People and object carrying platform capable of stably going up and down stairs and control method thereof

Abstract

The invention relates to the technical field of robots, and particularly discloses a man and object carrying platform capable of stably going up and down stairs and a control method of the man and object carrying platform. The robot comprises a double-output-shaft motor, a parallelogram double-connecting-rod obstacle crossing mechanism and a synchronizing device, and a double-connecting-rod mechanism is composed of an inner connecting rod and an outer connecting rod with the phase difference of 180 degrees; round small teeth are arranged at the tail ends of the outer connecting rods to self-adaptively clamp the edge of the step, and the synchronizing device forcibly rotates the front and rear transmission shafts in the same phase through chains and gears. Through the design of the L-shaped connecting rods and the combination of an elastic piece leveling mechanism, the man-carrying and object-carrying platform keeps a horizontal state in real time in the process of going upstairs and downstairs. According to the scheme, the fluctuation of the gravity center is remarkably reduced, through cooperation of structural light weight and dynamic control, the robot has the characteristics of high load-carrying capacity, low energy consumption and interference resistance, is suitable for multiple scenes such as old-age nursing, disabled helping, logistics carrying and disaster rescue, and effectively solves the problems of slipping, rollover and platform shaking during stair obstacle crossing of a traditional robot.

Description

Technical Field

[0001] The present invention belongs to the technical field of robots, and relates to a manned and cargo-carrying platform capable of stably going up and down stairs and a control method thereof. Background Art

[0002] With the rapid development of mobile robot technology, the application requirements in unstructured environments (such as stairs and ramps) are increasing day by day, especially showing important value in the fields of assisting the elderly and disabled people to travel and handling heavy objects. However, the adaptability of existing mobile robots in the stair environment still faces significant challenges. Currently, the mainstream walking mechanisms are mainly divided into three categories: wheeled, tracked, and legged. Each type of solution has problems in balancing stability, safety, and structural complexity.

[0003] Wheeled robots, due to their simple structure, light weight, strong load-carrying capacity and other characteristics, have become a common solution in flat environments. However, their lack of obstacle-crossing ability is particularly prominent in the stair scenario. Although the wheeled design can partially improve the obstacle-crossing performance by increasing the wheel diameter or using special wheel types, it is still prone to slipping and jamming when crossing steps, and it is difficult to meet the requirement of continuously climbing multiple steps. Tracked robots, with a larger contact area and stronger obstacle-crossing ability, perform better than wheeled solutions in the stair environment. However, they have a large self-weight, high energy consumption, significant operating noise, and the continuous friction between the track and the edge of the step easily causes rapid wear of components. More importantly, when the tracked robot has an unbalanced load or a too high center of gravity, there is a high risk of rollover or forward flip during the process of going down stairs, which poses harsh requirements on safety and control accuracy. Legged robots can achieve high flexibility through bionic gaits, but their complex multi-degree-of-freedom joint structures lead to high manufacturing costs. The motion planning algorithm needs to coordinate the gait phases of multiple legs in real time, with extremely high control difficulty, and the periodic impact of the mechanical legs easily causes platform vibration, making it difficult to ensure the stability when carrying people and goods.

[0004] In the prior art, some improved solutions attempt to improve the stair passing ability by means of a hybrid walking mechanism (such as wheel-track combination) or adding an auxiliary balancing device. However, these designs often further increase the system complexity and are difficult to fundamentally solve the problems of large center-of-gravity fluctuations and discontinuous motion. For example, some robots using telescopic legs can climb steps step by step, but their intermittent motion causes the platform to tilt frequently, resulting in insufficient load-carrying stability; another solution that compensates for the center-of-gravity offset by tilting the platform cannot adapt to stair structures of different heights due to response lag. In addition, the steering function of existing robots mostly relies on the deflection of the whole body, and the flexibility is limited when operating in narrow stairwells, and the buffer design specifically for the instantaneous center-of-gravity change when going down stairs is still blank. Summary of the Invention

[0005] In view of this, the purpose of the present invention is to provide a manned and cargo-carrying platform with a simple structure, efficient control, and continuous movement, which can adapt to the step structure during the process of going up and down stairs, suppress the center-of-gravity fluctuation through the mechanical design itself, and at the same time take into account the load capacity and operation safety to meet the rigid needs of the travel of special groups and the handling of heavy objects.

[0006] To achieve the above object, the present invention provides the following technical solutions:

[0007] A manned and cargo-carrying platform for stably going up and down stairs, comprising: a double-output shaft motor, the output end of which is connected to a transmission shaft through a coupling; a parallelogram double-link obstacle-crossing mechanism composed of an inner link and an outer link and connected to the transmission shaft, the phase difference between the inner link and the outer link being 180 degrees, and a circular small tooth being provided at the end of the outer link for engaging with the edge of the stair step; a synchronization device arranged on the transmission shaft for ensuring the synchronous movement of the double links; a body bottom plate arranged between the two inner links; and a manned and cargo-carrying platform connected to the body bottom plate through an elastic member and remaining horizontal during the process of going up and down stairs.

[0008] Optionally, the inner link and the outer link are connected to the transmission shaft through eccentric members.

[0009] Optionally, the synchronization device includes a chain and a gear, the gear being fixed on the transmission shaft and connected to the front and rear transmission shafts through the chain.

[0010] Optionally, the manned and cargo-carrying platform further includes a dynamic tail wing for adjusting the body direction during turning and providing support during going down stairs.

[0011] Optionally, the dynamic tail wing is driven by a tail wing motor.

[0012] Optionally, the manned and cargo-carrying platform is connected to the body bottom plate through a push rod or a hydraulic spring.

[0013] Optionally, the included angle between the short rod part of the double link and the horizontal plane is 60 degrees, and the long rod part is parallel to the horizontal plane, forming an L-shaped structure.

[0014] A method for controlling going up and down stairs based on the above-mentioned manned and cargo-carrying platform, comprising the following steps: driving the double links to move alternately through the double-output shaft motor so that the circular small teeth of the outer link and the inner link alternately engage with the edge of the step; and using the synchronization device to ensure the synchronous rotation of the front and rear transmission shafts.

[0015] Optionally, in the control method, the dynamic tail wing is driven by a tail wing motor, and the dynamic tail wing is rotated to the support position during the process of going up and down stairs to buffer the change of the center of gravity; the rotation angle range of the dynamic tail wing is 0° to 90°, and its support surface is parallel to the stair step plane.

[0016] Optionally, in the control method, the manned and cargo-carrying platform adjusts its horizontal state in real time through an elastic member to maintain stability during the process of going up and down stairs.

[0017] The beneficial effects of the present invention are as follows:

[0018] Through the innovative mechanical structure and control method, this solution realizes the stable operation of the manned and cargo-carrying platform in the staircase environment, significantly improving safety, motion coherence, and environmental adaptability, which are specifically reflected in the following aspects:

[0019] 1. Core advantages of the double-link obstacle-crossing mechanism

[0020] The parallelogram double-link obstacle-crossing mechanism adopts a design with a 180-degree phase difference between the inner and outer links. The double-output shaft motor drives the links to move alternately, enabling the circular small teeth at the end of the outer link to accurately engage the edge of the step. This design significantly reduces the fluctuation of the center of gravity of the body during climbing, avoiding the risks of rollover or forward tilt caused by the center of gravity shift of traditional wheeled or tracked robots. Compared with the complex multi-degree-of-freedom foot structure in the prior art, the double-link mechanism can achieve continuous and stable obstacle-crossing motion through simple mechanical phase control, which not only simplifies the control system but also improves the motion efficiency. In addition, the short rod part of the L-shaped link forms a 60-degree angle with the horizontal plane, and the long rod part is parallel to the horizontal plane, optimizing the matching of the obstacle-crossing height and the step size, ensuring that the platform can still maintain motion coherence when crossing steps of different heights.

[0021] 2. Synergistic effect of the synchronization device and the dynamic tail fin

[0022] The synchronization device connects the front and rear drive shafts through a chain and gears, forcibly synchronizing the rotation phases of the double links, completely eliminating the problem of asynchronous motion caused by mechanical errors or uneven loads. This design enables the platform to maintain symmetric motion on both sides in a complex staircase environment (such as inconsistent step heights or slippery surfaces), significantly enhancing the anti-interference ability. The introduction of the dynamic tail fin further enhances the safety of the system: during the process of going down stairs, the tail fin motor drives the dynamic tail fin to rotate to the support position, and its arc-shaped support surface closely fits the step plane, forming an instantaneous buffer to effectively suppress the vibration or imbalance caused by the rapid downward movement of the center of gravity; during turning, the dynamic tail fin can flexibly adjust the direction of the body, solving the problem of difficult operation in narrow spaces for traditional robots that rely on overall deflection.

[0023] 3. Active leveling mechanism of the manned and cargo-carrying platform

[0024] The manned and cargo-carrying platform is flexibly connected to the body floor through elastic components (such as hydraulic springs or electric push rods). Combined with real-time feedback control, it can dynamically adjust the platform attitude during the process of going up and down stairs, and always maintain a horizontal state. This design breaks through the limitations of passive tilt compensation in the existing technology, avoids platform jitter caused by sudden changes in step height or load changes, and is especially suitable for the transportation scenarios of people with limited mobility or precision instruments. The damping characteristics of the elastic components can also absorb the impact energy during the movement process, further improving the riding comfort.

[0025] 4. Structural Simplification and Energy Efficiency Optimization

[0026] Compared with the high energy consumption of tracked robots and the complex transmission systems of legged robots, this solution adopts a structure of directly driving double linkages by a double-output shaft motor, significantly reducing the mechanical complexity and manufacturing cost. The compact design of the synchronization device and eccentric components further reduces the space occupation, makes the overall structure of the platform lightweight, and at the same time has a strong load-carrying capacity. In addition, the on-demand driving strategy of the dynamic tail fin (such as only enabling it when turning or going down stairs) reduces the ineffective energy consumption and extends the battery life, and is suitable for long-term outdoor operations or emergency rescue scenarios.

[0027] 5. Wide Environmental Adaptability

[0028] Through the adaptive engagement of the circular small teeth with the edge of the step, the arc-shaped support surface design of the dynamic tail fin, and the self-adaptive leveling function of the elastic components, this platform can adapt to a variety of unstructured environments, including stairs with different slopes, widths or surface materials, and can even be extended to complex terrains such as slopes and gravel roads. This high degree of environmental compatibility makes it have broad application prospects in the fields of elderly care and disability assistance, logistics handling, disaster relief, etc.

[0029] In summary, through the deep integration of mechanical design and control algorithms, this solution solves the pain points of existing mobile robots such as poor stability, complex control and high energy consumption in the stair environment, realizes the unity of high safety, high efficiency and low cost for manned and cargo-carrying, and provides reliable technical support for the travel of special groups and the handling of heavy objects.

[0030] Other advantages, objectives and features of the present invention will be described to some extent in the subsequent specification, and to some extent, will be obvious to those skilled in the art based on the study of the following text, or can be taught from the practice of the present invention. The objectives and other advantages of the present invention can be realized and obtained through the following specification. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] In order to make the objectives, technical solutions and advantages of the present invention clearer, the present invention will be described in preferred detail below in conjunction with the drawings, where:

[0032] Figure 1 Schematic diagram of the overall internal structure of this solution;

[0033] Figure 2 Schematic diagram of the overall flat state of the robot;

[0034] Figure 3 Schematic diagram of the robot going up and down stairs;

[0035] Figure 4 Schematic diagram of the support of the tail fin when the vehicle body goes down stairs;

[0036] Figure 5 Schematic diagram of the second embodiment;

[0037] Figure 6 Schematic diagram of the third embodiment.

[0038] Reference numerals: 1 double-output shaft motor, 2 dynamic tail fin, 3 coupling, 4 chain, 5 gear, 6 eccentric part, 7 side plate, 8 transmission shaft, 9 body bottom plate, 10 inner connecting rod, 11 outer connecting rod, 12 tail fin motor, 13 manned and cargo-carrying platform, 14 elastic part. Detailed implementation manners

[0039] The following uses specific specific examples to illustrate the implementation manners of the present invention. Those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification. The present invention can also be implemented or applied through other different specific implementation manners. Various details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of the present invention. It should be noted that the diagrams provided in the following embodiments only illustrate the basic concept of the present invention in a schematic manner. Without conflict, the following embodiments and the features in the embodiments can be combined with each other.

[0040] Among them, the drawings are only for illustrative purposes, showing only schematic diagrams, not physical diagrams, and cannot be understood as a limitation to the present invention; in order to better illustrate the embodiments of the present invention, some components in the drawings will be omitted, enlarged or reduced, which does not represent the size of the actual product; for those skilled in the art, it is understandable that some well-known structures and their descriptions in the drawings may be omitted.

[0041] In the drawings of the embodiments of the present invention, the same or similar reference numerals correspond to the same or similar components; in the description of the present invention, it should be understood that if there are terms such as "upper", "lower", "left", "right", "front", "rear", etc. indicating the orientation or positional relationship, it is based on the orientation or positional relationship shown in the drawings. This is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, the terms describing the positional relationship in the drawings are only for illustrative purposes and cannot be understood as a limitation of the present invention. For those of ordinary skill in the art, the specific meanings of the above terms can be understood according to specific circumstances.

[0042] Please refer to Figures 1 to 6 , the present invention relates to a manned and cargo-carrying robot for stable ascending and descending of stairs, and its core structure and operation mechanism are as follows:

[0043] 1. Overall structural composition

[0044] As Figure 1 shown, the robot includes the following main components:

[0045] Double-output shaft motor 1: As the power source, its output end is connected to the transmission shaft 8 through the coupling 3 to drive the double-link mechanism to move.

[0046] Parallelogram double-link obstacle-crossing mechanism: It consists of an inner link 10 and an outer link 11, and the phase difference between the two is fixed at 180 degrees. A circular small tooth is provided at the end of the outer link 11 for engaging with the edge of the stair step.

[0047] Synchronization device: It includes a gear 5 and a chain 4. The gear 5 is fixed on the front and rear transmission shafts 8 and is connected through the chain 4 to ensure that the two sides of the transmission shaft 8 rotate in the same phase.

[0048] Eccentric member 6: Connects the transmission shaft 8 and the outer link 11, and its eccentricity is designed to be small to reduce the fluctuation of the center of gravity during the movement.

[0049] Dynamic tail fin 2: Driven by the tail fin motor 12, it is used for steering adjustment and providing support and buffering when going down the stairs.

[0050] Manned and cargo-carrying platform 13: It is flexibly connected to the body bottom plate 9 through an elastic member 14 (such as an electric push rod or a hydraulic spring) to adjust the horizontal state of the platform in real time.

[0051] Side plates 7: Fixed on both sides of the body bottom plate 9 and fitted with the inner link 10 to ensure the synchronous movement of the overall structure.

[0052] 2. Working principle of the double-link obstacle-crossing mechanism

[0053] The double-link mechanism adopts an L-shaped design:

[0054] The short rod part forms an angle of 60 degrees with the horizontal plane and is used to precisely engage with the edge of the step.

[0055] The long rod part is parallel to the horizontal plane and is adapted to the inclined plane of the staircase.

[0056] Process of going up the stairs:

[0057] The double-output shaft motor 1 drives the transmission shaft 8 to rotate, and drives the outer connecting rod 11 to move periodically through the eccentric part 6.

[0058] The circular small teeth at the front of the short rod of the outer connecting rod 11 first engage with the edge of the first step, and then the inner connecting rod 10 synchronously engages (with a phase difference of 180 degrees).

[0059] Through several alternating movements, the corner of the double connecting rod crosses the step, the long rod part is parallel to the inclined plane of the staircase, and the fuselage moves steadily upward along the inclined plane.

[0060] The elastic part 14 adjusts the manned and cargo platform 13 to the horizontal state in real time to ensure stable cargo loading.

[0061] Process of going down the stairs:

[0062] The dynamic tail fin 2 is driven by the tail fin motor 12 to rotate to the support position, and its arc-shaped support surface fits with the step plane to form a buffer.

[0063] The double connecting rod alternates to guide the fuselage to descend, and the circular small teeth inhibit the forward tilt of the center of gravity.

[0064] The elastic part 14 levels the platform 13 synchronously, and the dynamic tail fin 2 retracts after the fuselage tilts to complete the step transition.

[0065] 3. The synchronous device and the dynamic tail fin cooperate

[0066] The synchronous device forces the front and rear transmission shafts 8 to rotate in the same phase through the chain 4, eliminating the motion deviation caused by uneven load.

[0067] The dynamic tail fin 2 adjusts the direction of the fuselage when turning and provides instantaneous support when going down the stairs. Its rotation angle range is from 0° to 90°, and the arc of the support surface matches the edge of the step.

[0068] Embodiment 1: Basic double connecting rod synchronous drive structure

[0069] Structural composition and action process

[0070] As Figure 1 shown, in this embodiment, the upper end of the outer connecting rod 11 is hinged to the eccentric part 6, the lower end of the eccentric part 6 is rigidly fixed to the transmission shaft 8, and the transmission shaft 8 is directly connected to the output end of the double-output shaft motor 1 through the coupling 3. The upper end of the inner connecting rod 10 is welded to the transmission shaft 8, and its inner side plane is closely attached to the side plate 7 to ensure the synchronous movement of the inner connecting rod 10 and the whole fuselage.

[0071] Details of the up - stair movement:

[0072] Initial driving stage: The double - output - shaft motor 1 starts, driving the transmission shaft 8 to rotate clockwise. The eccentric part 6 rotates with the transmission shaft 8, driving the outer connecting rod 11 to make a circular motion with the eccentricity as the radius. At this time, the circular small teeth at the front of the short rod of the outer connecting rod 11 first contact the edge of the first - level step. The 60 - degree angle design between the short rod and the horizontal plane makes the tooth tip accurately embed into the step gap.

[0073] Alternating engagement stage: When the circular small teeth of the outer connecting rod 11 are completely engaged with the step, the transmission shaft 8 rotates 180 degrees, and the circular small teeth at the front of the short rod of the inner connecting rod 10 synchronously contact the edge of the same step. Due to the 180 - degree phase difference between the inner and outer connecting rods, when the outer connecting rod 11 is lifted upward, the inner connecting rod 10 exerts a downward pressure, forming an "up - lift - support" alternating force to push the whole body of the fuselage forward.

[0074] Obstacle - crossing transition stage: After 2 - 3 alternating movements, the corner of the double - connecting rod (the connection point of the short rod and the long rod) crosses the step. At this time, the long - rod part is parallel to the stair slope, and the fuselage moves up the slope stably. The elastic part 14 (hydraulic spring) expands and contracts in real time to offset the inclination angle of the fuselage, keeping the manned and cargo - carrying platform 13 always horizontal.

[0075] Details of the down - stair movement:

[0076] Tail - wing pre - support: When the fuselage reaches the top of the stairs, the tail - wing motor 12 drives the dynamic tail - wing 2 to rotate counter - clockwise by 90°, making its arc - shaped support surface (with a curvature radius matching the step edge) closely adhere to the plane of the next - level step to form a temporary fulcrum.

[0077] Connecting - rod alternating downward movement: The double - output - shaft motor 1 rotates in reverse, and the circular small teeth of the outer connecting rod 11 gradually disengage from the current step, while the tooth tip of the short rod of the inner connecting rod 10 engages with the edge of the next - level step. The center of gravity of the fuselage slowly moves down with the movement of the connecting rod, and the supporting force of the dynamic tail - wing 2 disperses the instantaneous load to avoid forward tilt.

[0078] Platform leveling and tail - wing recovery: When the fuselage is completely transitioned to the next - level step, the elastic part 14 adjusts the platform 13 to be horizontal, and the dynamic tail - wing 2 rotates back to its original position to prepare for the next cycle.

[0079] Embodiment 2: Coaxial double - group eccentric connecting - rod structure

[0080] Structure optimization and coordinated movement

[0081] As Figure 5 shown, this embodiment uses two groups of eccentric connecting rods arranged coaxially. Both the inner and outer connecting rods (outer connecting rod 2 and inner connecting rod 3) are located outside the fuselage, and phase synchronization is achieved through the coaxial transmission shaft. The installation positions of the eccentric parts 1 of the outer connecting rod 2 and the inner connecting rod 3 are 180 degrees apart, ensuring the absolute synchronization of the alternating movement of the two groups of connecting rods.

[0082] Motion characteristics:

[0083] Double-group collaborative obstacle crossing:

[0084] When going up the stairs, after the tip of the short rod of the outer link 2 engages with the step, the short rod of the inner link 3 immediately engages with the same step synchronously from the other side, forming a bilateral clamping force and significantly improving the climbing stability of the steps.

[0085] When going down the stairs, the two groups of links disengage from the steps alternately, and the supporting force of the dynamic tail fin 2 cooperates with the synchronous disengagement action of the bilateral links to reduce the shaking of the fuselage.

[0086] Phase forced locking: The coaxial drive shaft is rigidly connected to the eccentric part 1 through a keyway to ensure a constant 180-degree phase difference between the inner and outer links. Even when the load is uneven or the step height changes suddenly, the chain 4 forces the front and rear drive shafts to rotate synchronously to avoid unilateral jamming.

[0087] Application scenario: Suitable for narrow spiral staircases. The bilateral link design can adapt to environments where the steps are asymmetric left and right or partially damaged.

[0088] Embodiment 3: Four-motor-driven L-shaped link structure

[0089] Multi-motor synchronization and L-shaped obstacle crossing optimization

[0090] As Figure 6 shown, this embodiment uses four groups of double-output shaft motors 1 to drive four groups of drive shafts 8 respectively. The drive shafts 8 are synchronized throughout the shaft (the left-right and front-back phases are consistent) through the chain 4. The outer link 2 is designed as an L shape, with the short rod at a 60-degree angle to the horizontal plane and the long rod parallel to the horizontal plane. The side plate 1 is an L-shaped steel plate, which forms a rigid support frame with the outer link 2.

[0091] Action process and advantages:

[0092] Four-motor collaborative drive:

[0093] When going up the stairs, the four groups of motors start synchronously, and the tips of the short rods of the outer link 2 simultaneously engage with the edges of the steps from the four corners, forming a "four-point contact" support and significantly reducing the single-point stress.

[0094] The chain 4 connects the four groups of drive shafts 8 to ensure that the rotation angles of the four groups of outer links 2 are the same at any time, avoiding motion deviation caused by differences in motor speeds.

[0095] L-shaped structure obstacle crossing efficiency:

[0096] The 60-degree inclination angle of the short rod makes its tip easier to embed into the step gap, and the parallel design of the long rod quickly fits with the stair slope after crossing the obstacle, reducing the pitching angle of the fuselage.

[0097] The L-shaped structure of the side plate 1 contacts the side wall of the step during climbing, providing lateral limitation to prevent the fuselage from slipping sideways.

[0098] Adaptation to extreme environments: Suitable for slippery or ice / snow-covered stairs, the four-motor redundant design ensures that obstacle crossing can still be completed in case of a single motor failure.

[0099] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and not to limit them. Although the present invention has been described in detail with reference to the preferred embodiments, those of ordinary skill in the art should understand that the technical solutions of the present invention can be modified or equivalently replaced without departing from the purpose and scope of the present technical solution, and they should all be covered within the scope of the claims of the present invention.

Claims

1. A stable platform for carrying people and goods up and down stairs, characterized in that: include: A double-output shaft motor (1), the output end of which is connected to a transmission shaft (8) via a coupling (3); A parallelogram double-link obstacle-crossing mechanism is composed of an inner link (10) and an outer link (11) and connected to a transmission shaft (8), wherein the inner link (10) and the outer link (11) have a phase difference of 180 degrees, and the end of the outer link (11) is provided with a small circular tooth for engaging with the edge of a stair step; A synchronizing device, arranged on the transmission shaft (8), for ensuring synchronous movement of the double connecting rods; A machine body bottom plate (9) is arranged between the two inner connecting rods (10); The passenger and cargo carrying platform (13) is connected to the machine body bottom plate (9) via an elastic member (14) so ​​as to maintain a horizontal position during the process of ascending or descending stairs.

2. The stable stair-climbing platform for carrying people and goods according to claim 1 is characterized in that: The inner connecting rod (10) and the outer connecting rod (11) are connected to the transmission shaft (8) via an eccentric member (6).

3. The stable stair-climbing platform for carrying people and goods according to claim 1 is characterized in that: The synchronization device comprises a chain (4) and a gear (5), wherein the gear (5) is fixed on a transmission shaft (8) and is connected to the front and rear transmission shafts (8) via the chain (4).

4. The stable stair-climbing platform for carrying people and goods according to claim 1 is characterized in that: The vehicle also includes a dynamic tail wing (2) for adjusting the direction of the vehicle body when turning and providing support when going down stairs.

5. The stable stair-climbing platform for carrying people and goods according to claim 4 is characterized in that: The dynamic tail wing (2) is driven by a tail wing motor (12).

6. The stable stair-climbing platform for carrying people and goods according to claim 1, characterized in that: The passenger and cargo carrying platform (13) is connected to the machine body bottom plate (9) via a push rod or a hydraulic spring.

7. The stable stair-climbing platform for carrying people and goods according to claim 1, characterized in that: The short rod part of the double connecting rod is at an angle of 60 degrees to the horizontal plane, and the long rod part is parallel to the horizontal plane, forming an L-shaped structure.

8. A method for controlling the going up and down stairs of a manned and cargo-carrying platform according to any one of claims 1 to 7, characterized in that: The following steps are involved: The double-output shaft motor (1) drives the double connecting rods to move alternately, so that the circular small teeth of the outer connecting rod (11) and the inner connecting rod (10) alternately engage with the step edge; A synchronizing device is used to ensure that the front and rear transmission shafts (8) rotate in the same phase.

9. The control method according to claim 8, characterized in that: The stable stair-climbing platform for carrying people and goods comprises a dynamic tail (2) driven by a tail motor (12) for adjusting the direction of the machine body when turning and providing support when going down stairs; During the process of going up and down stairs, the dynamic tail wing (2) is rotated to a supporting position by the tail wing motor (12) to buffer the change of the center of gravity; The rotation angle range of the dynamic tail wing (2) is 0° to 90°, and its supporting surface is parallel to the plane of the stair step.

10. The control method according to claim 8, characterized in that: The stable stair-climbing platform for carrying people and goods comprises a stair-climbing platform (13), which is connected to the machine body bottom plate (9) via an elastic member (14) and remains horizontal during the stair-climbing process; During the process of going up and down stairs, the horizontal state of the passenger and cargo carrying platform (13) is adjusted in real time through the elastic member (14).

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