing link wheel mechanism including the front and rear wheels installed and the connected load frame is shown as a stair-climbing and leveling dual-purpose vehicle with the front four-link as the core structure of the Watt type six-link swing link wheel mechanism; It can be seen from the side view of the structure of the embodiment of the present invention that the two hinge pin axis connection segments of the hinge pin hinged between the wheel link bracket and the middle part of the main rocker arm and the hinge pin hinged between the wheel link bracket and the rear end of the front upper rocker arm in the front four-bar linkage described in the above core structure are the frame of the front four-bar linkage in the above plane. Therefore, the present invention stipulates that in the side view of the structure of the embodiment of the present invention, the set plane geometric position posture maintained by the wheel link bracket under control is specifically expressed by the position posture of the two hinge pin axis connection segments of the hinge pin hinged between the wheel link bracket and the middle part of the main rocker arm and the hinge pin hinged between the wheel link bracket and the rear end of the front upper rocker arm as the frame of the front four-bar linkage.

[0007] In the design of the present invention, the front wheel and the rear wheel of the Watt-type six-link swing-type link wheel mechanism are installed on the corresponding swinging links and link groups of the Watt-type six-link mechanism including the core structure of the front four-link mechanism. In fact, the front wheel and the rear wheel installed on the links and link groups of the above-mentioned Watt-type six-link mechanism roll on the stair step riser surface and the pedal surface and climb over the stair step tread in a front-to-back sequence in accordance with the swing of the corresponding swinging links in the front four-link mechanism of the core structure specially designed by the present invention. The front and rear wheels of the Watt-type six-link swing-link wheel mechanism can ensure their rolling motion on the stair step kick plate surface and the pedal surface and cross the stair step opening in a front-to-back sequence, so that the wheel link bracket in the Watt-type six-link swing-link wheel mechanism and the hinge pin axis of the main swing arm are hinged to maintain the above-mentioned smooth transition or close to the smooth transition of the motion trajectory curve along the inclination direction of the stair step. In order to be able to perform the above-mentioned Watt-type swing-link wheel mechanism in the process of going up and down the stairs shown in the side view of the structure of the embodiment, the present invention is specially designed for the above-mentioned Watt-type swing-link wheel mechanism. The relationship between the swing of the corresponding links of the front four-link mechanism, which is a core structure of the six-link swing-link wheel mechanism, and the movement of the front and rear wheels connected to the corresponding links is analyzed, and the specific movement states of the corresponding links and the front and rear wheels in the Watt-type six-link swing-link wheel mechanism specially designed for the present invention, especially in the front four-link mechanism, which is its core structure, can be directly observed during the entire movement process when the front wheel and the rear wheel of the Watt-type six-link swing-link wheel mechanism roll on the kick plate surface and the pedal surface along the inclined slope direction of the stair steps and climb over the up and down stair steps at the tread. In the present invention, the specific movement states of the corresponding links and the front and rear wheels can be directly observed during the entire movement process when the front wheel and the rear wheel of the Watt-type six-link swing-link wheel mechanism roll on the kick plate surface and the pedal surface along the inclined slope direction of the stair steps and climb over the up and down stair steps. In the design, in the structural side view of the embodiment, a relative plane coordinate system with the axis of the hinge pin of the wheel link bracket and the main rocker arm as the origin is set on the plane of the wheel link bracket that maintains a set plane geometric position posture under control in the Watt-type six-link swing-link wheel mechanism that moves translationally along the inclination slope direction of the stairs when going up and down the stairs is shown on the projection of the longitudinal symmetry plane of the vehicle. Such a setting will be helpful for the analysis of the swinging motion of the corresponding links and wheels of the Watt-type six-link swing-link wheel mechanism in the relative plane coordinate system and the analysis and display of the motion trajectory curves of the corresponding points.

[0008] In order to realize the purpose of the stair-climbing and ground-leveling dual-purpose vehicle of the Watt-type six-link swing-link wheel mechanism of the present invention, while ensuring the function of being able to run easily on flat ground, it can also go up and down stairs along the inclination slope direction of the stairs with a smooth transition or a motion trajectory curve close to a smooth transition, the structure of the Watt-type six-link swing-link wheel mechanism is comprehensively considered, including the size length ratio relationship of the interconnected links of the front four-link mechanism of its core structure, the connection mode and form of each link, the starting and ending positions and the swing limit range. The present invention determines that the key feature of the Watt-type six-link swing-link wheel mechanism is that the forward extension arm portion of the main swing arm serving as its connecting rod in the front four-link mechanism of its core structure is the longest rod of the front four-link mechanism of the core structure, and the structural side view of the specific embodiment of the present invention shown on the projection of the longitudinal symmetry plane of the vehicle The key feature core structure of the Watt-type six-link swing-link wheel mechanism is that the longest rod of the front four-link mechanism is the line segment from the wheel link bracket and the middle hinge point of the main swing arm to the front end of the main swing arm front extension arm and the hinge point of the front wheel support rod. After determining that the key feature of the core structure of the Watt-type six-link swing-link wheel mechanism that the longest rod of the front four-link mechanism is the front extension arm rod part of the main swing arm, the following will list the key feature of the present invention, the core structure of the Watt-type six-link swing-link wheel mechanism, the longest rod of the front four-link mechanism and the remaining 7 shortest rod combination forms of the remaining three rods. These will be the core structure of the Watt-type six-link swing-link wheel mechanism that can achieve the purpose of the present invention. The structural combination forms of the complete link connection of the front four-link, the 7 shortest rod combination forms will be mainly explained below.When explaining the following seven combinations of the shortest rods, it is assumed that the key feature of the core structure of the Watt-type six-link swing-link wheel mechanism, that is, the longest rod of the front four-link mechanism, is the front extension arm of the main swing rod: the first combination is that the upper arm rod portion of the front wheel support rod serving as the connecting rod of the front four-link mechanism, which is the core structure, is the shortest rod in the front four-link mechanism; the second combination is that the front upper swing rod serving as the upper connecting rod of the front four-link mechanism, which is the core structure, is the shortest rod in the front four-link mechanism. , the third combination form is the core structure of the Watt type six-link swing link wheel mechanism. The hinge pin hinged to the middle part of the main swing link and the hinge pin hinged to the rear end of the front upper swing link on the wheel link bracket serving as its frame in the front four-link are the shortest rods in the front four-link of the core structure. The fourth combination form is the core structure of the Watt type six-link swing link wheel mechanism. The upper arm rod part of the front wheel support rod and the front upper swing rod in the front four-link are equal in length and are both the shortest rods in the front four-link of the core structure. The fifth combination form is the core of the Watt type six-link swing link wheel mechanism The structure of the front four-link has two hinge pin axis connecting line segments of the hinge pin hinged to the middle part of the main swing arm and the hinge pin hinged to the rear end of the front upper swing arm on the front upper swing arm and the wheel link bracket, which are equal in length and are both the shortest rods in the core structure of the front four-link. The sixth combination form is the core structure of the Watt-type six-link swing link wheel mechanism. The upper arm rod part of the front wheel support rod in the front four-link and the hinge pin hinged to the middle part of the main swing arm and the hinge pin hinged to the rear end of the front upper swing arm on the wheel link bracket, which are equal in length and are both the shortest rods in the core structure of the front four-link. The seventh combination form is The core structure of the Watt-type six-link swing link wheel mechanism, the upper arm rod part of the front upper swing rod and the front wheel support rod in the front four-link, and the two hinge pin axis connecting line segments of the hinge pin hinged to the middle part of the main swing rod and the hinge pin hinged to the rear end of the front upper swing rod on the wheel link bracket are equal in length and are all the shortest rods in the front four-link, and the key features of the longest rod mentioned above are the front extension arm of the main swing rod. After the key features are determined, the core structure of the Watt-type six-link swing link wheel mechanism composed of the four-link combination structure of the above 7 shortest rod combinations will be explained and displayed in a certain order below. ,

[0009] In the Watt-type six-link swing-type link wheel mechanism of the present invention, the front wheels are double-row universal wheels or fixed-axis straight-running wheels, and the rear wheels are double-row universal wheels or fixed-axis straight-running wheels. Thus, there are four different combinations of the double-row universal wheels and fixed-axis straight-running wheels of the front and rear wheels of the stair-climbing and leveling dual-purpose vehicle of the Watt-type six-link swing-type link wheel mechanism of the present invention, namely, the front wheels are double-row universal wheels and the rear wheels are double-row universal wheels, the front wheels are double-row universal wheels and the rear wheels are fixed-axis straight-running wheels, the front wheels are fixed-axis straight-running wheels and the rear wheels are double-row universal wheels, the front wheels are fixed-axis straight-running wheels and the rear wheels are fixed-axis straight-running wheels; when the Watt-type six-link swing-type link wheel mechanism When the rod wheel mechanism selects that both the front and rear wheels are double-row universal wheels, or only the front wheels are double-row universal wheels, or the rear wheels are double-row universal wheels, the above-mentioned double-row universal wheels can be directly installed on the lower end of the corresponding connecting rod on the Watt-type six-link swing-type connecting rod wheel mechanism, or on a connecting component at the position of the lower end of the corresponding connecting rod displayed on the projection of the longitudinal symmetry plane of the vehicle; in an embodiment of the present invention, if the wheel adopts double-row universal wheels, it is also necessary to set a corresponding guiding swinging mechanism between the connecting rod structure for installing the corresponding wheel and the wheel connecting rod bracket, that is, to set a member between the wheel connecting rod bracket and the transverse shaft rod member so that the transverse shaft rod can swing relative to the wheel connecting rod on a swinging plane parallel to the longitudinal symmetry plane of the vehicle. The guiding and swinging mechanism of the rod bracket swings accordingly. The guiding and swinging mechanism designed in the embodiment of the present invention can select the structure of the rolling wheel guide groove guiding and swinging mechanism or the connecting rod swing rod guiding and swinging mechanism. In the process of the Watt-type six-link swinging connecting rod wheel mechanism of the present invention going upstairs or going downstairs and climbing over the stair steps, the rolling wheel guide groove guiding and swinging mechanism and the connecting rod swing rod guiding and swinging mechanism arranged between the wheel connecting rod bracket and the transverse shaft rod component will swing relatively with the swing of the corresponding connecting rod of the Watt-type six-link swinging connecting rod wheel mechanism, driving the transverse shaft rod connected at the lower end to swing relative to the Watt-type six-link swinging connecting rod wheel on a swinging plane parallel to the longitudinal symmetry plane of the vehicle. The wheel link bracket of the mechanism swings accordingly, so that when the inclination angle of the load frame body and the wheel link bracket to the driving ground changes slightly, the wheel link bracket can maintain the set plane geometric position posture under control. The vertical axis of the double-row universal wheel installed on the transverse shaft rod in the Watt type six-link swing link wheel mechanism can be appropriately rotated correspondingly on the projection of the longitudinal symmetry plane of the vehicle to keep the vertical axis axis of the double-row universal wheel perpendicular or approximately perpendicular to the driving flat ground or the stair step platform surface. At least the structural design can ensure that when the vehicle body has a certain inclination and swing change caused by the above reasons (approximately within the range of 15 degrees of forward inclination and swing deviation),The stair climbing and leveling vehicle can keep the vertical axis of the double-row universal wheels perpendicular to the flat ground or the stair step platform when it is being moved forward or backward under control. This ensures that when the stair climbing and leveling vehicle is towed or pushed on the flat ground or the stair intermediate platform in the above state, the double-row universal wheels can smoothly rotate around the axis of the vertical axis of the double-row universal wheels as the vehicle body turns, so that the double-row universal wheels can smoothly and steadily realign the direction of travel. Such a structure also ensures that the vertical axis of the double-row universal wheels installed on the transverse shaft rod when the stair climbing and leveling vehicle of the present invention goes up and down the stairs can be avoided. The wheel axis of the double-row universal wheels shown in the projection of the longitudinal symmetric plane of the vehicle has a front and rear direction relative to the connection point at the lower end of the corresponding connecting rod. The wheel components or related connecting rods on the upper part of the double-row universal wheels on the Watt-type six-link swing-link wheel mechanism may collide and interfere with the stair steps when the double-row universal wheels are displaced in the opposite direction. The specific structural arrangement of the transverse shaft rod of the vertical shaft on which the above-mentioned double-row universal wheels are installed, and the structures of the rolling wheel guide groove guide swing mechanism and the connecting rod swing rod guide swing mechanism between the wheel connecting rod bracket and the transverse shaft rod will be shown and explained in the corresponding implementation drawings later; in the Watt-type six-link swing-link wheel mechanism, if the front and rear wheels are both fixed-axis straight-running wheel structures, it can be considered to choose to replace the fixed-axis straight-running wheels with omnidirectional wheels. The so-called omnidirectional wheels generally refer to fixed-axis structure wheels with rollers that can roll laterally installed on the edge of the wheel, a typical example of which is Omni Wheel is an omnidirectional wheel, and the wheel using this Omni Wheel has the function of a universal wheel. In terms of wheel diameter, the straight-running wheel or Omni Wheel wheel generally has no restrictions on structural movement. However, due to the complex structure and heavy weight of the Omni Wheel wheel, the wheel diameter should be controlled. Otherwise, such wheels with too large diameter will cause the corresponding swinging connecting rod mechanism to bear a large inertial impact due to their heavy weight, which is not conducive to the operation of the whole vehicle and the smoothness of going up and down stairs. If the weight of the above-mentioned new wheel can be effectively controlled, the front wheel and the rear wheel in the above-mentioned Watt-type six-link swing connecting rod wheel mechanism will have more choices and combinations. However, it is generally not recommended that both the front and rear wheels adopt the Omni Wheel structure to avoid uncontrollable lateral rolling on flat ground or platforms.

[0010] The connection between the load frame body of the stair-climbing and ground-leveling dual-purpose vehicle of the present invention and the wheel link bracket of the Watt-type six-link swing-type link wheel mechanism can adopt a movable connection structure or a fixed connection structure. When the movable connection structure is selected, the load frame body can be swung relative to the wheel link bracket on a swing plane parallel to the longitudinal symmetry plane of the vehicle under control to a relative swing limit terminal position of a relatively unfolded inclined posture or a relatively folded and closed posture, as shown in the structural side view of the embodiment of the present invention projected on the longitudinal symmetry plane of the vehicle. For the load frame body in the form of a long box structure, the above-mentioned relatively unfolded inclined posture refers to the load frame body swinging relative to the wheel link bracket into a posture inclined in the direction of the slope of the stair steps, and the above-mentioned The relative folding and closing posture refers to that the load frame body is in an upright posture, and a relative swing limit terminal position positioning locking device is also provided between the load frame body and the wheel connecting rod bracket which are movably connected by a hinge pin. The function of the relative swing limit terminal position positioning locking device is to realize mutual locking and positioning when the load frame body swings to the swing limit position which is in a relative unfolding tilt posture or a relative folding and closing posture with the wheel connecting rod bracket. The relative swing limit terminal position positioning locking device can select a rigid lever or pin shaft structure, or can select an elastic mechanism with pre-tension. There are also multiple options for this type of elastic mechanism with pre-tension, and it can select an elastic mechanism of a coil spring or an elastic mechanism of a torsion bar spring;The stair-climbing and leveling vehicle of the present invention is also provided with a link swing locking mechanism of the Watt-type six-link swing-type link wheel mechanism. The link swing locking mechanism of the Watt-type six-link swing-type link wheel mechanism is to ensure that when the load frame body is relatively swung to a relatively folded and closed posture with the wheel link bracket, the stair-climbing and leveling vehicle can maintain an upright and stable placement state on the flat ground and maintain an upright state on the flat ground for easy and convenient pushing. The structure of the link swing locking mechanism of the Watt-type six-link swing-type link wheel mechanism is also available in a variety of options. The swing locking rod can be selected to be an integrated structure with the load frame body or the swing locking rod can be selected to be an independent structure. A separate push-pull swing rod can also be provided in the vehicle structure in which the vehicle frame and the wheel link bracket are fixedly connected. In addition, in the specific design of the relative contact and abutment structure of the link swing locking mechanism of the Watt type six-link swing link wheel mechanism, according to the most direct and simple structure of the mutual connection arrangement, the locking and abutment passive member for the mutual abutment contact between the swing locking components of the link swing locking mechanism is preferably the front upper swing rod body in the four-link swing link wheel mechanism. However, if there are special requirements for the connection positions of the relevant components or they need to adopt a more compact structure, other link bodies such as the main swing rod body can also be selected as long as the structural space allows for proximity and there is no mutual interference during the locking process when the locking relative contact and abutment occur. ;

[0011] In the design of the above-mentioned relative swing limit terminal position positioning locking device and similar integrated or independent structure connecting rod swing locking mechanisms, separate push-pull swing levers and other control structures to be mentioned later, in order to maintain the stable balance of the body structure and the connecting rod wheel mechanism and the stable balance of control when the stair climbing and leveling vehicle moves on the ground and goes up and down stairs, it is generally preferred that such structural devices are symmetrically arranged on both sides of the load frame, especially in large or heavy-duty vehicles. However, if the structural rigidity strength of both sides of the body structure of the stair climbing and leveling vehicle and the Watt-type six-link swing connecting rod wheel mechanism symmetrically arranged on both sides of the load frame allows, the above-mentioned relative swing limit terminal position positioning locking device and the integrated or independent structure connecting rod swing locking mechanisms, separate push-pull swing levers can also be arranged on only one side of the load frame (33), which is generally suitable for some light and small vehicles.

[0012] The national building code specifies the applicable scope of the structural dimensions of stairs in various occasions. Considering that the types of stairs applicable to the stair climbing vehicle of the present invention are generally ordinary residential stairs, public places and public building stairs, the size specifications of such stair steps are roughly 150 mm-175 mm in step height and 290 mm-300 mm in step width. In order to obtain a more satisfactory stair climbing effect, in the relevant figures of the embodiments of the present invention, the above-mentioned rough stair step height range is divided into several pedal height segments of equal heights to establish the corresponding stair step model diagram, that is, the pedal step heights of 120 mm, 150 mm, 180 mm, 210 mm, 300 mm, 400 mm, 500 mm, 600 mm, 700 mm, 800 mm, 900 mm, 1000 mm, 1100 mm, 1200 mm, 1300 mm, 1400 mm, 1500 mm, 1600 mm, 1700 mm, 1800 mm, 1900 mm, 2100 mm, 2200 mm, 2300 mm, 2400 mm, 2500 mm, 2600 mm, 2700 mm, 2800 mm, 2900 mm, 3000 mm, 3100 mm, 3200 mm, 3300 mm, 3500 mm, 3600 mm, 3700 mm, 3800 mm, 3900 mm, 4000 mm, 4100 mm, 4200 mm, 4300 mm, 4400 mm, 4500 mm, 4600 mm, 4700 mm, 4800 mm, 4900 mm, 5100 mm, 5100 mm, 5100 mm, 5100 mm The stair steps have four step height sections of mm, and the step width of the stair steps is not important in the design of the Watt-type six-link swing-link wheel mechanism of the stair-climbing and ground-leveling vehicle of the present invention to achieve a smooth transition or a motion trajectory curve close to a smooth transition along the inclination slope direction of the stair steps, so it only needs to be roughly within the above-mentioned step width range, so it is not specially indicated in the following embodiments.

[0013] The following is a simplified diagram of the combined morphological structure of the relevant structures of the Watt-type six-link swing-link wheel mechanism of the stair-climbing and ground-leveling dual-purpose vehicle of the present invention and a specific relevant embodiment diagram of the stair-climbing and ground-leveling dual-purpose vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 This is a schematic structural diagram of the first combination form of the Watt-type six-link swing-link wheel mechanism.

[0015] Figure 2 This is a schematic structural diagram of the second combination form of the Watt-type six-link swing-link wheel mechanism.

[0016] Figure 3 It is a schematic structural diagram of the third combination form of the Watt-type six-link swing-link wheel mechanism.

[0017] Figure 4 It is a schematic structural diagram of the fourth combination form of the Watt-type six-link swing-link wheel mechanism.

[0018] Figure 5 It is a schematic structural diagram of the fifth combination form of the Watt-type six-link swing-link wheel mechanism.

[0019] Figure 6 It is a schematic structural diagram of the sixth combination form of the Watt-type six-link swing-link wheel mechanism.

[0020] Figure 7It is a simplified structural diagram of the seventh combination form of the Watt-type six-link swing-link wheel mechanism.

[0021] Figure 8 The present invention is a structural side view of an embodiment of the stair climbing and leveling dual-purpose vehicle of the first combined form structure, wherein the Watt-type six-link swing-type link wheel mechanism and the front wheels (7) and the rear wheels (8) are both double-row universal wheels.

[0022] Fig. 9 is the above Figure 8 The structural embodiment of the present invention is a structural side view of the stair-climbing and ground-leveling dual-purpose vehicle in which the load frame body (33) is in an upright state.

[0023] Fig.10 is the above Fig. 9 The structural axonometric view of the stair-climbing and land-leveling dual-purpose vehicle of the shown structural embodiment.

[0024] Fig.11 yes Figure 8 The structure and its position and posture in the embodiment are motion trajectory curves of relevant points in the Watt-type six-link swing-link wheel mechanism when stepping up or down stairs.

[0025] Fig.12 is with Figure 8 A structural side view of the stair climbing and leveling dual-purpose vehicle in which the guide swing mechanism of the rear wheel (8) is replaced by a connecting rod swing arm guide swing mechanism in an embodiment of the same structural type.

[0026] Fig.13 yes Fig.12 The structure and its position and posture in the embodiment are the motion trajectory curve diagram of the relevant points in the Watt-type six-link swing-link wheel mechanism when stepping up or down the stairs.

[0027] Fig.14 The present invention is a structural side view of an embodiment of the stair climbing and leveling dual-purpose vehicle having the Watt-type six-link swing-link wheel mechanism of the first combined form structure, wherein the front wheels (7) are double-row universal wheels and the rear wheels (8) are fixed-axle straight-running wheels.

[0028] Fig.15 yes Fig.14 The structure and its position and posture in the embodiment are motion trajectory curves of relevant points in the Watt-type six-link swing-link wheel mechanism when stepping up or down stairs.

[0029] Fig.16 is with Fig.14A structural side view of the stair climbing and leveling dual-purpose vehicle in which the guide swing mechanism of the front wheel (7) is replaced by a connecting rod swing arm guide swing mechanism in an embodiment of the same structural type.

[0030] Fig.17 yes Fig.16 The structure and its position and posture in the embodiment are motion trajectory curves of relevant points in the Watt-type six-link swing-link wheel mechanism when stepping up or down stairs.

[0031] Fig.18 The present invention is a structural side view of an embodiment of the stair climbing and leveling dual-purpose vehicle, which is the Watt-type six-link swing-link wheel mechanism of the first combined form structure, wherein the front wheel (7) is a fixed-axis straight-running wheel and the rear wheel (8) is a double-row universal wheel.

[0032] Fig.19 yes Fig.18 The structure and its position and posture in the embodiment are motion trajectory curves of relevant points in the Watt-type six-link swing-link wheel mechanism when stepping up or down stairs.

[0033] Fig. 20 The present invention is a structural side view of an embodiment of the stair climbing and leveling dual-purpose vehicle of the first combined form structure of the Watt-type six-link swing-link wheel mechanism, in which both the front wheel (7) and the rear wheel (8) are fixed-axis straight-running wheels.

[0034] Fig.21 yes Fig. 20 The structure and its position and posture in the embodiment are motion trajectory curves of relevant points in the Watt-type six-link swing-link wheel mechanism when stepping up or down stairs.

[0035] Fig. 22 is with Figure 8 A structural side view of the structure in which the elastic mechanism of the locking and positioning mechanism of the relative swing limit terminal position positioning locking device between the load frame body (33) and the wheel link bracket (1) in the stair climbing and leveling dual-purpose vehicle with the Watt type six-link swing link wheel mechanism of the same structural type as the embodiment is replaced by an elastic mechanism of a torsion bar spring.

[0036] Fig.23 is with Figure 8 A structural side view of the stair-climbing and leveling dual-purpose vehicle in which the swing locking rod of the link swing locking mechanism of the Watt-type six-link swing link wheel mechanism, which has the same structural type as the embodiment, is changed to an independent structural form.

[0037] Fig.24 is with Figure 8A structural side view of the stair climbing and leveling dual-purpose vehicle in which the wheel link bracket (1) of the Watt-type six-link swing link wheel mechanism and the load frame body (33) are an integrated structure of the same structural type as the embodiment. DETAILED DESCRIPTION

[0038] The specific contents of the diagram are as follows: Figures 1 to 7 The upper part shows the core structure of the Watt-type six-link swing-type link wheel mechanism of the present invention, the key features of the front four-link mechanism, and the schematic diagram of the Watt-type six-link swing-type link wheel mechanism of the four-link combination structure of the longest link and the above-mentioned seven shortest links. Figures 1 to 7 The Watt-type six-link swing-link wheel mechanism is shown in the projection of the longitudinal symmetric plane of the vehicle, and the stair-climbing and leveling vehicle is in a state of pre-up and down stairs under control. The figure shows the movement trajectory curve segment of the wheel link bracket (1) and the axis of the main swing arm center hinge pin (9) of the main swing arm (2) articulated along the inclination direction of the stair steps in a smooth transition or nearly smooth transition, wherein the Watt-type six-link swing-link wheel mechanism of the stair-climbing and leveling vehicle under control changes from the front vehicle on a flat ground or a platform surface in a state of pre-up and down stairs. The action of the wheel (7) contacting the stair step riser surface and rolling upward along the stair step riser surface and the action of the rear wheel (8) correspondingly swinging and cooperating with the Watt-type six-link swing link wheel mechanism lifting up under the drive of the corresponding swinging link start the whole stair step ascending process under the joint action of the wheel link bracket (1) and the main swing arm (2) hingedly connected with the main swing arm center hinge pin (9) along the inclination slope direction of the stair step, and the axis of the main swing arm center hinge pin (9) in the whole process of ascending the stair step begins until the front wheel (7) and the corresponding rear wheel (8) completely climb over the stair step to the upper stair step surface, and the front part of the motion trajectory curve segment of the whole process of ascending the stair step is in the direction of the inclination slope of the stair step, and Figures 1 to 7 The front part of the motion trajectory curve is marked with a small circle symbol for the relative motion speed. Figure 1The figure also shows the front part of the motion trajectory curve segment of the entire process of the stair climbing and leveling vehicle ascending and descending stairs, in which the axis of the main swing arm center hinge pin (9) of the Watt-type six-link swing-link wheel mechanism of the stair climbing and leveling vehicle is hingedly connected to the main swing arm (2) along the inclination direction of the stair steps, corresponding to the motion trajectory curve segment of the wheel axis of the front wheel (7) at the lower end of the front wheel support rod (3) and the wheel axis of the rear wheel (8) at the lower end of the rear wheel support rod (6) in the above-mentioned relative plane coordinate system, and the wheel axis of the front wheel (7) and the rear wheel (8) in the above-mentioned relative plane coordinate system. The motion trajectory curve segment is also marked with a small circle indicating the relative motion speed point. The motion trajectory curve segment of the axis of the front wheel (7) in the above-mentioned relative plane coordinate system and the motion trajectory curve segment of the axis of the rear wheel (8) in the above-mentioned relative plane coordinate system and the motion trajectory curve segment of the axis of the rear wheel (8) in the above-mentioned relative plane coordinate system precisely correspond to each other, and also precisely correspond to the front part of the motion trajectory curve segment of the axis of the main swing arm center hinge pin (9) of the Watt-type six-link swing link wheel mechanism and the main swing arm (2) when the stair climbing and leveling dual-purpose vehicle is climbing stairs; Figures 1 to 7 It can be seen that the wheel link bracket (1) designed by the present invention is hinged to the main swing arm (2) by the axis of the main swing arm center hinge pin (9) and the axis of the wheel link bracket front upper hinge pin (10) hinged to the front upper swing arm (4). The geometric position postures of the wheel link bracket (1) under control are different from each other. This is due to Figures 1 to 7 The core structure of the front four-link rod length is determined by the specific combination of the rod shape; Figures 1 to 7 The content displayed in the lower part is the motion trajectory curve of the wheel link bracket (1) and the main swing arm (2) of the Watt-type six-link swing link wheel mechanism when the vehicle goes up and down stairs of different stair heights. The axis of the main swing arm center hinge pin (9) is projected on the longitudinal symmetry plane of the vehicle along the inclination slope direction of the stair step, including the front part of the motion trajectory curve segment marked with the small circle with the relative motion speed point emphasized above. The heights of the stair step kick plates specifically set in the figure are respectively set to 120mm, 150mm, 180mm and 210mm.

[0039] Figure 1The upper part shows a schematic diagram of the first combination form of the Watt-type six-link swing-link wheel mechanism, wherein the core structure of the Watt-type six-link swing-link wheel mechanism, the key feature of the front four-link mechanism, the longest rod is the front extension arm of the main swing rod (2), and the shortest rod of the front four-link mechanism, the core structure of the Watt-type six-link swing-link wheel mechanism, is the upper arm rod part of the front wheel support rod (3) and is shown in bold straight line. Figure 1 The front portion of the motion trajectory curve section of the axis of the main swing arm center hinge pin (9) where the wheel link bracket (1) and the main swing arm (2) are hinged is projected on the longitudinal symmetric plane of the vehicle as a curve shape of an upward concave arc moving forward and upward from the connecting starting point of the horizontal motion to the forward and upward arc motion. Figure 1 The motion trajectory curve of the wheel axis of the front wheel (7) at the lower end of the front wheel support rod (3) in the relative plane coordinate system during the process of the stair climbing and leveling dual-purpose vehicle going up and down the stairs under control, which is displayed on the longitudinal symmetric plane projection of the vehicle, is generally an arc curve or a straight line, while Figure 1 The motion trajectory curve of the wheel axis of the front wheel (7) in the above-mentioned relative plane coordinate system in the upper structural diagram is specifically shown as a motion trajectory curve segment of an upward concave arc. Figure 1 The motion trajectory curve of the wheel axis of the rear wheel (8) that moves in coordination with the front wheel (7) in the above-mentioned relative plane coordinate system during the process of the stair climbing and leveling dual-purpose vehicle going up and down stairs under control, as shown on the projection of the longitudinal symmetric plane of the vehicle, is generally an arc curve or a straight line. Figure 1 In the upper structural diagram, the motion trajectory curve of the wheel axis of the rear wheel (8) in the above-mentioned relative plane coordinate system is specifically displayed as a motion trajectory curve segment of a concave arc.

[0040] Figure 2 The upper part shows a schematic diagram of the second combination form of the Watt-type six-link swing-link wheel mechanism, wherein the core structure of the Watt-type six-link swing-link wheel mechanism, the key feature of the front four-link mechanism, the longest rod is the front extension arm of the main swing rod (2), and the shortest rod of the core structure of the Watt-type six-link swing-link wheel mechanism, the front four-link mechanism, is the front upper swing rod (4) and is shown as a thick straight line. Figure 2 The front portion of the motion trajectory curve section of the axis of the main swing arm center hinge pin (9) where the wheel link bracket (1) and the main swing arm (2) are hinged is projected on the longitudinal symmetric plane of the vehicle as a curve shape of an upward concave arc moving forward and upward from the connecting starting point of the horizontal motion to the forward and upward arc motion. Figure 2The motion trajectory curve of the wheel axis of the front wheel (7) at the lower end of the front wheel support rod (3) in the relative plane coordinate system during the process of the stair climbing and leveling dual-purpose vehicle going up and down the stairs under control, which is displayed on the longitudinal symmetric plane projection of the vehicle, is generally an arc curve or a straight line, while Figure 2 In the structural diagram of the front wheel (7), the motion trajectory curve of the wheel axis in the above-mentioned relative plane coordinate system is specifically shown as a straight line motion trajectory curve segment. Figure 2 The motion trajectory curve of the wheel axis of the rear wheel (8) that moves in coordination with the front wheel (7) in the above-mentioned relative plane coordinate system during the process of the stair climbing and leveling dual-purpose vehicle going up and down stairs under control, as shown on the projection of the longitudinal symmetric plane of the vehicle, is generally an arc curve or a straight line. Figure 2 In the structural diagram, the motion trajectory curve of the wheel axis of the rear wheel (8) in the above-mentioned relative plane coordinate system is specifically displayed as a motion trajectory curve segment of a concave arc.

[0041] Figure 3 The upper part shows a schematic diagram of the third combination form of the Watt-type six-link swing-link wheel mechanism, wherein the longest rod of the key feature of the front four-link mechanism, the core structure of the Watt-type six-link swing-link wheel mechanism, is the front extension arm of the main swing rod (2), and the shortest rod of the front four-link mechanism, the core structure of the Watt-type six-link swing-link wheel mechanism, is the connecting line from the axis of the main swing rod center hinge pin (9) of the wheel link bracket (1) to the axis of the front upper hinge pin (10) of the wheel link bracket, and is shown as a thick straight line. Figure 3 The front portion of the motion trajectory curve section of the axis of the main swing arm center hinge pin (9) where the wheel link bracket (1) and the main swing arm (2) are hinged is projected on the longitudinal symmetric plane of the vehicle as a curve shape of an upward concave arc moving forward and upward from the connecting starting point of the horizontal motion to the forward and upward arc motion. Figure 3 The motion trajectory curve of the wheel axis of the front wheel (7) at the lower end of the front wheel support rod (3) in the relative plane coordinate system during the process of the stair climbing and leveling dual-purpose vehicle going up and down the stairs under control, which is displayed on the longitudinal symmetric plane projection of the vehicle, is generally an arc curve or a straight line, while Figure 3 In the structural diagram of the front wheel (7), the motion trajectory curve of the wheel axis in the above-mentioned relative plane coordinate system is specifically shown as a motion trajectory curve segment of a concave arc. Figure 3 The motion trajectory curve of the wheel axis of the rear wheel (8) that moves in coordination with the front wheel (7) in the above-mentioned relative plane coordinate system during the control of the stair climbing and leveling dual-purpose vehicle going up and down the stairs shown on the projection of the longitudinal symmetric plane of the vehicle is generally a concave arc or a straight line, while Figure 3 In the structural diagram, the motion trajectory curve of the wheel axis of the rear wheel (8) in the above-mentioned relative plane coordinate system is specifically displayed as a motion trajectory curve segment of a concave arc.

[0042] Figure 4 The upper part shows a schematic diagram of the fourth combination form of the Watt-type six-link swing-link wheel mechanism, wherein the core structure of the Watt-type six-link swing-link wheel mechanism, the key feature of the front four-link mechanism, the longest rod is the front extension arm of the main swing rod (2), and the core structure of the Watt-type six-link swing-link wheel mechanism, the shortest rod of the front four-link mechanism is the upper arm rod portion of the front wheel support rod (3) and the front upper swing rod (4) of equal length and are shown as thick straight lines, in Figure 4 The front portion of the motion trajectory curve section of the axis of the main swing arm center hinge pin (9) where the wheel link bracket (1) and the main swing arm (2) are hinged is projected on the longitudinal symmetric plane of the vehicle as a curve shape of an upward concave arc moving forward and upward from the connecting starting point of the horizontal motion to the forward and upward arc motion. Figure 4 The motion trajectory curve of the wheel axis of the front wheel (7) at the lower end of the front wheel support rod (3) in the relative plane coordinate system during the process of the stair climbing and leveling dual-purpose vehicle going up and down the stairs under control, which is displayed on the longitudinal symmetric plane projection of the vehicle, is generally an arc curve or a straight line, while Figure 4 In the structural diagram of the front wheel (7), the motion trajectory curve of the wheel axis in the above-mentioned relative plane coordinate system is specifically displayed as a concave arc or a motion trajectory curve segment approximately in a straight line. Figure 4 The motion trajectory curve of the wheel axis of the rear wheel (8) that moves in coordination with the front wheel (7) in the above-mentioned relative plane coordinate system during the process of the stair climbing and leveling dual-purpose vehicle going up and down stairs under control, as shown on the projection of the longitudinal symmetric plane of the vehicle, is generally an arc curve or a straight line. Figure 4 In the structural diagram, the motion trajectory curve of the wheel axis of the rear wheel (8) in the above-mentioned relative plane coordinate system is specifically displayed as a concave arc or a motion trajectory curve segment that is approximately a straight line.

[0043] Figure 5The upper part shows a simplified structural diagram of the fifth combination form of the Watt-type six-link swing-link wheel mechanism, wherein the longest rod of the key feature of the front four-link mechanism, the core structure of the Watt-type six-link swing-link wheel mechanism, is the front extension arm of the main swing rod (2), and the shortest rod of the front four-link mechanism, the core structure of the Watt-type six-link swing-link wheel mechanism, is the front upper swing rod (4) of equal length and the connecting line from the axis of the main swing rod center hinge pin (9) of the wheel link bracket (1) to the axis of the front upper hinge pin (10) of the wheel link bracket, and is shown as a thick straight line. Figure 5 The front portion of the motion trajectory curve section of the axis of the main swing arm center hinge pin (9) where the wheel link bracket (1) and the main swing arm (2) are hinged is projected on the longitudinal symmetric plane of the vehicle as a curve shape of an upward concave arc moving forward and upward from the connecting starting point of the horizontal motion to the forward and upward arc motion. Figure 5 The motion trajectory curve of the wheel axis of the front wheel (7) at the lower end of the front wheel support rod (3) in the relative plane coordinate system during the control of the stair climbing and leveling dual-purpose vehicle on the vehicle's longitudinal symmetric plane projection when the vehicle goes up and down the stairs is generally an upward concave arc or a downward concave arc or a straight line, while Figure 5 In the structural diagram of the front wheel (7), the motion trajectory curve of the wheel axis in the above-mentioned relative plane coordinate system is specifically shown as a motion trajectory curve segment of an approximately straight line. Figure 5 The motion trajectory curve of the wheel axis of the rear wheel (8) that moves in coordination with the front wheel (7) in the above-mentioned relative plane coordinate system during the control of the stair climbing and leveling dual-purpose vehicle going up and down the stairs shown on the projection of the longitudinal symmetric plane of the vehicle is generally a concave arc or a straight line, while Figure 5 In the structural diagram, the motion trajectory curve of the wheel axis of the rear wheel (8) in the above-mentioned relative plane coordinate system is specifically displayed as a motion trajectory curve segment of a concave arc.

[0044] Figure 6 The upper part shows a schematic diagram of the sixth combination form of the Watt-type six-link swing link wheel mechanism, wherein the longest rod of the key feature of the front four-link mechanism, the core structure of the Watt-type six-link swing link wheel mechanism, is the front extension arm of the main swing link (2), and the shortest rod of the front four-link mechanism, the core structure of the Watt-type six-link swing link wheel mechanism, is the upper arm rod portion of the front wheel support rod (3) of equal length and the connecting line portion from the axis of the main swing link center hinge pin (9) of the wheel link bracket (1) to the axis of the front upper hinge pin (10) of the wheel link bracket, and is shown as a thick straight line. Figure 6The front portion of the motion trajectory curve section of the axis of the main swing arm center hinge pin (9) where the wheel link bracket (1) and the main swing arm (2) are hinged is projected on the longitudinal symmetric plane of the vehicle as a curve shape of an upward concave arc moving forward and upward from the connecting starting point of the horizontal motion to the forward and upward arc motion. Figure 6 The motion trajectory curve of the wheel axis of the front wheel (7) at the lower end of the front wheel support rod (3) in the relative plane coordinate system during the process of the stair climbing and leveling dual-purpose vehicle going up and down the stairs under control, which is displayed on the longitudinal symmetric plane projection of the vehicle, is generally an arc curve or a straight line, while Figure 6 In the structural diagram of the front wheel (7), the motion trajectory curve of the wheel axis in the above-mentioned relative plane coordinate system is specifically shown as a motion trajectory curve segment of a concave arc. Figure 6 The motion trajectory curve of the wheel axis of the rear wheel (8) that moves in coordination with the front wheel (7) in the above-mentioned relative plane coordinate system during the process of the stair climbing and leveling dual-purpose vehicle going up and down stairs under control, as shown on the projection of the longitudinal symmetric plane of the vehicle, is generally an arc curve or a straight line. Figure 6 In the structural diagram, the motion trajectory curve of the wheel axis of the rear wheel (8) in the above-mentioned relative plane coordinate system is specifically displayed as a motion trajectory curve segment of a concave arc.

[0045] Figure 7 The upper part shows a simplified structural diagram of the seventh combination form of the Watt-type six-link swing link wheel mechanism, wherein the longest rod of the key feature of the front four-link mechanism, the core structure of the Watt-type six-link swing link wheel mechanism, is the front extension arm of the main swing link (2), and the shortest rod of the front four-link mechanism, the core structure of the Watt-type six-link swing link wheel mechanism, is the upper arm rod portion of the front upper swing link (4) and the front wheel support rod (3) of equal length and the connecting line portion from the axis of the main swing link center hinge pin (9) of the wheel link bracket (1) to the axis of the front upper hinge pin (10) of the wheel link bracket and is shown as a thick straight line. Figure 7 The front portion of the motion trajectory curve section of the axis of the main swing arm center hinge pin (9) where the wheel link bracket (1) and the main swing arm (2) are hinged is projected on the longitudinal symmetric plane of the vehicle as a curve shape of an upward concave arc moving forward and upward from the connecting starting point of the horizontal motion to the forward and upward arc motion. Figure 7 The motion trajectory curve of the wheel axis of the front wheel (7) at the lower end of the front wheel support rod (3) in the relative plane coordinate system during the process of the stair climbing and leveling dual-purpose vehicle going up and down the stairs under control, which is displayed on the longitudinal symmetric plane projection of the vehicle, is generally an arc curve or a straight line, while Figure 7In the structural diagram of the front wheel (7), the motion trajectory curve of the wheel axis in the above-mentioned relative plane coordinate system is specifically shown as a motion trajectory curve segment of an approximately straight line. Figure 7 The motion trajectory curve of the wheel axis of the rear wheel (8) that moves in coordination with the front wheel (7) in the above-mentioned relative plane coordinate system during the process of the stair climbing and leveling dual-purpose vehicle going up and down stairs under control, as shown on the projection of the longitudinal symmetric plane of the vehicle, is generally an arc curve or a straight line. Figure 7 In the structural diagram, the motion trajectory curve of the wheel axis of the rear wheel (8) in the above-mentioned relative plane coordinate system is specifically displayed as a motion trajectory curve segment that is approximately a straight line.

[0046] exist Figure 8 and Fig.21 The structural side view and the motion trajectory curve diagram of the relevant points show the specific classification forms of the above-mentioned wheel structure. As described above, this wheel structure type is divided into four combinations of wheel structure types: the front wheel (7) is a double-row universal wheel and the rear wheel (8) is a double-row universal wheel; the front wheel (7) is a double-row universal wheel and the rear wheel (8) is a fixed-axis straight-running wheel; the front wheel (7) is a fixed-axis straight-running wheel and the rear wheel (8) is a double-row universal wheel; the front wheel (7) is a fixed-axis straight-running wheel and the rear wheel (8) is a fixed-axis straight-running wheel. In the specific Figures 8 to 21 In the structural diagram of the embodiment of the present invention, the core structure of the Watt-type six-link swing-link wheel mechanism of the present invention is selected, the key features of the front four-link mechanism, the longest rod and the above-mentioned seven shortest rod combination forms of the four-link combination structure Figure 1The first specific rod length combination structure shown in the figure is the Watt-type six-link swing-link wheel mechanism, which is the core structure of the Watt-type six-link swing-link wheel mechanism of the stair-climbing and leveling dual-purpose vehicle. The key feature of the front four-link mechanism is that the longest rod is the front extension arm of the main swing rod (2) and the shortest rod is the upper arm rod part of the front wheel support rod (3) which is the link in the front four-link. As for the core structure of the above-mentioned Watt-type six-link swing-link wheel mechanism, the key feature of the front four-link mechanism is that the longest rod is the front extension arm of the main swing rod (2) and the shortest rod is the upper arm rod part of the front wheel support rod (3) which is the link in the front four-link. The Watt-type six-link mechanism of the other six (i.e., the second to seventh) rod length combination structures of the Watt-type six-link swing-type link wheel mechanism all have similar structural arrangements and similar motion laws, except that the corresponding link length ratios and relative positions and postures are slightly different, including the slightly different plane geometric position and posture of the wheel link bracket (1) maintained under control. The basic link structure connection type and the corresponding link swing motion law displayed on the longitudinal symmetric plane projection of the vehicle and the motion function effect of the front wheel (7) and the rear wheel (8) when going up and down stairs are the same, so it is completely possible to Figures 8 to 21 In the embodiment of the present invention, the core structure of the Watt-type six-bar swing-link wheel mechanism, the key feature of the front four-bar mechanism, the longest rod and the first rod length combination structure of the four-bar combination structure of the above-mentioned 7 shortest rods, and the Watt-type six-bar mechanism of the Watt-type six-bar swing-link wheel mechanism are used as typical examples to display and illustrate the structural action rules and functional effects of the Watt-type six-bar mechanism of the Watt-type six-bar swing-link wheel mechanism, that is, the core structure of the above-mentioned Watt-type six-bar swing-link wheel mechanism, the key feature of the front four-bar mechanism, the longest rod and the core structure of the four-bar combination structure of the above-mentioned 7 shortest rods, and the other 6 (i.e., the 2nd to 7th) rod length combination structures of the front four-bar mechanism. The structural layout and motion function characteristics of the Watt-type six-bar mechanism of the Watt-type six-bar swing-link wheel mechanism can be completely referred to. Figures 8 to 21 The structural layout can be inferred from the .

[0047] Figure 8The present invention is a core structure of the Watt-type six-link swing-type link wheel mechanism. The key feature of the front four-link mechanism is that the longest link is the front extension arm of the main swing arm (2) and the shortest link is the upper arm of the front wheel support rod (3). The first combination form structure of the four-link combination structure and the load frame body (33) connected thereto is swung relative to the wheel link bracket (1) and locked in a corresponding inclined state of a relatively unfolded inclined posture. The side view of the structure of the stair climbing and leveling dual-purpose vehicle embodiment, the front wheel (7) and the rear wheel (8) are both double-row universal wheels. Figure 8 It can be seen from the side view of the embodiment structure that the lower arm portion of the front wheel support rod (3) of the Watt type six-link swing link wheel mechanism shown on the longitudinal symmetry plane projection of the vehicle is a line connecting the two hinge pin axes from the hinge pin axis of the upper arm end of the front wheel support rod (3) and the front end of the front upper swing rod (4) to the hinge pin axis of the front wheel support rod (3) and the front extension arm end of the main swing rod (2) through the hinge pin axis of the front wheel support rod (3) and the front extension arm end of the main swing rod (2). The extension line of the center of the center of the front wheel support rod (3) is bent downward and backward with the axis of the hinge pin of the front extension arm rod end of the main swing rod (2) as the origin, and a front transverse shaft rod (12) is movably connected to the end of the lower arm rod of the front wheel support rod (3), and the two ends of the front transverse shaft rod (12) are in contact with the inner side of the lower arm rod end of the front wheel support rod (3) symmetrically arranged on both sides of the vehicle body with the longitudinal symmetry plane of the vehicle as the symmetry center plane, and the lower extension arm end of the front wheel support rod is hinged through an axis line perpendicular to the longitudinal symmetry plane of the vehicle. The pin (13) is hingedly connected to the end of the lower arm of the front wheel support rod (3); the vertical shaft (14) of the upper part of the double-row universal wheels of the front wheel (7) is mounted on the front transverse shaft rod (12); when the stair climbing and leveling dual-purpose vehicle is in a pre-stair climbing and down-stair step state on the flat ground, the vertical shaft (14) of the double-row universal wheels of the front wheel (7) mounted on the front transverse shaft rod (12) is kept in a vertical state with the flat ground, and the double-row universal wheels of the front wheel (7) have been turned and are in a forward rolling posture. When the front wheel support rod (3) is hingedly connected to the front wheel support rod (3), the axis of the hinge pin (13) at the lower arm end of the front wheel support rod (12) is located in an area surrounded by an outer circle contour line of the wheel radius of the front wheel (7) at its upper end, an axis line of the vertical axis (14) or its extended line at its front end, a vertical line of the wheel axis of the front wheel (7) at its rear end, and a circumferential line with a radius from the axis of the front wheel (7) to the axis line of the vertical axis (14) at its lower end; Figure 8It can be seen from the side view of the embodiment structure that the lower arm portion of the rear wheel support rod (6) of the Watt type six-link swing link wheel mechanism shown on the longitudinal symmetric plane projection of the vehicle is a line connecting the two hinge pin axes along the hinge pin axis of the upper arm end of the rear wheel support rod (6) and the rear end of the rear upper swing rod (5) to the hinge pin axis of the rear wheel support rod (6) and the rear extension arm end of the main swing rod (2), and passing through the extension line direction of the hinge pin axis of the rear wheel support rod (6) and the rear extension arm end of the main swing rod (2) in the direction of the rear wheel support rod (6) and the main swing rod (2) ) The hinge pin axis of the rear extension arm end is bent forward as the origin, and a rear transverse shaft rod (17) is movably connected to the lower arm end of the rear wheel support rod (6), and the two ends of the rear transverse shaft rod (17) are in contact with the inner sides of the lower arm ends of the rear wheel support rod (6) symmetrically arranged on both sides of the vehicle body with the longitudinal symmetry plane of the vehicle as the symmetry center plane, and are hinged to the lower arm end of the rear wheel support rod (6) through a hinge pin (18) at the lower extension arm end of the rear wheel support rod with an axis perpendicular to the longitudinal symmetry plane of the vehicle. The universally rotatable vertical shaft (19) at the upper part of the double-row universal wheel of the rear wheel (8) ) is mounted on the rear transverse axle (17), and when the stair climbing and leveling dual-purpose vehicle is in a pre-up and downstairs state on the flat ground, the vertical axle (19) of the double-row universal wheels of the rear wheels (8) mounted on the rear transverse axle (17) is kept vertical to the flat ground, and the double-row universal wheels of the rear wheels (8) have been turned and are in a forward rolling posture, and the rear transverse axle (17) and the lower arm end of the rear wheel support rod (6) are hingedly connected on the longitudinal symmetric plane projection of the vehicle, and the axis of the hinge pin (18) at the lower arm end of the rear wheel support rod is located at its upper end, which is the wheel of the rear wheel (8). The outer circle contour line of the radius, the front end is the axis line of the vertical shaft (19) or its extension line, the rear end is the vertical line of the wheel axis of the rear wheel (8), and the lower end is the circumference line of the radius from the axis of the rear wheel (8) to the axis line of the vertical shaft (19); and the rolling wheel guide groove guiding swing mechanism is also provided between the front transverse shaft rod (12) for mounting the double-row universal wheels of the front wheel (7) and the wheel connecting rod bracket (1) and between the rear transverse shaft rod (17) for mounting the double-row universal wheels of the rear wheel (8) and the wheel connecting rod bracket (1). Figure 8The side view of the embodiment structure shows the specific structure of the rolling wheel guide groove guiding swing mechanism arranged between the front transverse shaft rod (12) on which the double-row universal wheels of the front wheels (7) are installed and the wheel connecting rod bracket (1), which can make the front transverse shaft rod (12) swing around the axis of the hinge pin (13) at the lower extension arm end of the front wheel support rod on a swinging plane parallel to the longitudinal symmetry plane of the vehicle, a front rolling wheel guide groove (15) is arranged on the inner side wall of the wheel connecting rod bracket (1), a crank arm rod extending backwards is arranged on the front transverse shaft rod (12), and a crank arm rod extending backwards is installed at the end of the crank arm rod extending backwards of the front transverse shaft rod (12). A front rolling wheel (16) extends inwardly and has its axis perpendicular to the longitudinal symmetry plane of the vehicle. The front rolling wheel (16) extends into the front rolling wheel guide groove (15) provided on the inner side wall of the wheel link bracket (1). The front rolling wheel guide groove (15) on the inner side wall of the wheel link bracket (1) is projected on the longitudinal symmetry plane of the vehicle so that its groove centerline is in an arc shape or an S-shaped shape arranged longitudinally in the front and rear directions. The front rolling wheel (16) at the end of the crank arm extending rearward of the front transverse shaft (12) and the front rolling wheel guide groove (15) provided on the inner side wall of the wheel link bracket (1) are aligned with each other. In the same swinging plane parallel to the longitudinal symmetry plane of the vehicle, the wheel diameter of the front rolling wheel (16) and the width of the groove of the front rolling wheel guide groove (15) are rolling matched with each other, and the center line of the groove of the front rolling wheel guide groove (15) is shown in the front longitudinal symmetry plane projection of the vehicle. The shape of the arc or S-line arranged longitudinally in the front and rear direction is shown. When the stair climbing and leveling dual-purpose vehicle is in a state of pre-ascending stairs, the front rolling wheel (16) at the end of the crank arm rod extending rearward of the front transverse shaft rod (12) is located at the front top position or close to the front top position in the horizontal longitudinal arc or S-line front rolling wheel guide groove (15), and the front rolling wheel guide groove (15) is in the front longitudinal arc or S-line direction. The vertical shaft (14) of the double-row universal wheel of the front wheel (7) mounted on the front transverse shaft (12) is kept in a vertical state with respect to the horizontal ground. When the corresponding link of the Watt-type six-link swing-type link wheel mechanism is swung under control, the front rolling wheel (16) at the crank arm end extending rearward of the front transverse shaft (12) rolling in the front rolling wheel guide groove (15) on the side wall of the wheel link bracket (1) will move along the front rolling wheel guide groove (15) on the inner side wall of the wheel link bracket (1) in an arc or S-shaped trajectory curve, thereby driving the front transverse shaft (12) to swing accordingly.When the stair climbing and leveling dual-purpose vehicle is on a curved platform or on a flat ground during the process of going up and down stairs, the wheel link bracket (1) of the Watt-type six-link swing link wheel mechanism displayed on the longitudinal symmetric plane projection of the vehicle maintains a set plane geometric position posture under control and produces a certain tilting and swinging deviation (according to the deviation range of about 15 degrees of forward tilting and swinging as described above), and the vertical shaft (14) of the double-row universal wheel of the front wheel (7) installed on the front transverse shaft rod (12) can continue to maintain a vertical state with the horizontal ground; when, Figure 8The side view of the embodiment structure shows the specific structure of the rolling wheel guide groove guiding swing mechanism arranged between the rear transverse shaft rod (17) on which the double-row universal wheels of the rear wheels (8) are mounted and the wheel connecting rod bracket (1), which can enable the rear transverse shaft rod (17) to swing around the axis of the hinge pin (18) at the lower extension arm end of the rear wheel support rod on a swinging plane parallel to the longitudinal symmetry plane of the vehicle. A rear rolling wheel guide groove (21) is arranged on the outer side wall of the wheel connecting rod bracket (1), and a crank arm rod extending upward is arranged on the rear transverse shaft rod (17). The end of the crank arm rod extending upward of the rear transverse shaft rod (17) is provided with a rear rolling wheel guide groove (21). A rear rolling wheel (20) is installed, which extends outward and has an axis perpendicular to the longitudinal symmetry plane of the vehicle. The rear rolling wheel (20) extends into the rear rolling wheel guide groove (21) provided on the outer side wall of the wheel link bracket (1). The rear rolling wheel guide groove (21) on the outer side wall of the wheel link bracket (1) is projected on the longitudinal symmetry plane of the vehicle so that the center line of the groove is in an arc shape or an S-shaped shape in the vertical direction. The rear rolling wheel (20) at the end of the crank arm rod extending upward of the rear transverse shaft rod (17) is aligned with the rear rolling wheel guide groove (21) provided on the outer side wall of the wheel link bracket (1). 1) In the same swinging plane parallel to the longitudinal symmetry plane of the vehicle, the wheel diameter of the rear rolling wheel (20) and the width of the groove of the rear rolling wheel guide groove (21) are rollingly matched with each other, and the center line of the groove of the rear rolling wheel guide groove (21) is shown as an arc or S-shaped shape in the vertical direction on the projection of the longitudinal symmetry plane of the vehicle. When the stair climbing and leveling dual-purpose vehicle is in a state of pre-climbing stairs, the rear rolling wheel (20) at the end of the crank arm rod extending upward of the rear transverse shaft rod (17) is located at the upper top position of the vertically upright arc or S-shaped rear rolling wheel guide groove (21) or close to the upper top position. The rear wheel (8) is positioned at the end position, and the vertical shaft (19) of the double-row universal wheel mounted on the rear transverse shaft (17) is kept vertical to the horizontal ground. When the corresponding link of the Watt-type six-link swing-type link wheel mechanism is swung under control, the rear rolling wheel (20) at the crank arm end of the rear transverse shaft (17) extending upward and rolling in the rear rolling wheel guide groove (21) on the side wall of the wheel link bracket (1) will move along the vertical upright arc-shaped or S-shaped trajectory curve in the rear rolling wheel guide groove (21), thereby driving the rear transverse shaft (17) to swing accordingly.When the stair climbing and level ground dual-purpose vehicle is on a platform where the stair steps turn or on a flat ground during the process of going up and down stairs, the wheel link bracket (1) of the Watt-type six-link swing link wheel mechanism displayed on the longitudinal symmetric plane projection of the vehicle maintains a set plane geometric position posture under control and produces a certain tilt swing deviation (within the deviation range of about 15 degrees of forward tilt swing angle as described above), and the vertical shaft (19) of the double-row universal wheel of the rear wheel (8) installed on the rear transverse shaft rod (17) can continue to maintain a vertical state with the horizontal ground.

[0048] Fig. 9 The following table shows the Figure 8 A structural side view of an embodiment of the stair-climbing and leveling dual-purpose vehicle with the same structural type of the Watt-type six-link swing-link wheel mechanism is provided, in which the load frame body (33) is swung relative to the wheel link bracket (1) and locked in a relatively upright state in a relatively folded and closed posture. It can be seen from the figure that the load frame body (33) of the long box structure of the present invention is maintained in a vertical state with respect to the flat ground under the support of the front wheel (7) and the rear wheel (8) of the four-link swing-link wheel mechanism in contact with the flat ground. At this time, the stair-climbing and leveling dual-purpose vehicle can be in a stationary state on the flat ground or can be pushed or pulled on the flat ground under control.

[0049] Fig.10 is the above Fig. 9 The front wheel (7) and the rear wheel (8) of the Watt-type six-link swing-link wheel mechanism are both double-row universal wheels, and the load frame (33) of the long box structure is in an upright state. The axonometric view of the embodiment of the stair-climbing and leveling dual-purpose vehicle is partially cut away on the lower right side to show the internal structure. Fig.10The figure clearly shows the relative structural position arrangement of the front wheel (7) and the rear wheel (8) of the Watt-type six-link swing-type link wheel mechanism of the present invention, including the lateral arrangement or symmetrical arrangement structure and the mutual connection mode, and the other corresponding link positions are also shown as much as possible. The figure shows that the front wheel (7) and the rear wheel (8) of the Watt-type six-link swing-type link wheel mechanism are symmetrically arranged on both sides of the load frame (33) of the stair climbing and leveling dual-purpose vehicle with the longitudinal symmetry plane of the vehicle as the symmetry center plane, and it can be seen that the Watt-type six-link swing-type link wheel mechanism is symmetrically arranged on both sides of the load frame (33). The inner and outer side walls extending downwardly from the wheel link bracket (1) structure are respectively provided with the front rolling wheel guide groove (15) and the rear rolling wheel guide groove (21) of the rolling wheel guide groove guiding swing mechanism, and cooperate with the front rolling wheel (16) at the rear extension arm end of the front transverse shaft rod (12) where the vertical shaft (14) of the double-row universal wheel of the front wheel (7) is located and the rear rolling wheel (20) at the rear extension arm end of the rear transverse shaft rod (17) where the vertical shaft (19) of the double-row universal wheel of the rear wheel (8) is located to form a corresponding rolling auxiliary structure of the rolling wheel guide groove guiding swing mechanism that can swing with the swing of the corresponding link of the Watt type six-link swing link wheel mechanism.

[0050] Fig.11 yes Figure 8 The motion trajectory curve diagram of the up and down stair steps of the relevant points of the Watt-type six-link swing-link wheel mechanism under the structure and its position and posture, in Fig.11 The figure shows the selected step heights of 120 mm, 150 mm, 180 mm and 210 mm respectively. The figure shows the motion trajectory curve of the hinge pin axis center of the wheel link bracket (1) and the main swing arm center hinge pin (9) in the middle of the main swing arm (2) that can represent the actual motion trajectory of the stair climbing and leveling dual-purpose vehicle when the stair climbing and leveling dual-purpose vehicle of the Watt type six-link swing link wheel mechanism on the stairs of the corresponding heights goes up and down the stairs, and a small circle mark indicating the relative motion speed is marked on the corresponding curve segment. At the same time, the motion trajectory curve of the front wheel (7) and the rear wheel (8) of the Watt type six-link swing link wheel mechanism of the stair climbing and leveling dual-purpose vehicle in the above relative plane coordinate system is also shown, and a small circle mark indicating the motion speed is also marked on the corresponding accurate corresponding motion trajectory curve of the wheel axis of the front wheel (7) and the rear wheel (8).

[0051] Fig.12 is with Figure 8The structural side view of the stair climbing and leveling dual-purpose vehicle embodiment of the Watt type six-link swinging link wheel mechanism of the same structural type, the guide swing mechanism arranged between the front transverse shaft rod (12) on which the double-row universal wheels of the front wheels (7) are mounted and the wheel link bracket (1) is a rolling wheel guide groove guide swing mechanism, which is different from Figure 8 The structure is the same as that in the embodiment, and will not be described again, but the guide swing mechanism provided between the rear transverse shaft rod (17) on which the double-row universal wheel of the rear wheel (8) is mounted and the wheel connecting rod bracket (1) is changed to a connecting rod swing rod guide swing mechanism, and the specific structural arrangement is as follows Fig.12 The structure of the embodiment is shown in the side view, and the following specifically describes Fig.12The structural side view of the embodiment shows the specific structure of the connecting rod swing rod guide swing mechanism arranged between the rear transverse shaft rod (17) and the wheel connecting rod bracket (1), which can make the rear transverse shaft rod (17) swing around the axis of the hinge pin (18) at the lower extension arm end of the rear wheel support rod on a swing plane parallel to the longitudinal symmetry plane of the vehicle. The end of the crank arm rod extending upward or backward of the rear transverse shaft rod (17) is hinged to one end of a guide swing rod (23) through the rear end hinge pin (22) of the rear guide swing rod, and the other end of the guide swing rod (23) is hinged to the wheel connecting rod bracket (1) through the front end hinge pin (24) of the rear guide swing rod. The rationality of the structural design and the allowable state of the spatial position are generally designed as follows: the front end hinge pin (24) of the rear guide swing arm hinged to the guide swing arm (23) and the wheel link bracket (1) is arranged in front of the rear end hinge pin (22) of the rear guide swing arm hinged to the end of the crank arm extending upward or backward of the rear transverse shaft (17); the swing plane of the crank arm extending upward or backward of the rear transverse shaft (17) and the guide swing arm (23) is parallel to the rotation plane of the Watt type six-link swing link wheel mechanism; when the stair climbing and leveling dual-purpose vehicle is in a pre-stair step state under control, the rear transverse shaft (17) is tilted to the left and right sides of the rear transverse shaft (17); and the rear transverse shaft (17) is tilted to the right and left ... The axial center position of the rear end hinge pin (22) of the rear guide swing arm, which is hinged to the guide swing arm (23) at the end of the crank arm extending upward or rearward, is located at the limit position of the upper swing of the guide swing arm (23) around the front end hinge pin (24) of the rear guide swing arm, which is hinged to the wheel link bracket (1), and close to the limit position, and the vertical axis (19) of the double-row universal wheel of the rear wheel (8) mounted on the rear transverse shaft (17) is kept vertical to the horizontal ground. When the corresponding link of the Watt-type six-link swing link wheel mechanism is swung under control, the guide swing arm (23) is also swung around the link with the wheel link. The front end hinge pin (24) of the rear guide swing rod hinged to the bracket (1) swings downward, and the rear end hinge pin (22) of the rear guide swing rod at the end of the crank arm extending upward or rearward of the front transverse shaft (17) will also swing downward along with the guide swing rod (23) in the direction of a circular arc with the length of the guide swing rod (23) as the radius and the axis of the front end hinge pin (24) of the rear guide swing rod hinged to the wheel connecting rod bracket (1) as the center, and the rear transverse shaft (17) is guided to swing accordingly by the rear end hinge pin (22) of the rear guide swing rod hinged to the end of the crank arm extending upward or rearward of the rear transverse shaft (17).When the stair climbing and level ground dual-purpose vehicle is on a platform where the stair steps turn or on a flat ground during the process of going up and down stairs, the wheel link bracket (1) of the Watt-type six-link swing link wheel mechanism displayed on the longitudinal symmetric plane projection of the vehicle maintains a set plane geometric position posture under control and produces a certain tilt swing deviation (within the deviation range of about 15 degrees of forward tilt swing angle as described above), and the vertical shaft (19) of the double-row universal wheel of the rear wheel (8) installed on the rear transverse shaft rod (17) can continue to maintain a vertical state with the horizontal ground.

[0052] Fig.13 yes Fig.12 The motion trajectory curve diagram of the up and down stair steps of the relevant points of the Watt-type six-link swing link wheel mechanism under the structure and its position state, in Fig.11 The figure shows the selected step heights of 120 mm, 150 mm, 180 mm and 210 mm respectively. The figure shows the motion trajectory curve of the hinge pin axis center of the wheel link bracket (1) and the main swing arm center hinge pin (9) in the middle of the main swing arm (2) that can represent the actual motion trajectory of the stair climbing and leveling dual-purpose vehicle when the stair climbing and leveling dual-purpose vehicle of the Watt type six-link swing link wheel mechanism on the stairs of the corresponding heights goes up and down the stairs, and a small circle mark indicating the relative motion speed is marked on the corresponding curve segment. At the same time, the motion trajectory curve of the front wheel (7) and the rear wheel (8) of the Watt type six-link swing link wheel mechanism of the stair climbing and leveling dual-purpose vehicle in the above relative plane coordinate system is also shown, and a small circle mark indicating the motion speed is also marked on the corresponding accurate corresponding motion trajectory curve of the wheel axis of the front wheel (7) and the rear wheel (8).

[0053] Fig.14 It is the core structure of the Watt-type six-link swing-type link wheel mechanism, the key feature of the front four-link mechanism, the longest rod is the front extension arm of the main swing rod (2) and the shortest rod is the upper arm rod part of the front wheel support rod (3), and the load frame body (33) connected thereto is swung relative to the wheel link bracket (1) and locked in a corresponding inclined state of a relatively unfolded inclined posture, a structural side view of the stair-climbing and leveling dual-purpose vehicle embodiment, the front wheel (7) is a double-row universal wheel, the rear wheel (8) is a fixed-axis straight-running wheel, and the relevant link connection and installation position at the front wheel (7) includes a rolling wheel guide groove guide swing mechanism set between the front transverse shaft rod (12) on which the double-row universal wheel of the front wheel (7) is installed and the wheel link bracket (1), which is connected to the load frame body (33) connected thereto. Figure 8 The structure is the same, so I will not repeat it here. Fig.14As can be seen in the figure, the fixed-axis straight-running wheel of the rear wheel (8) is directly mounted on the lower arm end of the rear wheel support rod (6). Such a wheel mounting connection structure is relatively simple and does not require special explanation. The specific structure can be seen in Fig.14 Structural side view of the embodiment; the wheel diameter of the fixed-axis straight-running wheel is equal to or greater than the wheel diameter of the double-row universal wheel.

[0054] Fig.15 yes Fig.14 The motion trajectory curve diagram of the up and down stair steps of the relevant points of the Watt-type six-link swing link wheel mechanism under the structure and its position state, in Fig.15 The figure shows the selected step heights of 120 mm, 150 mm, 180 mm and 210 mm respectively. The figure shows the motion trajectory curve of the hinge pin axis center of the wheel link bracket (1) and the main swing arm center hinge pin (9) in the middle of the main swing arm (2) that can represent the actual motion trajectory of the stair climbing and leveling dual-purpose vehicle when the stair climbing and leveling dual-purpose vehicle of the Watt type six-link swing link wheel mechanism on the stairs of the corresponding heights goes up and down the stairs, and a small circle mark indicating the relative motion speed is marked on the corresponding curve segment. At the same time, the motion trajectory curve of the front wheel (7) and the rear wheel (8) of the Watt type six-link swing link wheel mechanism of the stair climbing and leveling dual-purpose vehicle in the above relative plane coordinate system is also shown, and a small circle mark indicating the motion speed is also marked on the corresponding accurate corresponding motion trajectory curve of the wheel axis of the front wheel (7) and the rear wheel (8).

[0055] Fig.16 is with Fig.14 A structural side view of the stair climbing and leveling dual-purpose vehicle embodiment of the Watt type six-link swing link wheel mechanism of the same structural type, wherein the relevant link connection and installation position at the front wheel (7) is the same as Fig.14 The structural form is the same as Figure 8 The structure is the same as that in the embodiment, so it will not be described again. However, the guide swing mechanism provided between the front transverse shaft rod (12) and the wheel link bracket (1) for mounting the double-row universal wheel of the front wheel (7) is different. A link swing rod guide swing mechanism is selected. The following specifically describes the guide swing mechanism. Fig.16The specific structure of the connecting rod swing rod guide swing mechanism is shown in the side view of the embodiment structure, which is arranged between the front transverse shaft rod (12) and the wheel connecting rod bracket (1) so that the front transverse shaft rod (12) can swing around the axis of the hinge pin (13) at the lower end of the extension arm of the front wheel support rod on a swing plane parallel to the longitudinal symmetry plane of the vehicle. The end of the crank arm rod extending backward of the front transverse shaft rod (12) is hinged to one end of a guide swing rod (26) through the hinge pin (25) at the lower end of the front guide swing rod, and the other end of the guide swing rod (26) is hinged to the wheel connecting rod through the hinge pin (27) at the upper end of the front guide swing rod. The bracket (1) is hinged. According to the rationality of the structural design and the allowable state of the spatial position, it is generally designed that the upper hinge pin (27) of the front guide swing arm hinged to the wheel link bracket (1) is arranged above the lower hinge pin (25) of the front guide swing arm hinged to the end of the crank arm extending rearward from the front transverse shaft (12). The swing plane of the crank arm extending rearward from the front transverse shaft (12) and the guide swing arm (26) is parallel to the rotation plane of the Watt-type six-link swing link wheel mechanism. Under control, the stair climbing and leveling dual-purpose vehicle is in a pre-stair climbing and stair climbing state. In the step state, the end of the crank arm extending backward of the front transverse shaft (12) is hinged to the guide swing rod (26), and the axis position of the front guide swing rod lower end hinge pin (25) is located at or close to the swing terminal position of the guide swing rod (26) swinging forward around the front guide swing rod upper end hinge pin (27) hinged to the wheel link bracket (1), and the vertical shaft (14) of the double-row universal wheel of the front wheel (7) mounted on the front transverse shaft (12) is kept in a vertical state with the horizontal ground. When the Watt type six-link swing link wheel mechanism is operated, When the connecting rod swings, the guide swing rod (26) will accordingly swing backwards around the axis of the upper hinge pin (27) of the front guide swing rod hinged to the wheel connecting rod bracket (1), and the lower hinge pin (25) of the front guide swing rod at the end of the crank arm rod extending backwards of the front transverse shaft rod (12) will also swing backwards along with the guide swing rod (26) in the direction of an arc with the length of the guide swing rod (26) as the radius and the axis of the upper hinge pin (27) of the front guide swing rod hinged to the wheel connecting rod bracket (1) as the center, thereby driving the front transverse shaft rod (12) to swing accordingly.When the stair climbing and leveling dual-purpose vehicle is on a curved platform or on a flat ground during the process of going up and down stairs, the wheel link bracket (1) of the Watt-type six-link swing link wheel mechanism displayed on the longitudinal symmetric plane projection of the vehicle maintains a set plane geometric position posture under control and produces a certain tilting and swinging deviation (according to the deviation range of about 15 degrees of forward tilting and swinging angle as described above), and the vertical shaft (14) of the double-row universal wheel of the front wheel (7) installed on the front transverse shaft rod (12) can continue to maintain a vertical state with the horizontal ground; the rear wheel (8) is a fixed-axis straight-running wheel, when, Fig.16 The figure shows that the rear wheel (8) is mounted on the lower arm end of the rear wheel support rod (6), and the wheel diameter of the fixed-axis straight-running wheel is equal to or greater than the wheel diameter of the double-row universal wheel.

[0056] Fig.17 yes Fig.16 The motion trajectory curve diagram of the up and down stair steps of the relevant points of the Watt-type six-link swing link wheel mechanism under the structure and its position state, in Fig.17 The figure shows the selected step heights of 120 mm, 150 mm, 180 mm and 210 mm respectively. The figure shows the motion trajectory curve of the hinge pin axis center of the wheel link bracket (1) and the main swing arm center hinge pin (9) in the middle of the main swing arm (2) that can represent the actual motion trajectory of the stair climbing and leveling dual-purpose vehicle when the stair climbing and leveling dual-purpose vehicle of the Watt type six-link swing link wheel mechanism on the stairs of the corresponding heights goes up and down the stairs, and a small circle mark indicating the relative motion speed is marked on the corresponding curve segment. At the same time, the motion trajectory curve of the front wheel (7) and the rear wheel (8) of the Watt type six-link swing link wheel mechanism of the stair climbing and leveling dual-purpose vehicle in the above relative plane coordinate system is also shown, and a small circle mark indicating the motion speed is also marked on the corresponding accurate corresponding motion trajectory curve of the wheel axis of the front wheel (7) and the rear wheel (8).

[0057] Fig.18 The invention is a core structure of the Watt-type six-link swing-type link wheel mechanism, a key feature of the front four-link mechanism, a first combination form structure of a four-link combination structure in which the longest link is the front extension arm of the main swing link (2) and the shortest link is the upper arm portion of the front wheel support link (3), and a structural side view of an embodiment of the stair-climbing and leveling dual-purpose vehicle in which the load frame body (33) connected thereto is swung relative to the wheel link bracket (1) and locked in a corresponding inclined state of a relatively unfolded inclined posture, the front wheel (7) is a fixed-axis straight-running wheel, the rear wheel (8) is a double-row universal wheel, and Fig.18The front wheel (7) is shown to be directly mounted on the lower arm end of the front wheel support rod (3). Such a wheel mounting connection structure is relatively simple and does not require special explanation. The relevant connecting rod connection and mounting position at the rear wheel (8) includes a rolling wheel guide groove guide swing mechanism arranged between the rear transverse shaft rod (17) for mounting the double-row universal wheel of the rear wheel (8) and the wheel connecting rod bracket (1). Figure 8 The structure is the same as in the above, so I will not repeat it here. The specific structure layout is as follows Fig.18 As shown in the structural side view of the embodiment; the wheel diameter of the fixed-axis straight-running wheel is equal to or greater than the wheel diameter of the double-row universal wheel.

[0058] Fig.19 yes Fig.18 The motion trajectory curve diagram of the up and down stair steps of the relevant points of the Watt-type six-link swing link wheel mechanism under the structure and its position state, in Fig.19 The figure shows the selected step heights of 120 mm, 150 mm, 180 mm and 210 mm respectively. The figure shows the motion trajectory curve of the hinge pin axis center of the wheel link bracket (1) and the main swing arm center hinge pin (9) in the middle of the main swing arm (2) that can represent the actual motion trajectory of the stair climbing and leveling dual-purpose vehicle when the stair climbing and leveling dual-purpose vehicle of the Watt type six-link swing link wheel mechanism on the stairs of the corresponding heights goes up and down the stairs, and a small circle mark indicating the relative motion speed is marked on the corresponding curve segment. At the same time, the motion trajectory curve of the front wheel (7) and the rear wheel (8) of the Watt type six-link swing link wheel mechanism of the stair climbing and leveling dual-purpose vehicle in the above relative plane coordinate system is also shown, and a small circle mark indicating the motion speed is also marked on the corresponding accurate corresponding motion trajectory curve of the wheel axis of the front wheel (7) and the rear wheel (8).

[0059] Fig. 20 The invention is the core structure of the Watt-type six-link swing-type link wheel mechanism. The key feature of the front four-link mechanism is that the longest link is the front extension arm of the main swing link (2) and the shortest link is the upper arm part of the front wheel support rod (3). The first combination form structure of the four-link combination structure is provided, and the load frame body (33) connected thereto is swung relative to the wheel link bracket (1) and locked in a corresponding inclined state of a relatively unfolded inclined posture. The front wheel (7) and the rear wheel (8) are both fixed-axis straight-running wheels. The front wheel (7) is mounted on the lower arm end of the front wheel support rod (3); the rear wheel (8) is mounted on the lower arm end of the rear wheel support rod (6). There is no restriction on the ratio of the wheel diameter of the front wheel (7) to the wheel diameter of the rear wheel (8), which can be selected according to specific actual needs. Fig. 20In the embodiment, the wheel diameter of the front wheel (7) is the same as the wheel diameter of the rear wheel (8), and the front and rear wheels are also suitable for selecting an omnidirectional wheel structure. However, when used for heavy loads or for carrying people, it is generally necessary to consider selecting only the front wheel (7) or only the rear wheel (8) to be an omnidirectional wheel.

[0060] Fig.21 yes Fig. 20 The motion trajectory curve diagram of the up and down stair steps of the relevant points of the Watt-type six-link swing link wheel mechanism under the structure and its position state, in Fig.21 The figure shows the selected step heights of 120 mm, 150 mm, 180 mm and 210 mm respectively. The figure shows the motion trajectory curve of the hinge pin axis center of the wheel link bracket (1) and the main swing arm center hinge pin (9) in the middle of the main swing arm (2) that can represent the actual motion trajectory of the stair climbing and leveling dual-purpose vehicle when the stair climbing and leveling dual-purpose vehicle of the Watt type six-link swing link wheel mechanism on the stairs of the corresponding heights goes up and down the stairs, and a small circle mark indicating the relative motion speed is marked on the corresponding curve segment. At the same time, the motion trajectory curve of the front wheel (7) and the rear wheel (8) of the Watt type six-link swing link wheel mechanism of the stair climbing and leveling dual-purpose vehicle in the above relative plane coordinate system is also shown, and a small circle mark indicating the motion speed is also marked on the corresponding accurate corresponding motion trajectory curve of the wheel axis of the front wheel (7) and the rear wheel (8).

[0061] Figure 8 , Fig. 9 , Fig.12 , Fig.14 , Fig.16 , Fig.18 and Fig. 20 The structural side view shows that the load frame body (33) and the wheel link bracket (1) of the stair climbing and leveling dual-purpose vehicle of the Watt type six-link swing link wheel mechanism of the present invention are connected in a selectively movable manner. Figure 8The side view of the structure of the other embodiments described above specifically shows that the load frame body (33) and the wheel link bracket (1) are hingedly connected via a load frame body swing hinge pin (32), the axis of the load frame body swing hinge pin (32) is perpendicular to the longitudinal symmetry plane of the vehicle, and the axis of the load frame body swing hinge pin (32) is located above the axis of the front upper hinge pin (10) of the wheel link bracket hinged to the front upper swing rod (4); a stair climbing vehicle upper extension push-pull main handle is provided at the upper extension portion of the load frame body (33), and a link bracket upper extension handle (37) is provided at the upper extension portion of the wheel link bracket (1); Below the swing hinge pin (32) of the load frame body to which the wheel link bracket (1) is hinged, a supporting structure or column (29) extending outward is provided on the outer side of the side wall of the load frame body (33); a penetrating fan-shaped opening or arc-shaped slot opening (28) is provided on the side wall of the wheel link bracket (1) adjacent to the outer side of the side wall of the load frame body (33); the bottom lower edge arc surface of the fan-shaped opening or the arc-shaped slot opening (28) or the bottom and upper edge arc surfaces of the arc-shaped slot opening are arc surfaces centered on the swing hinge pin (32) of the load frame body to which the wheel link bracket (1) is hinged; the load frame body (33) The support structure or column (29) provided on the outer side of the side wall extends into the fan-shaped opening or arc-shaped slot opening (28) provided on the side wall of the wheel link bracket (1), and the lower edge of the support structure or column (29) extending into the fan-shaped opening or arc-shaped slot opening (28) provided on the side wall of the wheel link bracket (1) maintains a close contact state or a sliding contact state with the arc surface of the bottom lower edge of the fan-shaped opening of the fan-shaped opening or the arc-shaped slot opening (28), and in terms of structural design, under control, the load frame body (33) swings around the load frame body hinge pin (32) relative to the wheel link bracket. (1) During the entire swinging movement to the two end terminal positions of the relatively folded and closed state and the relatively unfolded and tilted state, the opening of the side wall of the wheel link bracket (1) or the arc-shaped groove opening of the lower edge arc curve segment on the circumference of the circle centered on the swing hinge pin (32) of the load frame body hinged to the wheel link bracket (1) shown on the projection of the longitudinal symmetric plane of the vehicle maintains a swinging activity space adapted to the supporting structure or column (29) extending outwardly on the outer side surface of the side wall of the load frame body (33) extending into the opening of the side wall of the wheel link bracket (1) or the arc-shaped groove opening, which allows the load frame body (33) to swing synchronously around the axis of the swing hinge pin (32) of the load frame body.In the absence of other corresponding positioning devices for controlling the tilting and swinging angle between the relative components when the load frame body (33) swings around the load frame body swing hinge pin (32) relative to the wheel link bracket (1) to the two end terminal positions of the relatively folded and closed state and the relatively unfolded and tilted state, corresponding side wall edge retaining walls or edge stopper components can be used or arranged at the front and rear end edges of the lower edge arc curve section of the opening of the side wall of the wheel link bracket (1) or the arc-shaped groove opening and the side edge of the supporting structure or column (29) or the structural member connected thereto that protrudes outward on the outer side surface of the side wall of the load frame body (33) to control the load frame body (33) to be tilted and swinging relative to the wheel link bracket (1 ... When the load frame body (33) swings around the load frame body swing hinge pin (32) relative to the wheel link bracket (1) to the two end terminal positions of the relatively folded and closed state and the relatively unfolded and tilted state, they abut against each other, and the mutual abutment and contact effect maintains the relative position state of the mutual inclination angle when the load frame body (33) swings around the load frame body swing hinge pin (32) relative to the wheel link bracket (1) to the two end terminal positions of the relatively folded and closed state and the relatively unfolded and tilted state, and is conducive to locking the relative swing position state of the load frame body (33) relative to the wheel link bracket (1) under control; when the operator needs When the load frame (33) of the stair climbing vehicle is swung relative to the wheel connecting rod bracket (1) around the axis of the load frame swing hinge pin (32) to a swing terminal position of a relatively unfolded tilting posture or a relatively folded and closed posture, the support structure or column (29) extending outward from the outer side of the side wall of the load frame (33) will also be swung together with the load frame (33) around the load frame swing hinge pin (32) relative to the wheel connecting rod bracket (1) to a corresponding swing angle range limited by the mechanism design. The support structure or column (29) is swung in the direction of the swing terminal position until the support structure or column (29) touches the side wall edge stop wall or edge stop block component at the swing terminal position corresponding to the relative unfolding tilt posture or relative folding and closing posture of the load frame body (33) and the wheel link bracket (1) in the fan-shaped opening or arc-shaped slot opening (28) on the side wall of the wheel link bracket (1), and is locked and positioned at the relative swing limit terminal position positioning locking device that is linked to the relative swing movement of the load frame body (33) and the wheel link bracket (1) through the swing hinge pin (32) of the load frame body. Figure 8 The load frame body (33) and the wheel link bracket (1) are shown in a posture in which they are relatively tilted or in a posture in which they are relatively tilted or in a posture in which they are relatively tilted. Fig. 9The load frame body (33) and the wheel connecting rod bracket (1) are at the relative swing limit terminal position of the relative folding and closing posture shown in the figure. At this time, the stair climbing and leveling dual-purpose vehicle will be in a corresponding pre-stair step state or a flat ground placement and control state. At this time, the stair climbing and leveling dual-purpose vehicle can go up and down the stairs along the inclination direction of the stairs under control or be placed on the flat ground with the vehicle body in an upright posture and be pushed on the flat ground under control. As for the above-mentioned relative swing limit terminal position positioning locking device linked to the relative swinging action of the load frame body (33) and the wheel connecting rod bracket (1) in a relative unfolding tilt posture or a relative folding and closing posture movably connected through the load frame body swing hinge pin (32), the specific structure can be obtained from Figure 8 , Fig. 9 , Fig.12 , Fig.14 , Fig.16 , Fig.18 and Fig. 20 As can be seen from the side view of the structure, the relative swing limit terminal position positioning locking device selected in the embodiment is a sleeve coil spring elastic mechanism (35) with a rod-type coil pressure spring structure with pre-tension. The sleeve coil spring elastic mechanism (35) is a sleeve sliding matching structure of a rod-type shaft and a built-in spring in the longitudinal symmetric plane projection. The upper end of the sleeve coil spring elastic mechanism (35) is hinged to the load frame body (33) through the upper end hinge pin (36) of the elastic mechanism. The lower end of the sleeve coil spring elastic mechanism (35) is hinged to the load frame body (33) through the upper end hinge pin (36) of the elastic mechanism. The end is hinged to the wheel connecting rod bracket (1) through the lower end hinge pin (34) of the elastic mechanism; the spring force of the sleeve coil spring elastic mechanism (35) acts on the center line connecting the upper end hinge pin (36) of the elastic mechanism and the lower end hinge pin (34) of the elastic mechanism. When the hand control supports the upward extension push-pull main handle of the stair climbing vehicle and the connecting rod bracket upward extension handle (37), the relative opening and closing actions are used to operate and control the load frame body (33) to swing relative to the wheel connecting rod bracket (1) which maintains a set plane geometric position under control to the position as shown in the figure. Figure 8 The load frame body (33) and the wheel link bracket (1) are shown in a relatively tilted posture or as shown in Fig. 9In the two relative swing limit terminal positions of the load frame body (33) and the wheel link bracket (1) in the posture of being relatively folded and closed, the axis of the upper end hinge pin (36) of the elastic mechanism at which the upper end of the sleeve coil spring elastic mechanism (35) is hinged to the load frame body (33) should pass over the axis of the lower end hinge pin (34) of the elastic mechanism at which the lower end of the sleeve coil spring elastic mechanism (35) is hinged to the wheel link bracket (1) to the load frame body (33) and the wheel link bracket (1). The line connecting the axis of the load frame body swing hinge pin (32) or its extension line respectively corresponds to the axis of the lower hinge pin (34) of the elastic mechanism at the lower end of the sleeve coil spring elastic mechanism (35) hinged to the wheel connecting rod bracket (1) and the axis of the load frame body swing hinge pin (32) at the load frame body (33) hinged to the wheel connecting rod bracket (1) behind or in front of the upward extension line of the axis of the lower hinge pin (34) of the elastic mechanism. The relative position change of the corresponding structure under the above-mentioned control can be achieved by Figure 8 and Fig. 9 As can be seen from the embodiment diagram, in this way, the spring force of the sleeve coil spring elastic mechanism (35) which is located behind or in front of the above-mentioned connecting line or its extended line and acts on the load frame body (33) through the upper end hinge pin (36) of the elastic mechanism and acts on the wheel link bracket (1) through the lower end hinge pin (34) of the elastic mechanism can maintain a tendency to force the load frame body (33) and the wheel link bracket (1) to continue to be pressed toward the relative swing limit terminal position, and at the relative swing limit terminal position, the corresponding limit blocking positioning device arranged between the relative motion structure of the load frame body (33) and the wheel link bracket (1) and the elastic force sealing of the elastic structure of the sleeve coil spring elastic mechanism (35) work together to realize the positioning locking state when the load frame body (33) and the wheel link bracket (1) are relatively swung to the limit terminal position. Figure 8 and Fig. 9 The structural side view in FIG. 1 shows the corresponding structural position state and can be completely implemented in the embodiment Figure 8 and Fig. 9 As a typical example, the structural position and posture effect of the load frame body (33) of the stair climbing and leveling dual-purpose vehicle under control swinging around the axis of the load frame body swing hinge pin (32) relative to the wheel connecting rod bracket (1) to a swing terminal position of a relatively unfolded tilting posture or a relatively folded and closed posture, and the locking and positioning effect of the corresponding action of the sleeve coil spring elastic mechanism (35) between the load frame body (33) and the wheel connecting rod bracket (1) linked thereto are shown. Fig.12 , Fig.14 , Fig.16 , Fig.18 and Fig. 20 The relative position change of the structure in the corresponding operation of the Watt-type six-link swing-link wheel mechanism and the locking positioning state at the relative swing limit terminal position under other combined morphological structures shown in the structural side view of Figure 8 and Fig. 9 The action relationship between the structure and the corresponding structure is inferred from Figure 8 , Fig. 9 , Fig.12 , Fig.14 , Fig.16 , Fig.18 and Fig. 20As can be seen from the embodiment shown in the structural side view, the luggage cart-type stair climbing and leveling dual-purpose vehicle of the box-type structure of the embodiment of the present invention is manually controlled by the operator. By manually supporting the main push-pull handle of the stair climbing vehicle and the upper extension handle (37) of the connecting rod bracket, the load frame (33) and the wheel connecting rod bracket (1) are in a relatively unfolded and tilted posture or in a relatively folded and closed posture, and after the relative swing limit terminal position positioning locking device is relatively locked and positioned, the load frame (33) and the wheel connecting rod bracket (1) of the stair climbing and leveling dual-purpose vehicle are in a relatively unfolded and tilted posture and the stair climbing and leveling dual-purpose vehicle is in a relatively unfolded and tilted posture. In the state of preparing to ascend stairs or in the process of ascending or descending stairs, the operator controls the stair climbing vehicle by hand to extend and pull the main push-pull handle to maintain the plane geometric position posture set by the wheel connecting rod bracket (1) so as to control the stair climbing and leveling dual-purpose vehicle that drives the Watt-type six-link swing connecting rod wheel mechanism to ascend or descend stairs in a smoothly connected or nearly smoothly connected motion trajectory curve. When the load frame body (33) and the wheel connecting rod bracket (1) of the stair climbing and leveling dual-purpose vehicle are in a relatively folded and closed posture and the stair climbing and leveling dual-purpose vehicle is in a state of being placed and pushed on the ground with the vehicle body upright, the operator controls the stair climbing vehicle by hand to extend and pull the main push-pull handle or the wheel connecting rod bracket (1) to maintain the plane geometric position posture set by the wheel connecting rod bracket (1) so as to control the stair climbing and leveling dual-purpose vehicle that drives the Watt-type six-link swing connecting rod wheel mechanism to ascend or descend stairs in a smoothly connected or nearly smoothly connected motion trajectory curve. The handle (37) is extended from the connecting rod bracket to enable the stair climbing and leveling dual-purpose vehicle to be pushed lightly on a flat ground or placed stably on a flat ground while maintaining the plane geometric position and posture set by the wheel connecting rod bracket (1). In addition to the above-mentioned embodiment of the present invention in which the plane geometric position and posture set by the wheel connecting rod bracket (1) is maintained by the operator's hand support control method, in the design of the stair climbing and leveling dual-purpose vehicle of the Watt type six-link swing connecting rod wheel mechanism of the present invention, a corresponding supporting structure can be optionally designed to maintain the plane geometric position and posture set by the wheel connecting rod bracket (1), such as using an automatic balancing adjustment device to control the vehicle body to maintain the wheel The planar geometric position and posture of the connecting rod bracket (1), or the structure of the front and rear series-connected swing-rod wheel mechanism designed on the basis of the structure of the Watt-type six-link swing-rod wheel mechanism of the present invention, relies on the supporting connection structure between the series-connected mechanisms or the supporting device of the additional auxiliary power drive mechanism to control the vehicle body to maintain the planar geometric position and posture set by the wheel connecting rod bracket (1). However, the structure of the stair climbing and leveling dual-purpose vehicle with such a series arrangement is relatively complex, and there are more choices in its structural form and combination mode, and its specific design must be determined according to various different specific use environments and actual needs, which will not be explained in detail.

[0062] Fig. 22 is with Figure 8The side view of the structure of the stair climbing and leveling dual-purpose vehicle with the Watt-type six-link swing-link wheel mechanism is the same as the embodiment of the present invention, except that the relative swing limit terminal position positioning locking device linked to the relative swinging action of the load frame body (33) and the wheel link bracket (1) in the relative unfolding tilting posture or the relative folding and closing posture is an elastic mechanism of a torsion bar spring with pre-tension, and the elastic mechanism of the torsion bar spring is Fig. 22 The structural side view in the projection on the longitudinal symmetry plane of the vehicle shows a two-bar group structure of a torsion bar spring torsion arm (40) and a connecting rod (41) connected to the corresponding action member in an articulated manner at both ends, wherein the upper end of the torsion bar spring torsion arm (40) articulatedly connected to the load frame body (33) through the upper end hinge pin (36) of the elastic mechanism is rigidly connected to one end of the torsion bar spring axis of the elastic mechanism of the torsion bar spring whose axis is perpendicular to the longitudinal symmetry plane of the vehicle. In the present invention, Fig. 22 In the embodiment of the present invention, the torsion bar spring shaft of the elastic mechanism of the torsion bar spring rigidly connected to the upper end of the torsion bar spring torsion arm (40) and the hinge pin (36) at the upper end of the elastic mechanism hingedly connected to the torsion bar spring torsion arm (40) and the load frame body (33) are coaxial structures with the same axis line. Fig. 22 In the side view of the structure, it is installed transversely at the top of the box structure of the load frame body (33) or at the back of the elastic mechanism at the top end hinge pin (36) near the top perpendicular to the longitudinal symmetry plane of the vehicle, and the shaft end rigidly connected to the upper end of the torsion bar spring torsion arm (40) and the torsion bar spring torsion arm (40) are rotatably hingedly connected to the upper end hinge pin (36) of the elastic mechanism of the load frame body (33), and the torsion bar spring coaxially arranged with the upper end hinge pin (36) of the elastic mechanism is connected to the torsion bar spring coaxially arranged with the upper end hinge pin (36) of the elastic mechanism. The other end of the spring shaft body extends vertically and laterally into the inner side of the longitudinal symmetry plane of the vehicle, and the rod end of the torsion bar spring shaft is closely attached to and rigidly fixed on the top or back edge of the load frame body (33). The lower end of the torsion bar spring torsion arm (40) and the upper end of the connecting rod (41) are hingedly connected by a hinge pin. The lower end of the elastic mechanism of the torsion bar spring, i.e., the lower end of the connecting rod (41), is hingedly connected to the wheel connecting rod bracket (1) through the hinge pin (34) at the lower end of the elastic mechanism. The elastic mechanism of the torsion bar spring structure is Fig. 22In the structural side view in the figure, the two-bar group structure of the torsion bar spring torsion arm (40) and the connecting rod (41) is shown on the projection of the longitudinal symmetric plane of the vehicle, and when the elastic mechanism of the torsion bar spring is symmetrically arranged on both sides of the load frame body (33), if the length of the torsion bar axis of the torsion bar spring is greater than half the width dimension of the lateral width of the load frame body (33) and position interference occurs, the upper end hinge pins (36) of the elastic mechanism symmetrically installed on both sides and coaxial with the torsion bar axis can be arranged at a position staggered by a hinge pin axis diameter width along the edge of the vehicle body on the projection of the longitudinal symmetric plane of the vehicle, thereby ensuring that the two torsion bar axes close to each other can play a normal torsion effect without affecting the normal swinging of the related vehicle body structure;The spring force of the elastic mechanism of the torsion bar spring acts on the center line connecting the upper hinge pin (36) of the upper elastic mechanism and the lower hinge pin (34) of the lower elastic mechanism. When the main push-pull handle (37) for manually supporting the stair climbing vehicle and the connecting rod bracket upward extension handle (37) are operated and controlled by their relative opening and closing actions to make the load frame body (33) and the wheel connecting rod bracket (1) relatively swing at two relative swing limit terminal positions, namely, a relatively unfolded tilted posture and a relatively folded and closed posture, the upper end of the elastic mechanism of the torsion bar spring, i.e., the torsion bar spring torsion turning The axis of the upper hinge pin (36) of the elastic mechanism at the upper end of the arm (40) being hinged to the load frame body (33) will, as the above-mentioned swinging reaches the relative swing limit terminal position at both ends, pass over the axis of the lower hinge pin (34) of the elastic mechanism at the lower end of the torsion bar spring being hinged to the wheel link bracket (1) to the connecting line or its extended line of the axis of the swing hinge pin (32) of the load frame body hinged to the load frame body (33) and the wheel link bracket (1), and respectively correspond to the lower end of the elastic mechanism of the torsion bar spring, that is, the lower end of the connecting rod (41) and the wheel link bracket (1). The connecting line from the axis of the lower hinge pin (34) of the elastic mechanism hinged to the wheel link bracket (1) to the axis of the load frame body (33) and the load frame body swing hinge pin (32) hinged to the wheel link bracket (1) passes behind or in front of the upward extension line of the axis of the lower hinge pin (34) of the elastic mechanism, so that the torsion bar spring located behind or in front of the above connecting line or its extension line and acting on the load frame body (33) through the upper hinge pin (36) of the elastic mechanism and acting on the wheel link bracket (1) through the lower hinge pin (34) of the elastic mechanism can be The spring force of the elastic mechanism maintains a tendency to force the load frame body (33) and the wheel link bracket (1) to continue to be pressed toward the relative swing limit terminal position, and at the relative swing limit terminal position, the corresponding limit blocking positioning device arranged between the relative motion structure of the load frame body (33) and the wheel link bracket (1) and the elastic force sealing effect of the elastic structure of the elastic mechanism of the torsion bar spring are used to achieve the positioning locking state when the load frame body (33) and the wheel link bracket (1) are relatively swung to the limit terminal position. The above specific structure can be seen; Fig. 22 The structure is shown in side view.

[0063] Figure 8 , Fig. 9 , Fig.12 , Fig.14 , Fig.16 , Fig.18 and Fig. 20 The side view of the structure also shows the connecting rod swing locking mechanism of the Watt type six-link swing type connecting rod wheel mechanism, Figure 8The swing locking rod of the link swing locking mechanism of the Watt-type six-link swing link wheel mechanism shown in the side view of the structure of the other embodiments is selected to be designed as an integral structure with the above-mentioned load frame body (33), so that the link swing locking mechanism of the Watt-type six-link swing link wheel mechanism can realize a linkage action with the relative swinging movement of the load frame body (33) and the wheel link bracket (1) in a relative unfolding tilting posture or a relative folding and closing posture. The specific structure is as follows Figure 8 As shown in the side views of other embodiments described above, on the load frame body (30), the load frame body swing hinge pin (32) is downwardly extended to the top of the support structure or column (29) extending outward from the side wall of the load frame body (33) to an axis body extending outward to the outside of the fan-shaped opening or arc-shaped slot opening (28) on the side wall of the wheel link bracket (1), and its axis center line is perpendicular to the longitudinal symmetry plane of the vehicle. A roller (30) is installed on the above-mentioned axis body. Since the swing locking rod and the load frame body (33) are designed to be an integral structure, the load frame body (33) shown on the projection of the longitudinal symmetry plane of the vehicle from the load frame body swing hinge pin (32) to the center of the roller (30) is equivalent to the lower extension arm of the swing locking rod, and the roller (30) becomes a roller body at the lower extension arm end of the swing locking rod that can play a role in relatively resisting the locking active member. Figure 8 In the side view of the above-mentioned other embodiments, it can be seen that the front upper swing arm (4) rod body structure in the Watt-type six-link swing link wheel mechanism is selected to select a corresponding matching abutment locking passive member that can contact and abut against the above-mentioned roller body. The front upper swing arm (4) rod body is provided with a step or rod edge (31) arranged along the longitudinal direction of the rod body length or displayed on the longitudinal symmetric plane projection of the front upper swing arm (4) rod body length longitudinal direction around the axis of the front upper hinge pin (10) of the wheel link bracket (1) hinged to the front upper swing arm (4) The front upper swing arm (4) fan-shaped expansion rod body is arranged within an angle range of positive and negative 45 degrees and is in the same swing plane as the roller (30) and has an arc-shaped curved surface with a width corresponding to the axial width of the outer circular contour of the roller (30). When the stair climbing and leveling dual-purpose vehicle is controlled from Figure 8 The displayed position is in the position of preparing to ascend the stairs. Fig. 9When the vehicle body is placed on the ground in an upright position and then pushed, the front upper swing arm (4) in the Watt-type six-link swing link wheel mechanism swings to the swing limit terminal position relative to the front end and the lowest position, and the corresponding supporting structure or cylinder (29) at the lower extension arm end of the swing locking rod which is designed as an integral structure with the load frame body (33) and the roller (30) on the extended shaft body swing the load frame body (33) and the wheel link bracket (1) relative to the wheel link bracket under control. The support (1) is in a terminal position of a relatively folded and closed posture, and at this position, the roller body that can play a role of relatively abutting the locking active member as the lower extension arm end of the swing locking rod, that is, the outer circle contour of the roller (30) on the shaft body extending from the support structure or cylinder (29) and the front end part of the step or rod edge (31) of the arc surface of the front upper swing rod (4) in the Watt type six-link swing link wheel mechanism when the front upper swing rod (4) is swung to its frontmost swing range limit position are in a locked positioning state of contacting and abutting each other, that is, as shown in FIG. Fig. 9As shown in the figure, under control, the linkage action of the above-mentioned mechanism enables the link swing locking mechanism of the swing link wheel mechanism to be locked, and the load frame body (33) and the wheel link bracket (1) are relatively swung to a relatively folded and closed posture, and the stair climbing and leveling dual-purpose vehicle is placed and pushed on the ground in an upright state. In order to make the link swing locking mechanism structure easy to operate and reliable in locking, the structure designed by the present invention should ensure the locking of the Watt-type six-link swing link wheel mechanism. In the state, the locking contact point of the frontmost arc surface of the step or rod edge (31) of the arc surface of the front upper swing arm (4) that contacts the outer circle contour of the wheel of the roller (30) on the projection of the longitudinal symmetry plane of the vehicle to the axis connecting line of the swing hinge pin (32) of the load frame body where the load frame body (33) is hinged to the wheel link bracket (1) and the locking contact point to the front upper hinge pin (32) of the wheel link bracket where the rear end of the front upper swing arm (4) is hinged to the wheel link bracket (1) 10) The axis connecting line is maintained in a substantially right-angled vertical state. In the designed structure, the curvature center direction of the arc surface of the locking contact point between the front end portion of the step or rod edge (31) of the arc surface of the front upper swing rod (4) and the outer circle contour of the roller (30) is directed to the axis of the swing hinge pin (32) of the load frame body (33) hinged to the wheel connecting rod bracket (1), and the curvature radius is ensured to be greater than the outer circle radius of the roller (30), thereby ensuring The reliability of the pressure angle self-locking function between the relatively tightly contacted and mutually matched relative locking abutting active and passive parts in the connecting rod swing locking mechanism is verified; if the stair climbing and leveling dual-purpose vehicle is to be restored to the stair climbing and leveling state, it is only necessary to operate the stair climbing vehicle upward push-pull main handle and the connecting rod bracket upward extension handle (37) again, and to manually support and operate the opening and closing actions of the above two handles to make the load frame body (33) and the wheel connecting rod bracket (1) swing to the pre-stair climbing state of the relatively unfolded tilted posture, such as Figure 8 As shown in the other embodiment diagrams, the roller (30) in the link swing locking mechanism of the Watt-type six-link swing link wheel mechanism that maintains linkage will also swing with the load frame (33) to completely escape from the swing range of the front upper swing link (4) rod body. At this time, the load frame (33) and the wheel link bracket (1) are also swung to a relatively unfolded inclined position and are locked and positioned with each other under the locking action of the relative swing limit terminal position positioning locking device. At this time, the stair climbing and leveling dual-purpose vehicle is in a state of preparing to go up and down stairs, so that the stair climbing and leveling dual-purpose vehicle can be controlled to go up and down stairs.

[0064] Fig.23 is with Figure 8The present invention is a structural side view of the stair climbing and leveling dual-purpose vehicle of the Watt type six-link swing link wheel mechanism of the same structural type as the embodiment, but the swing locking rod of the link swing locking mechanism of the Watt type six-link swing link wheel mechanism arranged between the wheel link bracket (1) and the corresponding swinging front upper swing rod (4) is changed to an independent structural form, and according to the structural link connection position and the structural space state during movement, the front upper swing rod (4) rod body of the Watt type six-link swing link wheel mechanism is selected as the locking and abutting passive member for the swing locking rod to support and contact, and an independent structural swing locking rod (39) is provided on the wheel link bracket (1) through an independent structural swing locking rod swing hinge pin (42), and an upward extension handle (43) is provided on the upper end of the independent structural swing locking rod (39). ), a roller (30) whose axis is perpendicular to the longitudinal symmetry plane of the vehicle is installed at the end of the lever arm extending downward from the swing hinge pin (42) of the independent structure swing locking lever (39), and a step or rod edge (31) arranged along the longitudinal direction of the rod body length or displayed on the projection of the longitudinal symmetry plane of the vehicle is arranged on the front upper swing lever (4) rod body, and arranged on the front upper swing lever (4) fan-shaped expansion rod body within the range of an angle of positive or negative 45 degrees around the axis of the front upper hinge pin (10) of the wheel link bracket hinged to the front upper swing lever (4) and the wheel link bracket (1) in the same swing plane as the roller (30) and having an arc surface with a width corresponding to the axial width of the outer circular contour of the roller (30), and having a similar length to the rod body of the front upper swing lever (4), Fig.23The structural side view of the embodiment shows that the axis position of the independent structure swing locking rod swing hinge pin (42) of the independent structure swing locking rod (39) is located above or behind the arc surface of the step or rod edge (31) of the front upper swing rod (4), and the roller (30) becomes a roller body at the lower extension arm end of the independent structure swing locking rod (39) that can play a role in relatively resisting the locking active member. When the stair climbing and leveling dual-purpose vehicle is in a pre-stair step posture and begins to be controlled to make the load frame body (33) relative to the wheel connecting rod bracket (1) that maintains the above-mentioned plane geometric position posture swing until the load frame body (33) and the wheel connecting rod bracket (1) are in a relatively unfolded inclined posture and the front upper swing rod (4) swings to the swing limit terminal position relative to the front end and the lowest position, in this state, the upper end of the independent structure swing locking rod (39) can be independently controlled. The upward extending handle (43) enables the independent structure swing locking rod (39) on the wheel link bracket (1) to maintain a relatively close folded state or a relatively unfolded state with the upright load frame body (33). If the upward extending handle (43) at the upper end of the independent structure swing locking rod (39) is selected to operate so that the independent structure swing locking rod (39) on the wheel link bracket (1) and the upright load frame body (33) maintain a relatively close folded state, then at this time, the roller (30) at the lower extending end of the independent structure swing locking rod (39) will be completely out of contact with the step or rod edge (31) of the arc surface provided on the front upper swing rod (4), so that the link swing locking mechanism of the Watt type six-link swing link wheel mechanism is completely in an unlocked state. In this state, the stair climbing and leveling dual-purpose vehicle can go up and down stairs under control;If, at this time, the upper end of the independent structure swing locking rod (39) is independently controlled to set an upward extension handle (43) so that the independent structure swing locking rod (39) on the wheel link bracket (1) and the upright load frame body (33) are relatively swung from the folded state maintained close to each other to the relatively unfolded state, then the roller (30) at the lower extension end of the independent structure swing locking rod (39) will contact and abut against the step or rod edge (31) of the arc surface provided on the front upper swing rod (4) and enter the link swing of the Watt type six-link swing link wheel mechanism. The locking state of the dynamic locking mechanism is the same as the locking state of the link swing locking mechanism when the load frame body (33) is swung to a relatively folded and closed state relative to the wheel link bracket (1) under control and the load frame body (33) is in an upright state. At this time, the stair climbing and leveling dual-purpose vehicle can or can only be driven on a flat ground or is in a placed state, and the locking state of the link swing locking mechanism of the Watt type six-link swing link wheel mechanism is the same as the locking state of the link swing locking mechanism when the load frame body (33) is swung to a relatively folded and closed state relative to the wheel link bracket (1) under control and the load frame body (33) is in an upright state. When the wheel outer circle contour of the roller (30) is in the state, the arc surface of the step or rod edge (31) on the front upper swing arm (4) that contacts the outer circle contour of the wheel on the projection of the longitudinal symmetry plane of the vehicle extends to the front end of the arc surface locking contact point to the axis connecting line of the swing hinge pin (42) of the independent structure swing locking rod (39) hinged to the wheel link bracket (1) and the locking contact point to the axis connecting line of the front upper swing arm (4) hinged to the wheel link bracket (1) The front end of the wheel link bracket (1) is kept in a substantially right-angled vertical state. The curvature center direction of the arc surface of the locking butting contact point of the step or rod edge (31) of the arc surface of the front upper swing rod (4) and the outer circle contour of the roller (30) points to the axis of the swing hinge pin (42) of the independent structure swing locking rod hinged to the wheel link bracket (1) of the independent structure swing locking rod (39) and ensures that its curvature radius is greater than the outer circle radius of the roller (30), thereby ensuring the reliability of the pressure angle self-locking function between the active and passive parts that butt against each other in a relatively close contact relative locking state in the connecting rod swing locking mechanism; in; Fig.23 In the embodiment of the present invention, the structure of the relative swinging movement between the independent structure swing locking rod (39) and the load frame body (33) which is hingedly connected to the wheel link bracket (1) through the independent structure swing locking rod swing hinge pin (42) can also be designed as a movable connection structure for relative movement of linkage or semi-linkage according to the needs in actual use. The specific structure is a simple relative movement constraint structure arrangement, such as in Fig.23The structural side view of the embodiment shows that a guide rail or a sliding groove (44) is arranged on the side wall of the load frame body (33), and a stopper or a roller (45) that can roll or slide in the guide rail or the sliding groove (44) is correspondingly arranged on the independent structure swing locking rod (39), so that the relative relationship between the independent structure swing locking rod (39) and the load frame body (33) is a linked active connection structure, or the guide rail or the sliding groove (44) and the stopper or the roller (45) are replaced by a one-way stopper (46) extending outward on the side wall of the load frame body (33) and only contacting the stopper or the roller (45) arranged on the independent structure swing locking rod (39) on one side, so that the relative relationship between the independent structure swing locking rod (39) and the load frame body (33) is a semi-linked active connection structure. The specific structural function is very simple and clear, and will not be described in detail. In order to fully display the above-mentioned two linked and semi-linked structures, it is hereby described. Fig.23 The side view of the structure shows the linkage connection structure between the cylinder or rolling wheel body (45) of the independent structure swing locking rod (39) under the linkage structure set in the above description and the guide rail or sliding groove (44) on the side wall of the load frame body (33), and the corresponding Fig.23 The side view of the middle structure shows the semi-linked connection structure of the cylinder or rolling wheel body (45) of the independent structure swing locking rod (39) in the above description and the one-way blocking block (46) on the side wall of the load frame body (33) that can only unilaterally contact the front edge of the cylinder or rolling wheel body (45) of the independent structure swing locking rod (39). If the embodiment is changed to a linked active connection structure, it is not necessary to have an upward extension handle (43) at the upper end of the independent swing locking rod (39). The lateral connecting rod structure at the handle is retained only to maintain the rigidity of the independent swing rod structure; regardless of whether the independent structure swing locking rod (39) of the independent structure of the connecting rod swing locking mechanism of the Watt type six-link swing link wheel mechanism and the load frame body (33) are selected to adopt a relative swing linkage connection structure or a relative swing semi-link connection structure, the structural state of the connecting rod swing locking mechanism of the Watt type six-link swing link wheel mechanism when locked is the same, which can be achieved by Fig.23 As can be seen from the side view of the structure, in order to ensure the positioning stability of the independent structure swing locking rod (39) at each swinging position, a corresponding elastic position positioning device or a bayonet or block positioning device can be provided on the independent structure swing locking rod (39); Fig.23 The structural side view in the embodiment shows that the Watt-type six-link swing-link wheel mechanism of the stair-climbing and ground-leveling vehicle is in a state where the vehicle body is placed and pushed on the ground in an upright position.

[0065] Fig.24 What is shown is a structural side view of an embodiment of a stair climbing and leveling dual-purpose vehicle of the Watt type six-link swing type link wheel mechanism, in which the wheel link bracket (1) and the load frame body (33) are fixedly connected to form an integrated structure. Since the wheel link bracket (1) and the load frame body (33) are already fixedly connected to form an integrated structure, in this embodiment, only the wheel link bracket (1) needs to be indicated to represent its structure. A push-pull swing rod (47) is hingedly connected to the wheel link bracket (1) via a load frame body swing hinge pin (32). The hinge pin axis position of the load frame body swing hinge pin (32) hinged to the push-pull swing rod (47) and the wheel link bracket (1) is located above the link swing mechanism of the Watt type six-link swing type link wheel mechanism. A stair climbing vehicle upward push-pull main handle is provided at the upper end of the push-pull swing rod (47). The operator uses his hand to support and manipulate the stair climbing vehicle upward push-pull main handle at the upper end of the push-pull swing rod (47) to operate and control the push-pull swing rod (47) to swing around the load frame body swing hinge pin (32) relative to the upright wheel link bracket (1) to a relatively inclined relative swing limit terminal position inclined in the direction of the inclination slope of the stair steps, and locks and positions it in the relative swing limit terminal position state with the corresponding link swing locking mechanism of the Watt type six-link swing link wheel mechanism. This type of link swing locking mechanism can select a rigid lever or pin shaft structure, or can select an elastic mechanism of a sleeve coil spring with pre-tension or an elastic mechanism of a torsion spring as in the aforementioned embodiment. Fig.24The link swing locking mechanism of the Watt-type six-link swing link wheel mechanism shown in the embodiment is the sleeve coil spring elastic mechanism (35) that selects to adopt the rod-type coil pressure spring structure. The sleeve coil spring elastic mechanism (35) is located above the load frame body swing hinge pin (32). One end of the sleeve coil spring elastic mechanism is hinged to the wheel link bracket (1) through a hinge pin (34) at the lower end of the elastic mechanism, and the other end is hinged to the push-pull swing rod (47) through a hinge pin (36) at the upper end of the elastic mechanism. In the stair climbing and leveling dual-purpose vehicle of the Watt-type six-link swing link wheel mechanism in which the wheel link bracket (1) and the load frame body (33) are fixedly connected to form an integrated structure, a sleeve coil spring elastic mechanism (35) is also provided with a hinge pin that is connected to the push-pull swing rod (47). 7) The connecting rod swing locking mechanism of the integrated structure, its specific mutual structural arrangement and mutual structural action and function are as follows: a roller (30) whose axis is perpendicular to the longitudinal symmetry plane of the vehicle is installed at the end of the lever arm extending downward from the load frame body swing hinge pin (32) of the push-pull swing lever (47), and the roller (30) installed at the end of the lever arm extending downward from the load frame body swing hinge pin (32) of the push-pull swing lever (47) becomes the roller body of the connecting rod swing locking mechanism of the Watt type six-link swing connecting rod wheel mechanism that can play the role of relative abutment against the locking active component, and is linked with the operating action of the push-pull swing lever (47), according to the structural connecting rod connection position and the structural space allowable state during movement. Fig.24In the embodiment, the front upper swing arm (4) in the Watt type six-link swing link wheel mechanism is selected as the relative locking and abutting passive component for the swing locking rod to support the contact, and an arc is arranged on the front upper swing arm (4) along the longitudinal direction of the rod length or displayed on the longitudinal symmetric plane projection of the vehicle. The arc is arranged on the fan-shaped extension rod of the front upper swing arm (4) in the longitudinal direction of the rod length of the front upper swing arm (4) and is arranged in the same swing plane as the roller (30) and has a width corresponding to the axial width of the outer circular contour of the roller (30). The step or rod edge (31) is curved and has a length similar to that of the rod body of the front upper swing rod (4). When the operator uses his hand to support and control the upper push-pull main handle of the stair climbing vehicle to make the push-pull swing rod (47) swing relative to the load frame body swing hinge pin (32) to a relatively folded and closed position with the wheel link bracket (1) maintained in an upright state, the corresponding limit blocking positioning device provided between the relative motion structures and the elastic force sealing of the sleeve coil spring elastic mechanism (35) are used to realize the stable positioning and locking of the push-pull swing rod (47) relative to the wheel link bracket (1) when the push-pull swing rod (47) swings to the extreme terminal position, while the push-pull swing rod (47) extends downward. The wheel edge of the roller (30) at the end contacts and abuts against the arc surface of the corresponding step or rod edge (31) on the rod body of the front upper swing link (4), and the arc surface of the step or rod edge (31) on the front upper swing link (4) that contacts the outer circle contour of the wheel of the roller (30) on the projection of the longitudinal symmetry plane of the vehicle extends to the front end of the arc surface locking contact point to the load frame body swing hinge pin (32) axis connection line of the load frame body hinged to the wheel link bracket (1) fixedly connected to form an integral whole and the front upper hinge of the wheel link bracket (1) where the front end of the front upper swing link (4) is hinged to the wheel link bracket (1). The axis connecting the pins (10) is maintained in a substantially right-angled vertical state, and the center of curvature of the arc surface of the locking contact point between the step or the front end of the rod edge (31) of the arc surface of the front upper swing arm (4) and the outer circle contour of the roller (30) points to the axis of the load frame body swing hinge pin (32) hinged to the push-pull swing arm (47) and the wheel link bracket (1), and ensures that its curvature radius is greater than the outer circle radius of the roller (30), thereby ensuring the reliability of the pressure angle self-locking function between the active and passive parts that abut against each other in a relatively tight contact relative locking state in the link swing locking mechanism. After the Watt type six-link swing link wheel mechanism is locked and positioned as described above,The wheel link bracket (1) can be placed on a flat ground in an upright state or pushed easily; and when the operator performs the reverse operation of the above-mentioned action to extend the push-pull main handle of the stair climbing vehicle and drive the push-pull swing rod (47) to swing relative to the load frame body swing hinge pin (32) to a relatively inclined deployment position state in which the wheel link bracket (1) is tilted forward in the direction of the stair step slope, the corresponding limit blocking positioning device arranged between the above-mentioned relative motion structures and the elastic force sealing effect of the sleeve coil spring elastic mechanism (35) are also used to realize the stable positioning locking state of the push-pull swing rod (47) relative to the wheel link bracket (1) to the extreme terminal position of the inclined deployment state. At this time, the roller (30) at the lower end of the corresponding push-pull swing rod (47) will completely break away from the step or rod edge (31) with an arc-shaped curved surface facing upward or backward and upward, which is arranged on the front upper swing rod (4) along the longitudinal direction of the rod body or with the axis of the front upper hinge pin (10) of the wheel link bracket hinged to the front upper swing rod (4) and the wheel link bracket (1) as the center, and become a completely unlocked state. At this time, each link in the Watt-type six-link swing link wheel mechanism can swing normally within the swing range limited by the mechanism, and the operator can support and operate the upper push-pull main handle of the stair climbing vehicle at the upper end of the push-pull swing rod (47) to make the stair climbing and ground-level dual-purpose vehicle travel up and down stairs and on flat ground.

Claims

1. A stair climbing and ground climbing dual-purpose vehicle with a Watt-type six-link swing link wheel mechanism which can be placed and driven on a flat ground under control and can go up and down stairs under control, wherein the Watt-type six-link swing link wheel mechanism comprises a wheel link bracket (1) and corresponding links and a link group movably connected thereto and capable of relatively swinging, and front wheels (7) and rear wheels (8) connected to the lower ends of the corresponding links and arranged in a front-to-back manner, characterized in that: When the stair climbing and leveling vehicle is placed and pushed on the ground in an upright position or in a state of preparing to ascend or descend stairs under control on the projection of the longitudinal symmetry plane of the vehicle, or when the stair climbing and leveling vehicle is ascending or descending stairs under control, the lower end of the wheel link bracket (1) which is movably or fixedly connected to the load frame body (33) of the stair climbing and leveling vehicle in the Watt-type six-link swing link wheel mechanism and which maintains a designed planar geometric position and posture parallel to the longitudinal symmetry plane of the vehicle in motion and only moves in translation but not rotation under control is hinged to the middle of a main swing arm (2) through a main swing arm center hinge pin (9), the axis of the main swing arm center hinge pin (9) being perpendicular to the longitudinal symmetry plane of the vehicle, and the main swing arm (2) being able to swing around the axis of the main swing arm center hinge pin (9) hinged to the wheel link bracket (1) in a swing plane parallel to the longitudinal symmetry plane of the vehicle. The main swing arm (2) is relatively swung within the swing angle range limited by its mechanism. When the stair climbing and leveling dual-purpose vehicle is in a state of pre-climbing stairs or in a state of placing and pushing the vehicle body on the ground under control, the front extension arm end of the main swing arm (2) extending forward or forward upward is hinged to a front wheel support rod (3), the upper arm end of the front wheel support rod (3) extending backward upward or backward is hinged to the front end of a front upper swing arm (4), the rear end of the front upper swing arm (4) is hinged to the wheel connecting rod bracket (1) through the front upper hinge pin (10) of the wheel connecting rod bracket, the rear extension arm end of the main swing arm (2) extending backward is hinged to the rear wheel support rod (6), the upper arm end of the rear wheel support rod (6) extending upward is hinged to the rear end of the rear upper swing arm (5), and the front end of the rear upper swing arm (5) is hinged to the wheel connecting rod bracket (1) through the rear upper hinge pin (11) of the wheel connecting rod bracket;The axis centers of the three hinge pins, namely, the main swing arm center hinge pin (9) at which the wheel link bracket (1) is hinged to the main swing arm (2), the wheel link bracket front upper hinge pin (10) at which the wheel link bracket (1) is hinged to the rear end of the front upper swing arm (4), and the wheel link bracket rear upper hinge pin (11) at which the wheel link bracket (1) is hinged to the rear upper swing arm (5), are parallel to each other. The axis center of the wheel link bracket front upper hinge pin (10) at which the wheel link bracket (1) is hinged to the rear end of the front upper swing arm (4) is located above the horizontal line of the axis center of the main swing arm center hinge pin (9) at which the wheel link bracket (1) is hinged to the middle part of the main swing arm (2), and is shown on the longitudinal symmetry plane projection of the vehicle. The main swing arm center hinge pin (9) on the wheel link bracket (1) hingedly connected to the middle of the main swing arm (2), the wheel link bracket front upper hinge pin (10) hingedly connected to the rear end of the front upper swing arm (4), and the wheel link bracket rear upper hinge pin (11) hingedly connected to the front end of the rear upper swing arm (5), the main swing arm (2), the front upper swing arm (4), the upper arm rod portion of the front wheel support rod (3), the upper arm rod portion of the rear wheel support rod (6) and the rear upper swing arm (5) are projected on the longitudinal symmetry plane of the vehicle to form a planar Watt-type six-link mechanism. The main swing bar center hinge pin (9) hinged between the wheel link bracket (1) and the middle part of the main swing bar (2) of the Watt type six-link mechanism, the axis connecting line section of the wheel link bracket front upper hinge pin (10) hinged between the wheel link bracket (1) and the rear end of the front upper swing bar (4), the front extension arm portion of the main swing bar (2), the upper arm portion of the front wheel support rod (3) and the front upper swing bar (4) are displayed as a front four-link mechanism on a plane projected on the longitudinal symmetry plane of the vehicle. The front four-link mechanism is the core structure of the Watt type six-link swing link wheel mechanism, and the longest rod in the front four-link mechanism is the front extension arm portion of the main swing bar (2);The lower arm portion of the front wheel support rod (3) of the Watt type six-link mechanism shown on the projection of the longitudinal symmetric plane of the vehicle is formed by bending downward and backward with the axis of the hinge pin of the hinge pin of the upper arm end of the front wheel support rod (3) and the front end of the front upper swing rod (4) as the origin, and the connecting line of the two hinge pin axes from the axis of the hinge pin of the hinge pin of the hinge pin of the front wheel support rod (3) and the front extension arm end of the main swing rod (2) passes through the extension line direction of the axis of the hinge pin of the hinge pin of the front wheel support rod (3) and the front extension arm end of the main swing rod (2). The front wheel (7) is installed on the lower end of the lower arm of the front wheel support rod (3) bent downward and backward or on the connecting member at the lower end position of the lower arm of the front wheel support rod (3) bent downward and backward shown on the projection of the longitudinal symmetric plane of the vehicle; and the Watt type six-link mechanism shown on the projection of the longitudinal symmetric plane of the vehicle is formed by bending downward and backward with the axis of the hinge pin of the front wheel support rod (3) and the front extension arm end of the main swing rod (2) as the origin. The lower arm portion of the rear wheel support rod (6) of the T-type six-bar linkage is formed by connecting the two hinge pin axes along the hinge pin axis of the upper arm end of the rear wheel support rod (6) and the rear end of the rear upper swing rod (5) to the hinge pin axis of the rear wheel support rod (6) and the rear extension arm end of the main swing rod (2), and passing through the extension line of the hinge pin axis of the rear wheel support rod (6) and the rear extension arm end of the main swing rod (2) in the direction of the rear wheel support rod (6) and the main swing rod. The hinge pin axis of the rear extension arm end of the rod (2) is bent forward with the origin as the origin, and the rear wheel (8) is installed on the lower end of the lower arm of the above-mentioned rear wheel support rod (6) bent forward or on the connecting member at the lower end position of the lower arm of the above-mentioned rear wheel support rod (6) bent forward shown on the longitudinal symmetry plane projection of the vehicle; the front wheel (7) is a double-row universal wheel or a fixed-axis straight wheel, and the rear wheel (8) is a double-row universal wheel or a fixed-axis straight wheel. ; 2. A stair-climbing and ground-level dual-purpose vehicle with a Watt-type six-link swing-link wheel mechanism that can be placed and driven on a flat ground under control and can go up and down stairs under control according to claim 1, characterized in that: The front wheels (7) are double-row universal wheels, and a front transverse shaft (12) is movably connected to the end of the lower arm of the front wheel support rod (3). The two ends of the front transverse shaft (12) are in contact with the inner sides of the ends of the lower arm of the front wheel support rod (3) symmetrically arranged on both sides of the vehicle body with the longitudinal symmetry plane of the vehicle as the symmetry center plane, and are hinged to the end of the lower arm of the front wheel support rod (3) through a hinge pin (13) at the lower arm end of the front wheel support rod whose axis is perpendicular to the longitudinal symmetry plane of the vehicle. The upper part of the double-row universal wheels of the front wheels (7) is mounted on the front transverse shaft (12). When the vehicle is controlled, it is in a state of pre-climbing stairs and steps on a flat ground and is mounted on the upper part of the vehicle. When the vertical axis (14) of the double-row universal wheels of the front wheels (7) on the front transverse shaft (12) is in a state of being perpendicular to the flat ground and the double-row universal wheels of the front wheels (7) have been turned and are in a forward rolling posture, the axis of the hinge pin (13) at the lower arm end of the front wheel support rod, which is hinged to the lower arm end of the front wheel support rod (3), is located in an area surrounded by a circle whose upper end is the outer circle contour line of the wheel radius of the front wheel (7), the front end is the axis center line of the vertical axis (14) or its extended line, the rear end is the vertical line of the wheel axis of the front wheel (7), and the lower end is the circumference line with a radius from the axis center of the front wheel (7) to the axis center line of the vertical axis (14);A guide swing mechanism is also provided between the front transverse shaft (12) on which the double-row universal wheels of the front wheels (7) are mounted and the wheel link bracket (1), which enables the front transverse shaft (12) to swing around the axis of the hinge pin (13) at the lower extension arm end of the front wheel support rod on a swing plane parallel to the longitudinal symmetry plane of the vehicle. The guide swing mechanism provided between the front transverse shaft (12) and the wheel link bracket (1) can be selected from one of the following two structures: one is that the guide swing mechanism provided between the front transverse shaft (12) and the wheel link bracket (1) is selected as a rolling wheel guide groove guide swing mechanism, and the inner side wall of the wheel link bracket (1) is provided with a guide groove guide swing mechanism. A front rolling wheel guide groove (15) is arranged on the front transverse shaft (12), a crank arm extending backward is arranged on the front transverse shaft (12), a front rolling wheel (16) extending inwardly and having its axis perpendicular to the longitudinal symmetry plane of the vehicle is installed at the end of the crank arm extending backward of the front transverse shaft (12), the front rolling wheel (16) extending inwardly and having its axis perpendicular to the longitudinal symmetry plane of the vehicle, the front rolling wheel (16) extending into the front rolling wheel guide groove (15) arranged on the inner side wall of the wheel connecting rod bracket (1), the front rolling wheel guide groove (15) on the inner side wall of the wheel connecting rod bracket (1) is shown in the projection of the longitudinal symmetry plane of the vehicle as an arc shape or an S-shaped shape in which the center line of the groove body is arranged longitudinally in the front and rear directions, the front transverse shaft (12) extending backward The front rolling wheel (16) at the end of the extended crank arm and the front rolling wheel guide groove (15) provided on the inner side wall of the wheel link bracket (1) are in the same swinging plane parallel to the longitudinal symmetry plane of the vehicle, and the wheel diameter of the front rolling wheel (16) and the groove width of the front rolling wheel guide groove (15) are rollingly matched with each other; or the guide swing mechanism provided between the front transverse shaft (12) and the wheel link bracket (1) is selected as a link swing rod guide swing mechanism, the end of the crank arm extending rearward of the front transverse shaft (12) is hinged to one end of a front guide swing rod (26) through a hinge pin (25) at the lower end of the front guide swing rod, and the front guide swing rod (26) The other end is hinged to the wheel link bracket (1) through the front guide swing rod upper end hinge pin (27), the front guide swing rod upper end hinge pin (27) hinged to the wheel link bracket (1) is arranged above the front guide swing rod lower end hinge pin (25) hinged to the end of the crank arm rod extending rearward from the front transverse shaft rod (12), the axis of the front guide swing rod lower end hinge pin (25) and the front guide swing rod upper end hinge pin (27) are perpendicular to the longitudinal symmetry plane of the vehicle, and the swing plane of the crank arm rod extending rearward from the front transverse shaft rod (12) and the front guide swing rod (26) is parallel to the rotation plane of the Watt type six-bar linkage;The rear wheels (8) are double-row universal wheels, and a rear transverse shaft (17) is movably connected to the end of the lower arm of the rear wheel support rod (6). The two ends of the rear transverse shaft (17) are in contact with the inner sides of the lower arm ends of the rear wheel support rod (6) symmetrically arranged on both sides of the vehicle body with the longitudinal symmetry plane of the vehicle as the symmetry center plane, and are hinged to the lower arm ends of the rear wheel support rod (6) through a hinge pin (18) at the lower arm end of the rear wheel support rod whose axis is perpendicular to the longitudinal symmetry plane of the vehicle. The universally rotatable vertical shaft (19) at the upper part of the double-row universal wheels of the rear wheels (8) is installed on the rear transverse shaft (17). When the vehicle is controlled, it is in a state of pre-climbing stairs and steps on a flat ground and is installed on the stair climbing and leveling dual-purpose vehicle. When the vertical axis (19) of the double-row universal wheels of the rear wheels (8) on the rear transverse axle (17) is in a state of being perpendicular to the flat ground and the double-row universal wheels of the rear wheels (8) have been turned and are in a forward rolling posture, the axis of the hinge pin (18) at the lower arm end of the rear wheel support rod, which is hinged to the lower arm end of the rear wheel support rod (6), is located in an area surrounded by a circle whose upper end is the outer circle contour line of the wheel radius of the rear wheel (8), the front end is the axis center line of the vertical axis (19) or its extended line, the rear end is the vertical line of the wheel axis of the rear wheel (8), and the lower end is the circumference line with a radius from the axis center of the rear wheel (8) to the axis center line of the vertical axis (19);A guide swing mechanism is also provided between the rear transverse shaft (17) on which the double-row universal wheels of the rear wheels (8) are mounted and the wheel link bracket (1), which enables the rear transverse shaft (17) to swing around the axis of the hinge pin (18) at the lower extension arm end of the rear wheel support rod on a swing plane parallel to the longitudinal symmetry plane of the vehicle. The guide swing mechanism provided between the rear transverse shaft (17) and the wheel link bracket (1) may be selected from one of the following two structures: one is a guide swing mechanism provided between the rear transverse shaft (17) and the wheel link bracket (1), wherein the guide swing mechanism is selected to be a rolling wheel guide groove guide swing mechanism, and the outer side of the wheel link bracket (1) is provided with a rolling wheel guide groove guide groove. A rear rolling wheel guide groove (21) is arranged on the side wall, a crank arm rod extending upward is arranged on the rear transverse shaft rod (17), a rear rolling wheel (20) extending outward and having its axis perpendicular to the longitudinal symmetry plane of the vehicle is installed at the end of the crank arm rod extending upward of the rear transverse shaft rod (17), the rear rolling wheel (20) extending into the rear rolling wheel guide groove (21) arranged on the outer side wall of the wheel connecting rod bracket (1), the rear rolling wheel guide groove (21) on the outer side wall of the wheel connecting rod bracket (1) is shown as having a groove body centerline in an arc shape or an S-shaped shape in the vertical direction on the projection of the longitudinal symmetry plane of the vehicle, the crank arm rod extending upward of the rear transverse shaft rod (17) is arranged at the end of the crank arm rod extending outward, and the rear rolling wheel (20) extending outward is provided in the rear rolling wheel guide groove (21) arranged on the outer side wall of the wheel connecting rod bracket (1), and the rear rolling wheel guide groove (21) on the outer side wall of the wheel connecting rod bracket (1) is shown as having a groove body centerline in an arc shape or an S-shaped shape in the vertical direction on the projection of the longitudinal symmetry plane of the vehicle, and the crank arm rod extending upward of the rear transverse shaft rod (17) is provided at the end of the crank arm rod extending outward. The rear rolling wheel (20) at the end of the arm and the rear rolling wheel guide groove (21) provided on the outer side wall of the wheel link bracket (1) are in the same swinging plane parallel to the longitudinal symmetry plane of the vehicle, and the wheel diameter of the rear rolling wheel (20) and the groove width of the rear rolling wheel guide groove (21) are rollingly matched with each other; or the guide swing mechanism provided between the rear transverse shaft (17) and the wheel link bracket (1) is selected as a link swing rod guide swing mechanism, the end of the crank arm extending upward or backward of the rear transverse shaft (17) is hinged to one end of a rear guide swing rod (23) through a rear end hinge pin (22) of the rear guide swing rod, and the other end of the rear guide swing rod (23) is hinged to one end of the rear guide swing rod (23). One end is hinged to the wheel link bracket (1) through a rear guide swing rod front end hinge pin (24), the rear guide swing rod front end hinge pin (24) hinged to the wheel link bracket (1) of the rear guide swing rod (23) is arranged in front of the rear guide swing rod rear end hinge pin (22) hinged to the end of the crank arm rod extending upward or backward of the rear transverse shaft rod (17), the axis of the rear guide swing rod rear end hinge pin (22) and the rear guide swing rod front end hinge pin (24) are perpendicular to the longitudinal symmetry plane of the vehicle, and the swing plane of the crank arm rod extending upward or backward of the rear transverse shaft rod (17) and the rear guide swing rod (23) is parallel to the rotation plane of the Watt type six-bar linkage. ; 3. A stair-climbing and ground-level dual-purpose vehicle with a Watt-type six-link swing-link wheel mechanism that can be placed and driven on a flat ground under control and can go up and down stairs under control according to claim 1, characterized in that: The front wheel (7) is a fixed-axis straight-running wheel, and the front wheel (7) is mounted on the lower arm end of the front wheel support rod (3); the rear wheel (8) is a double-row universal wheel, and a rear transverse shaft rod (17) is movably connected to the lower arm end of the rear wheel support rod (6), and the two ends of the rear transverse shaft rod (17) are in contact with the inner sides of the lower arm ends of the rear wheel support rod (6) symmetrically arranged on both sides of the vehicle body with the longitudinal symmetry plane of the vehicle as the symmetry center plane, and are hinged to each other with the lower arm end of the rear wheel support rod (6) through a hinge pin (18) at the lower extension arm end of the rear wheel support rod, the axis of which is perpendicular to the longitudinal symmetry plane of the vehicle, and the universally rotatable vertical shaft (19) on the upper part of the double-row universal wheel of the rear wheel (8) is mounted on the rear transverse shaft rod (17). Under control, the two stair climbing and ground leveling wheels When the vehicle is in a pre-staircase state on a flat ground and the vertical axis (19) of the double-row universal wheels of the rear wheels (8) mounted on the rear transverse axle (17) is perpendicular to the flat ground and the double-row universal wheels of the rear wheels (8) have turned and are in a forward rolling posture, the axis of the hinge pin (18) at the lower arm end of the rear wheel support rod, which is hinged to the lower arm end of the rear wheel support rod (6), is located in an area surrounded by a circle whose upper end is the outer circle contour line of the wheel radius of the rear wheel (8), the front end is the axis center line of the vertical axis (19) or its extended line, the rear end is the vertical line of the wheel axis of the rear wheel (8), and the lower end is the circumference line with a radius from the axis center of the rear wheel (8) to the axis center line of the vertical axis (19);A guide swing mechanism is also provided between the rear transverse shaft rod (17) on which the double-row universal wheels of the rear wheels (8) are mounted and the wheel link bracket (1), which enables the rear transverse shaft rod (17) to swing around the axis of the hinge pin (18) at the lower extension arm end of the rear wheel support rod on a swing plane parallel to the longitudinal symmetry plane of the vehicle. The guide swing mechanism provided between the rear transverse shaft rod (17) and the wheel link bracket (1) can be selected from one of the following two structures: one is that the guide swing mechanism provided between the rear transverse shaft rod (17) and the wheel link bracket (1) is selected as a rolling wheel guide groove guide swing mechanism, and a rear rolling wheel guide groove is provided on the outer side wall of the wheel link bracket (1). A guide groove (21), a crank arm extending upward on the rear transverse shaft (17), a rear rolling wheel (20) extending outward and having its axis perpendicular to the longitudinal symmetry plane of the vehicle is installed at the end of the crank arm extending upward of the rear transverse shaft (17), the rear rolling wheel (20) extending outward and having its axis perpendicular to the longitudinal symmetry plane of the vehicle, the rear rolling wheel (20) extending into the rear rolling wheel guide groove (21) provided on the outer side wall of the wheel connecting rod bracket (1), the rear rolling wheel guide groove (21) on the outer side wall of the wheel connecting rod bracket (1) is shown in a projection on the longitudinal symmetry plane of the vehicle with its groove body centerline in an arc shape or an S-shaped shape in the vertical direction, the rear rolling wheel (20) at the end of the crank arm extending upward of the rear transverse shaft (17) The rear rolling wheel guide groove (21) provided on the outer side wall of the wheel link bracket (1) is in the same swinging plane parallel to the longitudinal symmetry plane of the vehicle, and the wheel diameter of the rear rolling wheel (20) and the groove width of the rear rolling wheel guide groove (21) are rolling-matched with each other; or the guide swing mechanism provided between the rear transverse shaft (17) and the wheel link bracket (1) is selected as a link swing rod guide swing mechanism, the end of the crank arm rod extending upward or backward of the rear transverse shaft rod (17) is hinged to one end of a rear guide swing rod (23) through a rear end hinge pin (22) of the rear guide swing rod, and the other end of the rear guide swing rod (23) is hinged to the wheel link bracket through a front end hinge pin (24) of the rear guide swing rod. The rear guide swing arm (23) is hinged to the wheel link bracket (1), the front hinge pin (24) of the rear guide swing arm hinged to the wheel link bracket (1) is arranged in front of the rear hinge pin (22) of the rear guide swing arm hinged to the end of the crank arm extending upward or backward of the rear transverse shaft (17), the axis of the rear hinge pin (22) of the rear guide swing arm and the front hinge pin (24) of the rear guide swing arm are perpendicular to the longitudinal symmetry plane of the vehicle, the swing plane of the crank arm extending upward or backward of the rear transverse shaft (17) and the rear guide swing arm (23) is parallel to the rotation plane of the Watt type six-bar linkage, and the wheel diameter of the fixed-axis straight-running wheel is equal to or greater than the wheel diameter of the double-row universal wheel. ; 4. A stair climbing and ground climbing dual-purpose vehicle with a Watt-type six-link swing link wheel mechanism that can be placed and driven on a flat ground under control and can go up and down stairs under control according to claim 1, characterized in that: The front wheels (7) are double-row universal wheels, and a front transverse shaft (12) is movably connected to the end of the lower arm of the front wheel support rod (3). The two ends of the front transverse shaft (12) contact each other with the inner sides of the lower arm ends of the front wheel support rod (3) symmetrically arranged on both sides of the vehicle body with the longitudinal symmetry plane of the vehicle as the symmetry center plane, and are hinged to each other with the lower arm ends of the front wheel support rod (3) through a hinge pin (13) at the lower arm end of the front wheel support rod whose axis is perpendicular to the longitudinal symmetry plane of the vehicle. The universally rotatable vertical shaft (14) at the upper part of the double-row universal wheels of the front wheels (7) is installed on the front transverse shaft (12). When the stair climbing and leveling dual-purpose vehicle is controlled, it is in a pre-stair step state on the flat ground and is installed on the When the vertical axis (14) of the double-row universal wheels of the front wheels (7) on the front transverse shaft (12) is in a state of being perpendicular to the flat ground and the double-row universal wheels of the front wheels (7) have been turned and are in a forward rolling posture, the axis of the hinge pin (13) at the lower arm end of the front wheel support rod, which is hinged to the lower arm end of the front wheel support rod (3), is located in an area surrounded by a circle whose upper end is the outer circle contour line of the wheel radius of the front wheel (7), the front end is the axis center line of the vertical axis (14) or its extended line, the rear end is the vertical line of the wheel axis of the front wheel (7), and the lower end is the circumference line with a radius from the axis center of the front wheel (7) to the axis center line of the vertical axis (14);A guide swing mechanism is also provided between the front transverse shaft (12) on which the double-row universal wheels of the front wheels (7) are mounted and the wheel link bracket (1), which enables the front transverse shaft (12) to swing around the axis of the hinge pin (13) at the lower extension arm end of the front wheel support rod on a swing plane parallel to the longitudinal symmetry plane of the vehicle. The guide swing mechanism provided between the front transverse shaft (12) and the wheel link bracket (1) can be selected from one of the following two structures: one is that the guide swing mechanism provided between the front transverse shaft (12) and the wheel link bracket (1) is selected as a rolling wheel guide groove guide swing mechanism, and a front rolling wheel guide groove (15) is provided on the inner side wall of the wheel link bracket (1). The front transverse shaft (12) has a crank arm extending backward, and the end of the crank arm extending backward of the front transverse shaft (12) is installed with a front rolling wheel (16) extending inwardly and having its axis perpendicular to the longitudinal symmetry plane of the vehicle. The front rolling wheel (16) extends into the front rolling wheel guide groove (15) provided on the inner side wall of the wheel link bracket (1). The front rolling wheel guide groove (15) on the inner side wall of the wheel link bracket (1) is projected on the longitudinal symmetry plane of the vehicle, and its groove centerline is in the shape of an arc or an S line arranged in the front and rear longitudinal direction. The front rolling wheel (16) at the end of the crank arm extending backward of the front transverse shaft (12) is aligned with the inner side wall of the wheel link bracket (1). The front rolling wheel guide groove (15) is arranged in the same swinging plane parallel to the longitudinal symmetry plane of the vehicle, and the wheel diameter of the front rolling wheel (16) and the groove width of the front rolling wheel guide groove (15) are rolling matched with each other; or the guide swing mechanism arranged between the front transverse shaft (12) and the wheel link bracket (1) is selected as a link swing rod guide swing mechanism, the end of the crank arm rod extending backward of the front transverse shaft (12) is hinged to one end of a front guide swing rod (26) through a hinge pin (25) at the lower end of the front guide swing rod, and the other end of the front guide swing rod (26) is hinged to the wheel link bracket (1) through a hinge pin (27) at the upper end of the front guide swing rod, and the front guide swing rod (26) and the wheel link bracket are hinged. (1) The hinged upper end hinge pin (27) of the front guide swing arm is arranged above the hinged lower end hinge pin (25) of the front guide swing arm which is hinged to the end of the crank arm extending rearward from the front transverse shaft (12); the axis lines of the hinged lower end hinge pin (25) of the front guide swing arm and the hinged upper end hinge pin (27) of the front guide swing arm are perpendicular to the longitudinal symmetry plane of the vehicle; the swing plane of the crank arm extending rearward from the front transverse shaft (12) and the front guide swing arm (26) is parallel to the rotation plane of the Watt type six-bar linkage; the rear wheel (8) is a fixed-axis straight-running wheel, the rear wheel (8) is mounted on the lower arm end of the rear wheel support rod (6), and the wheel diameter of the fixed-axis straight-running wheel is equal to or greater than the wheel diameter of the double-row universal wheel. ; 5. A stair-climbing and ground-level dual-purpose vehicle with a Watt-type six-link swing-link wheel mechanism that can be placed and driven on a flat ground under control and can go up and down stairs under control according to claim 1, characterized in that: The front wheel (7) is a fixed-axis straight-running wheel, and the front wheel (7) is mounted on the lower arm end of the front wheel support rod (3); the rear wheel (8) is a fixed-axis straight-running wheel, and the rear wheel (8) is mounted on the lower arm end of the rear wheel support rod (6).

6. A stair-climbing and ground-level dual-purpose vehicle with a Watt-type six-link swing-link wheel mechanism that can be placed and driven on a flat ground under control and can go up and down stairs under control according to claim 1, characterized in that: The load frame body (33) and the wheel link bracket (1) of the stair climbing and leveling dual-purpose vehicle are hingedly connected by a load frame body swing hinge pin (32), the axis of the load frame body swing hinge pin (32) is perpendicular to the longitudinal symmetry plane of the vehicle, and the axis of the load frame body swing hinge pin (32) is located above the axis of the front upper hinge pin (10) of the wheel link bracket hinged to the front upper swing rod (4); a stair climbing vehicle upward extension push-pull main handle (38) is provided at the upwardly extending portion of the upper end of the load frame body (33), and a link bracket upward extension handle (37) is provided at the upper end of the wheel link bracket (1);Below the load frame body swing hinge pin (32) at which the load frame body (33) is hingedly connected to the wheel link bracket (1), a supporting structure or column (29) extending outward is provided on the outer side of the side wall of the load frame body (33), and a penetrating fan-shaped opening or arc-shaped slot opening (28) is provided on the side wall of the wheel link bracket (1) adjacent to the outer side of the side wall of the load frame body (33), and the bottom of the fan-shaped opening or the arc-shaped slot opening (28) has a circular arc surface at the bottom edge or the bottom and the upper circular arc surface at the upper edge of the fan-shaped opening. The load frame body (33) is hinged to the wheel link bracket (1) with the load frame body swing hinge pin (32) as the center of the arc surface, the support structure or column (29) provided on the outer side of the side wall of the load frame body (33) extends into the fan-shaped opening or arc groove opening (28) provided on the side wall of the wheel link bracket (1), and under control, the load frame body (33) swings around the load frame body swing hinge pin (32) relative to the wheel link bracket (1) to the end terminal positions of the relatively folded and closed state and the relatively unfolded and tilted state. During the process, the opening of the side wall of the wheel link bracket (1) or its arc-shaped groove opening on the lower edge arc curve segment on the circumference of the load frame body swing hinge pin (32) hinged to the wheel link bracket (1) displayed on the longitudinal symmetric plane projection of the vehicle maintains a swinging movement that allows the supporting structure or column (29) extending outward on the outer side surface of the side wall of the load frame body (33) to swing synchronously around the axis of the load frame body swing hinge pin (32) relative to the opening of the side wall of the wheel link bracket (1) or its arc-shaped groove opening to adapt to the swinging movement. The space can utilize or be provided at the front and rear end edges of the lower edge arc curve section of the opening of the side wall of the wheel link bracket (1) or the arc-shaped groove opening, and the corresponding side wall edge retaining wall or edge stopper components and the supporting structure or column (29) or the side edge of the structural member connected thereto extending outwardly on the outer side surface of the side wall of the load frame body (33) can abut against each other when the load frame body (33) is swung around the load frame body swing hinge pin (32) relative to the wheel link bracket (1) to the two end terminal positions of the relatively folded and closed state and the relatively unfolded and inclined state under control;The relative swing limit terminal position positioning locking device provided between the load frame body (33) and the wheel connecting rod bracket (1) which are movably connected via the load frame body swing hinge pin (32) is a sleeve coil spring elastic mechanism (35) of a rod-type coil pressure spring structure. The sleeve coil spring elastic mechanism (35) is a sleeve sliding matching structure of a rod-type shaft and a built-in coil spring in the longitudinal symmetric plane projection of the vehicle. The upper end of the sleeve coil spring elastic mechanism (35) is hinged to the upper part of the load frame body (33) via the upper end hinge pin (36) of the elastic mechanism, and the lower end of the sleeve coil spring elastic mechanism (35) is hinged to the wheel connecting rod bracket (1) via the lower end hinge pin (34) of the elastic mechanism. Under control, the load frame body (33) is rotated in a direction opposite to the load frame body (33). When the load frame (33) is swung to the swing limit terminal position of the relative unfolding tilting posture or the relative folding and closing posture of the two relative to the wheel link bracket (1), the axis of the upper hinge pin (36) of the elastic mechanism at the upper end of the sleeve coil spring elastic mechanism (35) hinged to the load frame (33) is respectively located corresponding to the axis of the lower hinge pin (34) of the elastic mechanism at the lower end of the sleeve coil spring elastic mechanism (35) hinged to the wheel link bracket (1) and the axis of the load frame swing hinge pin (32) at the load frame (33) and the wheel link bracket (1), and the line passing through the rear or front of the upward extension line of the axis of the lower hinge pin (34) of the elastic mechanism;A link swing locking mechanism is provided in the Watt-type six-link swing link wheel mechanism, and its specific mutual structural arrangement and mutual structural action and function are as follows: an axis body extending outward to the outside of the fan-shaped opening or arc-shaped slot opening (28) on the side wall of the wheel link bracket (1) is provided at the top of the support structure or column (29) extending outward from the outer side of the side wall of the load frame body (33), and its axis center line is perpendicular to the longitudinal symmetry plane of the vehicle, and a roller (30) is installed on the above-mentioned axis body, and a rod length of the front upper swing rod (4) is arranged along the longitudinal direction of the rod length or displayed on the projection of the longitudinal symmetry plane of the vehicle. A step or rod edge (31) having a length similar to that of the rod body of the front upper swing rod (4) is arranged on the fan-shaped extension rod body of the front upper swing rod (4) within an angle range of positive and negative 45 degrees about the axis center deflection of the front upper swing rod (4) and the wheel link rod bracket (1) in the longitudinal direction, and having an arc-shaped curved surface with a width corresponding to the axial width of the outer circular contour of the roller (30) and having a width similar to that of the rod body of the front upper swing rod (4). When the stair climbing and leveling dual-purpose vehicle is in a posture of pre-climbing stairs and begins to be controlled, the load frame body (33) is swung relative to the wheel link bracket (1) which maintains the above-mentioned plane geometric position posture to the load frame. When the body (33) and the wheel connecting rod bracket (1) are in a relatively folded and closed posture and the front upper swing rod (4) swings to the swing extreme position relative to the front end and the lowest position, the roller (30) at the top end of the supporting structure or column (29) on the load frame body (33) contacts and abuts against the front end of the arc surface of the step or rod edge (31) on the rod body of the front upper swing rod (4), and a section of the arc surface on the step or rod edge (31) on the arc surface of the front upper swing rod (4) that contacts the wheel outer circle contour on the projection of the longitudinal symmetry plane of the vehicle extends to the front end of the locking contact point between the load frame body (33) and the vehicle. The axis connecting the load frame body swing hinge pin (32) hinged to the wheel link bracket (1) and the locking contact point to the axis connecting the front upper swing rod (4) and the front upper hinge pin (10) of the wheel link bracket hinged to the wheel link bracket (1) are maintained in a substantially right-angled vertical state, and the center of curvature of the arc surface of the locking contact point between the front end of the step or rod edge (31) of the arc surface of the front upper swing rod (4) and the outer circle contour of the roller (30) points to the axis of the load frame body swing hinge pin (32) hinged to the wheel link bracket (1) and ensures that its curvature radius is greater than the outer circle radius of the roller (30). ; 7. A stair climbing and ground climbing dual-purpose vehicle with a Watt-type six-link swing link wheel mechanism that can be placed and driven on a flat ground under control and can go up and down stairs under control according to claim 1, characterized in that: The load frame body (33) and the wheel link bracket (1) of the stair climbing and leveling dual-purpose vehicle are hingedly connected by a load frame body swing hinge pin (32); the axis of the load frame body swing hinge pin (32) is perpendicular to the longitudinal symmetry plane of the vehicle; the axis of the load frame body swing hinge pin (32) is located above the axis of the front upper hinge pin (10) of the wheel link bracket where the wheel link bracket (1) and the front upper swing rod (4) are hinged; a stair climbing vehicle upward extension push-pull main handle (38) is provided at the upper end of the load frame body (33) extending upward; A connecting rod bracket extending handle (37) is provided at the position; below the load frame body swing hinge pin (32) at which the load frame body (33) and the wheel connecting rod bracket (1) are hingedly connected, an outwardly extending supporting structure or column (29) is provided on the outer side surface of the side wall of the load frame body (33); a penetrating fan-shaped opening or arc-shaped slot opening (28) is provided on the side wall of the wheel connecting rod bracket (1) adjacent to the outer side surface of the side wall of the load frame body (33); the bottom of the fan-shaped opening or the arc-shaped slot opening (28) has an arc surface at the bottom edge thereof or a bottom of the arc-shaped slot opening and an upper portion thereof. The edge arc surface is an arc surface centered on a load frame body swing hinge pin (32) that hinges the load frame body (33) and the wheel link bracket (1). The support structure or column (29) that extends outward is arranged on the outer side surface of the side wall of the load frame body (33) and extends into the fan-shaped opening or arc groove opening (28) arranged on the side wall of the wheel link bracket (1). Under control, the load frame body (33) swings around the load frame body swing hinge pin (32) relative to the wheel link bracket (1) to the entire end positions of the relatively folded and closed state and the relatively unfolded and tilted state. The opening of the side wall of the wheel link bracket (1) or its arc groove opening on the lower edge of the arc curve segment on the circumference of the load frame body swing hinge pin (32) hingedly connected to the wheel link bracket (1) shown on the projection of the longitudinal symmetric plane of the vehicle during the swinging movement maintains a swinging activity space adapted to the supporting structure or column (29) extending outwardly on the outer side surface of the side wall of the load frame body (33) extending into the opening of the side wall of the wheel link bracket (1) or its arc groove opening, which allows the load frame body (33) to swing synchronously around the axis of the load frame body swing hinge pin (32).Corresponding side wall edge retaining walls or edge stopper components can be used or arranged at the front and rear end edges of the lower edge arc curve section of the opening of the side wall of the wheel link bracket (1) or the opening of the arc-shaped groove, and the supporting structure or column (29) or the side edge of the structural member connected thereto extending outwardly on the outer side surface of the side wall of the load frame body (33) can contact each other when the load frame body (33) is swung around the load frame body swing hinge pin (32) relative to the wheel link bracket (1) to the two end terminal positions of the relatively folded and closed state and the relatively unfolded and inclined state under control; the load frame body (33) movably connected through the load frame body swing hinge pin (32) The relative swing limit terminal position positioning locking device arranged between the load frame body (33) and the wheel connecting rod bracket (1) is a sleeve coil spring elastic mechanism (35) of a rod-type coil pressure spring structure. The sleeve coil spring elastic mechanism (35) is a sleeve sliding matching structure of a rod-type shaft and a built-in spring on the longitudinal symmetric plane projection of the vehicle. The upper end of the sleeve coil spring elastic mechanism (35) is hinged to the upper part of the load frame body (33) through the upper end hinge pin (36) of the elastic mechanism, and the lower end of the sleeve coil spring elastic mechanism (35) is hinged to the wheel connecting rod bracket (1) through the lower end hinge pin (34) of the elastic mechanism. When the load frame body (33) is operated, the sleeve coil spring elastic mechanism (35) is hinged to the upper part of the load frame body (33). When the frame body (33) is swung relative to the wheel link bracket (1) which maintains a set plane geometric position posture to the swing limit terminal position of the two relative expansion and tilting posture or relative folding and closing posture, the axis of the upper end hinge pin (36) of the elastic mechanism at the upper end of the sleeve coil spring elastic mechanism (35) and the load frame body (33) is hingedly connected, and the axis of the lower end hinge pin (34) of the elastic mechanism at the lower end of the sleeve coil spring elastic mechanism (35) and the wheel link bracket (1) and the axis of the load frame body swing hinge pin (32) at the load frame body (33) and the wheel link bracket (1) are respectively located correspondingly, and the connecting line passes through the elastic mechanism The structure is arranged at the rear or front of the upward extension line of the axis of the hinge pin (34) at the lower end; an independent structure link swing locking mechanism is arranged in the Watt type six-link swing link wheel mechanism, and its specific mutual structure arrangement and mutual structure action and function are as follows: an independent structure swing locking rod (39) hinged by a swing locking rod swing hinge pin (42) is arranged on the wheel link bracket (1) of the Watt type six-link swing link wheel mechanism, and a roller (30) whose axis is perpendicular to the longitudinal symmetry plane of the vehicle is installed at the end of the lever arm extending downward from the swing locking rod swing hinge pin (42) of the independent structure swing locking rod (39).The front upper swing arm (4) is provided with a step or a curved surface having a width corresponding to the axial width of the outer circle of the roller (30) and arranged on the fan-shaped extension rod body of the front upper swing arm (4) in the longitudinal direction of the rod body length or displayed on the projection of the longitudinal symmetric plane of the vehicle, which is arranged in the longitudinal direction of the rod body length of the front upper swing arm (4) and is arranged within the range of a positive or negative 45 degree deflection of the axis of the front upper hinge pin (10) of the wheel link bracket hinged to the wheel link bracket (1) on the front upper swing arm (4) and has a width similar to the rod body length of the front upper swing arm (4). The axial center position of the swing locking rod swing hinge pin (42) of the independent structure swing locking rod (39) is located above or above the arc surface of the step or the rod edge (31) of the front upper swing rod (4). When the stair climbing and leveling dual-purpose vehicle is in a pre-stair climbing posture and begins to be controlled to make the load frame body (33) relative to the wheel connecting rod bracket (1) maintaining the above-mentioned plane geometric position posture swing until the load frame body (33) and the wheel connecting rod bracket (1) are in a relatively folded and closed posture and the front upper swing rod (4) swings to the lowermost position relative to the front end. When the swing is at the extreme position, the roller (30) at the lower end of the independent structure swing locking rod (39) contacts and abuts against the front end of the arc surface of the step or rod edge (31) on the rod body of the front upper swing rod (4), and the arc surface of the step or rod edge (31) on the front upper swing rod (4) that contacts the wheel outer circle contour of the roller (30) on the projection of the longitudinal symmetry plane of the vehicle extends to the front end of the arc surface locking contact point to the axis line of the swing locking rod swing hinge pin (42) where the independent structure swing locking rod (39) is hinged to the wheel connecting rod bracket (1) and The line connecting the locking contact point to the front end of the front upper swing rod (4) and the axis of the front upper hinge pin (10) of the wheel link bracket (1) is kept in a substantially right-angled vertical state, and the center of curvature of the arc surface of the locking contact point between the front end portion of the step or rod edge (31) of the arc surface of the front upper swing rod (4) and the outer circle contour of the roller (30) points to the axis of the swing locking rod swing hinge pin (42) of the swing locking rod (39) of the independent structure and the wheel link bracket (1) and ensures that its curvature radius is greater than the outer circle radius of the roller (30).

8. A stair-climbing and ground-level dual-purpose vehicle with a Watt-type six-link swing-link wheel mechanism that can be placed and driven on a flat ground under control and can go up and down stairs under control according to claim 1, characterized in that: The load frame body (33) and the wheel link bracket (1) of the stair climbing and leveling dual-purpose vehicle are hingedly connected by a load frame body swing hinge pin (32); the axis of the load frame body swing hinge pin (32) is perpendicular to the longitudinal symmetry plane of the vehicle; the axis of the load frame body swing hinge pin (32) is located above the axis of the front upper hinge pin (10) of the wheel link bracket where the wheel link bracket (1) and the front upper swing rod (4) are hinged; a stair climbing vehicle upward extension push-pull main handle (38) is provided at the upwardly extending portion of the upper end of the load frame body (33); and a link bracket upward extension handle (37) is provided at the upper end of the wheel link bracket (1); below the load frame body swing hinge pin (32) where the load frame body (33) and the wheel link bracket (1) are hinged, A supporting structure or column (29) extending outward is provided on the outer side surface of the side wall of the load frame body (33); a penetrating fan-shaped opening or arc-shaped slot opening (28) is provided on the side wall of the wheel link bracket (1) adjacent to the outer side surface of the side wall of the load frame body (33); the bottom lower edge arc surface of the fan-shaped opening or the arc-shaped slot opening (28) or the bottom and upper edge arc surfaces of the arc-shaped slot opening are arc surfaces centered on the load frame body swing hinge pin (32) hingedly connecting the load frame body (33) and the wheel link bracket (1); the supporting structure or column (29) extending outward provided on the outer side surface of the side wall of the load frame body (33) extends into the fan-shaped opening or arc-shaped slot opening (28) provided on the side wall of the wheel link bracket (1);During the entire swinging movement of the load frame body (33) swinging around the load frame body swing hinge pin (32) relative to the wheel link bracket (1) to the two end terminal positions of a relatively folded and closed state and a relatively unfolded and tilted state, the opening of the side wall of the wheel link bracket (1) or its arc groove opening on the lower edge arc curve segment of the circumference of the load frame body swing hinge pin (32) hingedly connected to the wheel link bracket (1) displayed on the projection of the longitudinal symmetric plane of the vehicle is kept to allow the load frame body (33) to swing relatively synchronously around the axis of the load frame body swing hinge pin (32) and extend into the opening of the side wall of the wheel link bracket (1) or its arc groove opening. The swinging activity space adapted to the supporting structure or column (29) protruding outwardly on the outer side surface of the side wall of the body (33) can utilize or be provided at the front and rear end edges of the lower edge arc curve section of the opening of the side wall of the wheel link bracket (1) or the arc-shaped groove opening, and the supporting structure or column (29) protruding outwardly on the outer side surface of the side wall of the load frame body (33) or the side edge of the structural member connected thereto, when the load frame body (33) swings around the load frame body swing hinge pin (32) relative to the wheel link bracket (1) to the two end terminal positions of the relatively folded and closed state and the relatively unfolded and inclined state under control, so as to abut against each other;The relative swing limit terminal position positioning locking device arranged between the load frame body (33) and the wheel connecting rod bracket (1) which are movably connected through the load frame body swing hinge pin (32) is a torsion bar spring elastic mechanism. The torsion bar spring elastic mechanism shown on the longitudinal symmetry plane projection of the vehicle is a two-bar group structure of a torsion bar spring torsion arm (40) and a connecting rod (41) whose two ends are connected to the corresponding action members in an articulated manner. The torsion bar spring torsion arm (40) and the connecting rod (41) are hingedly connected by a hinge pin. The upper end of the torsion bar spring elastic mechanism, i.e., the upper end of the torsion bar spring torsion arm (40) is connected to the load frame body. (33) is hinged by the upper end hinge pin (36) of the elastic mechanism, the lower end of the elastic mechanism of the torsion bar spring, i.e., the lower end of the connecting rod (41) is hinged to the wheel connecting rod bracket (1) by the lower end hinge pin (34) of the elastic mechanism, the torsion bar spring axis of the elastic mechanism of the torsion bar spring is rigidly connected to the upper end of the torsion bar spring torsion arm (40), the axis of the torsion bar spring axis is perpendicular to the vertical plane of the longitudinal center of the vehicle body, and the upper end of the elastic mechanism of the torsion bar spring shown on the projection of the longitudinal symmetry plane of the vehicle and the upper end hinge pin (36) of the elastic mechanism hinged to the load frame body (33) are designed to be coaxial. , is installed transversely on the top of the box structure of the load frame body (33) or on the back side close to the top, perpendicular to the vertical plane of the longitudinal center of the vehicle body, and is hingedly connected to the upper hinge pin (36) of the elastic mechanism of the load frame body (33) near the torsion bar spring torsion arm (40) to be rotationally connected, and the end fixing device of the torsion bar spring axis is fixedly installed at the end position of the torsion bar spring axis that is coaxially arranged with the upper hinge pin (36) of the elastic mechanism and extends transversely inwards, close to the load frame body (33), relative to the wheel connection body (33) that maintains a set plane geometric position posture under control. When the rod bracket (1) swings to the swing limit terminal position of the two relative unfolding tilting posture or relative folding and closing posture, the upper end of the elastic mechanism of the torsion bar spring, i.e., the upper end of the torsion bar spring torsion arm (40) is hinged to the load frame body (33), and the axis of the upper end hinge pin (36) of the elastic mechanism is respectively located correspondingly to the lower end of the elastic mechanism of the torsion bar spring, i.e., the lower end of the connecting rod (41) is hinged to the axis of the lower end hinge pin (34) of the elastic mechanism and the axis of the load frame body swing hinge pin (32) hinged to the load frame body (33) and the wheel connecting rod bracket (1) and the rear or front of the line connecting the axis of the load frame body swing hinge pin (32) or its extended line;A link swing locking mechanism is provided in the Watt-type six-link swing link wheel mechanism, and its specific mutual structural arrangement and mutual structural action and function are as follows: an axis body extending outward to the outside of the fan-shaped opening or arc-shaped slot opening (28) on the side wall of the wheel link bracket (1) is provided at the top of the support structure or column (29) extending outward from the outer side of the side wall of the load frame body (33), and its axis center line is perpendicular to the longitudinal symmetry plane of the vehicle, and a roller (30) is installed on the above-mentioned axis body, and a rod length of the front upper swing rod (4) is arranged along the longitudinal direction of the rod length or displayed on the projection of the longitudinal symmetry plane of the vehicle. A step or rod edge (31) having a length similar to that of the rod body of the front upper swing rod (4) is arranged on the fan-shaped extension rod body of the front upper swing rod (4) within an angle range of positive and negative 45 degrees about the axis center deflection of the front upper swing rod (4) and the wheel link rod bracket (1) in the longitudinal direction, and having an arc-shaped curved surface with a width corresponding to the axial width of the outer circular contour of the roller (30) and having a width similar to that of the rod body of the front upper swing rod (4). When the stair climbing and leveling dual-purpose vehicle is in a posture of pre-climbing stairs and begins to be controlled, the load frame body (33) is swung relative to the wheel link bracket (1) which maintains the above-mentioned plane geometric position posture to the load frame. When the body (33) and the wheel connecting rod bracket (1) are in a relatively folded and closed posture and the front upper swing rod (4) swings to the swing extreme position relative to the front end and the lowest position, the roller (30) at the top end of the supporting structure or column (29) on the load frame body (33) contacts and abuts against the front end of the arc surface of the step or rod edge (31) on the rod body of the front upper swing rod (4), and a section of the arc surface on the step or rod edge (31) on the arc surface of the front upper swing rod (4) that contacts the wheel outer circle contour on the projection of the longitudinal symmetry plane of the vehicle extends to the front end of the locking contact point between the load frame body (33) and the vehicle. The axis connecting the load frame body swing hinge pin (32) hinged to the wheel link bracket (1) and the locking contact point to the axis connecting the front upper swing rod (4) and the front upper hinge pin (10) of the wheel link bracket hinged to the wheel link bracket (1) are maintained in a substantially right-angled vertical state, and the center of curvature of the arc surface of the locking contact point between the front end of the step or rod edge (31) of the arc surface of the front upper swing rod (4) and the outer circle contour of the roller (30) points to the axis of the load frame body swing hinge pin (32) hinged to the wheel link bracket (1) and ensures that its curvature radius is greater than the outer circle radius of the roller (30). ; 9. A stair-climbing and ground-level dual-purpose vehicle with a Watt-type six-link swing-link wheel mechanism that can be placed and driven on a flat ground under control and can go up and down stairs under control according to claim 1, characterized in that: The load frame body (33) and the wheel link bracket (1) of the stair climbing and leveling dual-purpose vehicle are hingedly connected by a load frame body swing hinge pin (32); the axis of the load frame body swing hinge pin (32) is perpendicular to the longitudinal symmetry plane of the vehicle; the axis of the load frame body swing hinge pin (32) is located above the axis of the front upper hinge pin (10) of the wheel link bracket where the wheel link bracket (1) and the front upper swing rod (4) are hinged; a stair climbing vehicle upward extension push-pull main handle (38) is provided at the upper end of the load frame body (33) extending upward; A connecting rod bracket extending handle (37) is provided at the position; below the load frame body swing hinge pin (32) at which the load frame body (33) and the wheel connecting rod bracket (1) are hingedly connected, an outwardly extending supporting structure or column (29) is provided on the outer side surface of the side wall of the load frame body (33); a penetrating fan-shaped opening or arc-shaped slot opening (28) is provided on the side wall of the wheel connecting rod bracket (1) adjacent to the outer side surface of the side wall of the load frame body (33); the bottom of the fan-shaped opening or the arc-shaped slot opening (28) has an arc surface at the bottom edge thereof or the bottom of the arc-shaped slot opening and an upper The arc surface at the edge of the upper portion is an arc surface centered on the load frame body swing hinge pin (32) that hinges the load frame body (33) and the wheel link bracket (1); the outwardly extending support structure or column (29) arranged on the outer side of the side wall of the load frame body (33) extends into the fan-shaped opening or arc groove opening (28) arranged on the side wall of the wheel link bracket (1); under control, the load frame body (33) swings around the load frame body swing hinge pin (32) relative to the wheel link bracket (1) to the entire end positions of the relatively folded and closed state and the relatively unfolded and inclined state. The opening of the side wall of the wheel link bracket (1) or its arc groove opening on the lower edge of the arc curve segment on the circumference of the load frame body swing hinge pin (32) hingedly connected to the wheel link bracket (1) shown on the projection of the longitudinal symmetric plane of the vehicle during the swinging movement maintains a swinging activity space adapted to the supporting structure or column (29) extending outwardly on the outer side surface of the side wall of the load frame body (33) extending into the opening of the side wall of the wheel link bracket (1) or its arc groove opening, which allows the load frame body (33) to swing synchronously around the axis of the load frame body swing hinge pin (32).Corresponding side wall edge retaining walls or edge stopper components can be used or arranged at the front and rear end edges of the lower edge arc curve section of the opening of the side wall of the wheel link bracket (1) or the opening of the arc-shaped groove, and the supporting structure or column (29) or the side edge of the structural member connected thereto extending outwardly on the outer side surface of the side wall of the load frame body (33) can contact each other when the load frame body (33) is swung around the load frame body swing hinge pin (32) relative to the wheel link bracket (1) to the two end terminal positions of the relatively folded and closed state and the relatively unfolded and inclined state under control; when the load frame body (33) is movably connected through the load frame body swing hinge pin (32), the load frame body ( The relative swing limit terminal position positioning locking device arranged between the wheel link bracket (1) and the torsion bar spring is an elastic mechanism of a torsion bar spring. The elastic mechanism of the torsion bar spring shown on the longitudinal symmetry plane projection of the vehicle is a two-bar group structure of a torsion bar spring torsion arm (40) and a connecting rod (41) whose two ends are connected to the corresponding action members in an articulated manner. The torsion bar spring torsion arm (40) and the connecting rod (41) are hingedly connected by a hinge pin. The upper end of the elastic mechanism of the torsion bar spring, i.e., the upper end of the torsion bar spring torsion arm (40) is hingedly connected to the load frame body (33) through the upper end hinge pin (36) of the elastic mechanism. The lower end of the elastic mechanism of the torsion bar spring The end, that is, the lower end of the connecting rod (41) is hinged to the wheel connecting rod bracket (1) through the lower end hinge pin (34) of the elastic mechanism, the torsion bar spring axis of the elastic mechanism of the torsion bar spring is rigidly connected to the upper end of the torsion bar spring torsion arm (40), the axis line of the torsion bar spring axis is perpendicular to the vertical plane of the longitudinal center of the vehicle body, and the upper end of the elastic mechanism of the torsion bar spring shown on the projection of the longitudinal symmetry plane of the vehicle is hinged to the upper end hinge pin (36) of the elastic mechanism, which is designed to be a coaxial structure, and is perpendicular to the vertical plane of the longitudinal center of the vehicle body and is horizontally installed on the box structure of the load frame body (33). The top or the back side close to the top of the torsion bar spring is hingedly connected to the upper hinge pin (36) of the elastic mechanism of the load frame body (33) near the torsion bar spring torsion arm (40) to be rotationally connected, and the end position of the torsion bar spring axis, which is coaxially arranged with the upper hinge pin (36) of the elastic mechanism, is fixedly installed close to the load frame body (33) at the end fixing device of the torsion bar spring axis. When the wheel connecting rod bracket (1) of the load frame body (33) which maintains a set plane geometric position posture under control is swung to the swing limit terminal position of the two relative unfolding tilt posture or relative folding and closing posture,The upper end of the elastic mechanism of the torsion bar spring, i.e., the upper end of the torsion bar spring torsion arm (40), is hinged to the load frame body (33), and the axis of the upper end hinge pin (36) of the elastic mechanism is respectively located at the rear or front of the line connecting the axis of the lower end hinge pin (34) of the elastic mechanism, i.e., the lower end of the connecting rod (41), which is hinged to the wheel connecting rod bracket (1), and the axis of the load frame body swing hinge pin (32) which is hinged to the load frame body (33) and the wheel connecting rod bracket (1); an independent structural connecting rod is provided in the Watt type six-link swing connecting rod wheel mechanism. The specific mutual structural arrangement of the swing locking mechanism is as follows: an independent structure swing locking rod (39) hinged by a swing locking rod swing hinge pin (42) is arranged on the wheel link bracket (1) of the Watt type six-link swing link wheel mechanism; a roller (30) whose axis is perpendicular to the longitudinal symmetry plane of the vehicle is installed at the end of the lever arm extending downward from the swing locking rod swing hinge pin (42) of the independent structure swing locking rod (39); and a roller (30) arranged along the longitudinal direction of the rod body length or displayed on the projection of the longitudinal symmetry plane of the vehicle is arranged on the rod body of the front upper swing rod (4). A step or rod edge (31) having a length similar to that of the rod body of the front upper swing rod (4) is arranged on the fan-shaped extension rod body of the front upper swing rod (4) within an angle range of positive and negative 45 degrees in the longitudinal direction around the axis of the front upper hinge pin (10) of the wheel link bracket hinged to the wheel link bracket (1), and having an arc-shaped curved surface with a width corresponding to the axial width of the outer circular contour of the roller (30) and arranged on the same swing plane as the roller (30), and having an arc-shaped curved surface with a width corresponding to the axial width of the outer circular contour of the roller (30); the axis position of the swing locking rod swing hinge pin (42) of the independent structure swing locking rod (39) is located on the step or rod edge (31) of the front upper swing rod (4). When the stair climbing and leveling dual-purpose vehicle is in a posture of pre-climbing stairs and begins to be controlled to swing the load frame body (33) relative to the wheel link bracket (1) which maintains the above-mentioned plane geometric position posture until the load frame body (33) and the wheel link bracket (1) are in a relatively folded and closed posture and the front upper swing rod (4) swings to the swing extreme position relative to the front end and the lowest position, the roller (30) at the lower end of the independent structure swing locking rod (39) contacts and abuts against the front end of the step or the arc surface of the rod edge (31) on the rod body of the front upper swing rod (4).The step or rod edge (31) of the arc-shaped surface on the front upper swing arm (4) that contacts the outer contour of the wheel of the roller (30) on the projection of the longitudinal symmetry plane of the vehicle extends to a locking contact point of a section of the arc-shaped surface at the front end to the axis connecting line of the swing locking rod swing hinge pin (42) where the independent structure swing locking rod (39) is hinged to the wheel link bracket (1) and the locking contact point to the wheel link bracket where the front end of the front upper swing arm (4) is hinged to the wheel link bracket (1). The axis connecting the front upper hinge pin (10) of the bracket is maintained in a substantially right-angled vertical state, and the center of curvature of the arc surface of the locking contact point between the front end portion of the step or rod edge (31) of the arc surface of the front upper swing rod (4) and the outer circle contour of the roller (30) points to the axis of the swing locking rod swing hinge pin (42) of the swing locking rod (39) of the independent structure hinged to the wheel link bracket (1), and ensures that its curvature radius is greater than the outer circle radius of the roller (30).

10. A stair climbing and ground climbing dual-purpose vehicle with a Watt-type six-link swing link wheel mechanism that can be placed and driven on a flat ground under control and can go up and down stairs under control according to claim 1, characterized in that: The load frame (33) of the stair climbing and leveling dual-purpose vehicle is fixedly connected to the wheel connecting rod bracket (1) to form an integrated structure; a push-pull swing rod (47) is hingedly connected to the load frame (33) and the wheel connecting rod bracket (1) fixedly connected to form an integrated structure via a load frame swing hinge pin (32); the hinge pin axis position of the load frame swing hinge pin (32) of the push-pull swing rod (47) hinged to the load frame (33) and the wheel connecting rod bracket (1) fixedly connected to form an integrated structure is located above the connecting rod swing mechanism of the Watt type six-link swing type connecting rod wheel mechanism; a stair climbing vehicle upward extension push-pull main handle (47) is provided at the upper end of the push-pull swing rod (47). 38), a sleeve coil spring elastic mechanism (35) of a rod-type coil pressure spring structure or an elastic mechanism of a torsion bar spring is provided between the load frame body (33) and the wheel link bracket (1) fixedly connected as one body and the push-pull swing rod (47), one end of the sleeve coil spring elastic mechanism (35) of the coil pressure spring structure or the elastic mechanism of the torsion bar spring is hinged to the load frame body (33) and the wheel link bracket (1) fixedly connected as one body through a hinge pin (34) at the lower end of the elastic mechanism, and the other end is hinged to the push-pull swing rod (47) through a hinge pin (36) at the upper end of the elastic mechanism; between the wheel link bracket (1) and the load frame body (33) ) is fixedly connected to form an integral structure with the push-pull swing rod (47), and a link swing locking mechanism is provided in the Watt type six-link swing link wheel mechanism, the specific mutual structural arrangement of which is as follows: a roller (30) whose axis is perpendicular to the longitudinal symmetry plane of the vehicle is installed at the end of the lever arm extending downward from the load frame body swing hinge pin (32) of the push-pull swing rod (47); a front upper wheel of the wheel link bracket (1) is arranged along the longitudinal direction of the rod body or displayed on the projection of the longitudinal symmetry plane of the vehicle. A step or rod edge (31) having a length close to that of the rod body of the front upper swing rod (4) and arranged on the fan-shaped extension rod body of the front upper swing rod (4) within the axial deflection range of the hinge pin (10) of plus or minus 45 degrees, and having an arc-shaped curved surface with a width corresponding to the axial width of the outer circular contour of the roller (30), when the operator manually supports and controls the upper push-pull main handle (38) of the stair climbing vehicle at the upper end of the push-pull swing rod (47) to swing the push-pull swing rod (47) around the swing hinge pin (32) of the load frame body to a position close to the load frame body (33) and the wheel connecting rod bracket (1) fixedly connected as one body to form a relatively folded and closed state,The corresponding position-limiting blocking positioning device arranged between the relative motion structures and the elastic force sealing of the sleeve coil spring elastic mechanism (35) work together to position and lock the push-pull swing rod (47) and the load frame body (33) and the wheel link bracket (1) fixedly connected as one, and at the same time, the wheel edge of the roller (30) at the lower extension arm end of the push-pull swing rod (47) contacts and presses against the arc surface of the corresponding step or rod edge (31) on the rod body of the front upper swing rod (4) of the Watt type six-link swing link wheel mechanism, and the arc surface of the step or rod edge (31) on the front upper swing rod (4) that contacts the wheel outer circle contour of the roller (30) on the longitudinal symmetry plane projection of the vehicle extends to the front end of the arc surface locking contact point to the push-pull swing rod (47). The axis line of the load frame body swing hinge pin (32) hinged to the load frame body (33) and the wheel link bracket (1) fixedly connected as one body and the axis line of the wheel link bracket front upper hinge pin (10) hinged to the front end of the front upper swing arm (4) and the wheel link bracket (1) are maintained in a substantially right-angled vertical state, and the curvature center direction of the arc surface of the locking contact point of the front end part of the step or rod edge (31) of the arc surface of the front upper swing arm (4) and the outer circle contour of the roller (30) is pointed to the axis of the load frame body swing hinge pin (32) hinged to the push-pull swing arm (47) and the wheel link bracket (1) fixedly connected as one body, and the curvature radius is ensured to be greater than the outer circle radius of the roller (30).

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