People and object carrying platform capable of stably going up and down stairs
By designing a double-link obstacle-crossing mechanism and a synchronization device, the stability and control complexity of mobile robots in stairwell environments are solved, achieving high safety and high efficiency operation of the manned and cargo-carrying platform, and adapting to various unstructured environments.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- SOUTHWEST UNIV
- Filing Date
- 2025-04-15
- Publication Date
- 2026-04-17
AI Technical Summary
Existing mobile robots suffer from poor stability, complex control, and high energy consumption in stairwell environments, making it difficult to balance safety and efficiency when carrying people or goods.
It adopts a double-link obstacle-crossing mechanism, combined with a synchronization device and a dynamic tail fin, and achieves center of gravity stability and platform level adjustment through mechanical design and control methods to adapt to different stair structures.
It achieves stable operation of carrying people and goods in stairwell environments, improves safety and motion continuity, reduces system complexity and energy consumption, and adapts to various unstructured environments.
Smart Images
Figure CN224131177U_ABST
Abstract
Description
Technical Field
[0001] This utility model belongs to the field of robotics technology and relates to a stable platform for carrying people and goods up and down stairs. Background Technology
[0002] With the rapid development of mobile robot technology, the demand for its application in unstructured environments (such as stairs and ramps) is increasing, especially in assisting the elderly and disabled with mobility and in the handling of heavy objects, demonstrating significant value. However, the adaptability of existing mobile robots in stairwell environments still faces significant challenges. Currently, the mainstream locomotion mechanisms are mainly divided into three categories: wheeled, tracked, and legged. All of these solutions have the problem of difficulty in balancing stability, safety, and structural complexity.
[0003] Wheeled robots, due to their simple structure, light weight, and high load capacity, have become a common solution in flat environments. However, their insufficient obstacle-crossing ability is particularly prominent in stairwell scenarios. Although wheeled designs can improve obstacle-crossing performance by increasing wheel diameter or using special wheel shapes, they are still prone to slipping and getting stuck when crossing steps, making it difficult to meet the requirements of continuously climbing multiple steps. Tracked robots, with their larger contact area and stronger obstacle-crossing ability, perform better than wheeled solutions in stairwell environments. However, they are heavy, consume more energy, and generate significant operating noise. Furthermore, the continuous friction between the tracks and the edges of the steps can lead to rapid wear of components. More importantly, tracked robots face a higher risk of tilting or tipping forward when the load is unbalanced or the center of gravity is too high during the descent of stairs, placing stringent requirements on safety and control precision. While legged robots can achieve high flexibility through biomimetic gait, their complex multi-degree-of-freedom joint structure leads to high manufacturing costs. Motion planning algorithms need to coordinate the gait phase of multiple legs in real time, making control extremely difficult. Furthermore, the periodic impact of the mechanical legs can easily cause platform vibration, making it difficult to ensure stability when carrying people or goods.
[0004] In existing technologies, some improvement schemes attempt to enhance stair-climbing capacity through hybrid locomotion mechanisms (such as wheel-track combination) or by adding auxiliary balancing devices. However, these designs often further increase system complexity and fail to fundamentally solve the problems of large center of gravity fluctuations and discontinuous movement. For example, some robots using telescopic legs can climb steps one by one, but their intermittent movement causes frequent platform tilting, resulting in insufficient stability when carrying loads. Other schemes that compensate for center of gravity shifts by tilting the platform are unable to adapt to stair structures of different heights due to response lag. In addition, the steering function of existing robots mostly relies on overall body deflection, which limits flexibility when operating in narrow stairwells, and buffer designs specifically designed to address the instantaneous center of gravity changes when descending stairs are still lacking. Utility Model Content
[0005] In view of this, the purpose of this utility model is to provide a simple, efficient, and continuous man-carrying and cargo-carrying platform that can adapt to the step structure during the process of going up and down stairs, suppress the fluctuation of the center of gravity through mechanical design, and at the same time take into account the load-bearing capacity and operational safety, so as to meet the rigid needs of special groups for travel and heavy object handling.
[0006] To achieve the above objectives, this utility model provides the following technical solution:
[0007] A stable platform for carrying people and goods up and down stairs includes: a base plate with side plates fixed on both sides; two sets of dual-output shaft motors connected to front and rear drive shafts; an inner connecting rod and an outer connecting rod rigidly connected to the drive shafts, the inner connecting rod and the outer connecting rod having a phase difference of 180 degrees, and the end of the outer connecting rod having a small circular tooth; a slide rail on the side plate, through which the inner connecting rod is slidably connected to the side plate; a synchronization device mounted on the drive shaft to ensure synchronous movement of the two connecting rods; and a carrying platform connected to the side plate via an elastic element, the elastic element adjusting the platform's level in real time according to the inclination angle of the steps.
[0008] Optional features include a dynamic tail fin for adjusting the aircraft's direction when turning and for providing support when descending stairs.
[0009] Optionally, the dynamic tail fin is hinged to the tail of the fuselage via a tail fin motor, and its supporting surface contacts the stair step.
[0010] Optionally, the support surface of the dynamic tail fin is an arc-shaped structure, the curvature of which matches the edge of the stair step.
[0011] Optionally, two sets of dual-output shaft motors are connected to the front and rear drive shafts respectively via couplings.
[0012] Optionally, the inner and outer connecting rods are rigidly connected to the drive shaft via an eccentric component.
[0013] Optionally, the eccentricity of the eccentric component is less than the step height, and the length of the short rod of the double connecting rod is 1 / 3 of the length of the long rod.
[0014] Optionally, the synchronization device includes gears and chains, with the gears fixed on the front and rear drive shafts and rotating synchronously via the chains.
[0015] Optionally, the manned and cargo-carrying platform is connected to the base plate of the machine body via push rods or hydraulic springs.
[0016] Optionally, the short rod portion of the double connecting rod has an angle of 60 degrees with the horizontal plane, while the long rod portion is parallel to the horizontal plane, forming an L-shaped structure.
[0017] The beneficial effects of this utility model are as follows:
[0018] This solution, through innovative mechanical structure and control methods, achieves stable operation of a passenger and cargo platform in a stairwell environment, significantly improving safety, motion continuity, and environmental adaptability, specifically in the following aspects:
[0019] 1. Core advantages of the dual-link obstacle-crossing mechanism
[0020] The parallelogram-shaped double-link obstacle-crossing mechanism employs a 180-degree phase difference between the inner and outer links. Dual-axis motors drive the links to move alternately, ensuring the small circular teeth at the ends of the outer links precisely engage with the edges of steps. This design significantly reduces the fluctuation of the robot's center of gravity during climbing, avoiding the risk of tipping or forward tilting caused by center of gravity shifts in traditional wheeled or tracked robots. Compared to the complex multi-degree-of-freedom legged structures in existing technologies, the double-link mechanism achieves continuous and stable obstacle-crossing motion through simple mechanical phase control, simplifying the control system and improving motion efficiency. Furthermore, the shorter part of the L-shaped link forms a 60-degree angle with the horizontal plane, while the longer part is parallel to the horizontal plane, optimizing the matching between obstacle-crossing height and step size, ensuring the platform maintains continuous motion when traversing steps of varying heights.
[0021] 2. Synergistic effect of synchronization device and dynamic tail fin
[0022] The synchronization device connects the front and rear drive shafts via chains and gears, forcibly synchronizing the rotational phase of the double linkages and completely eliminating the problem of asynchronous movement caused by mechanical errors or uneven loads. This design allows the platform to maintain symmetrical movement on both sides even in complex stairwell environments (such as uneven step heights or slippery surfaces), significantly improving its anti-interference capability. The introduction of the dynamic tail wing further enhances the system's safety: during the descent, the tail wing motor drives the dynamic tail wing to rotate to the support position, where its arc-shaped support surface closely fits the step plane, forming an instantaneous buffer and effectively suppressing vibrations or imbalances caused by the rapid downward shift of the center of gravity; during turning, the dynamic tail wing can flexibly adjust the robot's direction, solving the problem of operating in narrow spaces due to the reliance on overall deflection in traditional robots.
[0023] 3. Active leveling mechanism for manned and cargo transport platforms
[0024] The passenger and cargo platform is flexibly connected to the base plate via elastic components (such as hydraulic springs or electric actuators). Combined with real-time feedback control, it can dynamically adjust the platform's posture during stair climbing, maintaining a level position at all times. This design overcomes the limitations of passive tilt compensation in existing technologies, avoiding platform shaking caused by sudden changes in step height or load. It is particularly suitable for transporting people with mobility impairments or precision instruments. The damping characteristics of the elastic components also absorb impact energy during movement, further enhancing ride comfort.
[0025] 4. Structural simplification and energy efficiency optimization
[0026] Compared to the high energy consumption of tracked robots and the complex transmission systems of legged robots, this solution employs a dual-output-shaft motor directly driving a dual-linkage structure, significantly reducing mechanical complexity and manufacturing costs. The compact design of the synchronization device and eccentric components further reduces space occupation, making the overall platform structure lightweight while maintaining strong load-bearing capacity. Furthermore, the on-demand drive strategy of the dynamic tail fin (such as activating only when turning or descending stairs) reduces ineffective energy consumption and extends battery life, making it suitable for extended outdoor operations or emergency rescue scenarios.
[0027] 5. Wide range of environmental adaptability
[0028] Through the adaptive engagement of the circular teeth with the edge of the steps, 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 a promising platform for applications in fields such as elderly care and disability assistance, logistics handling, and disaster relief.
[0029] In summary, this solution, through the deep integration of mechanical design and control algorithms, solves the pain points of existing mobile robots in stairwell environments, such as poor stability, complex control, and high energy consumption. It achieves a balance of high safety, high efficiency, and low cost in carrying people and goods, providing reliable technical support for the travel of special groups and the handling of heavy objects.
[0030] Other advantages, objectives, and features of this invention will be set forth in part in the description which follows, and in part will be apparent to those skilled in the art from the following examination and study, or may be learned from practice of this invention. The objectives and other advantages of this invention can be realized and obtained through the following description. Attached Figure Description
[0031] To make the objectives, technical solutions, and advantages of this utility model clearer, the preferred embodiments of this utility model will be described in detail below with reference to the accompanying drawings, wherein:
[0032] Figure 1 This is a schematic diagram of the overall internal structure of this solution;
[0033] Figure 2 This is a schematic diagram of the robot in its overall flat terrain state;
[0034] Figure 3 A schematic diagram of a robot going up and down stairs;
[0035] Figure 4 A schematic diagram of the rear wing support for the vehicle body as it descends the stairs.
[0036] Figure 5 This is a schematic diagram of Example 2;
[0037] Figure 6 This is a schematic diagram of Example 3.
[0038] Reference numerals: 1 Dual-shaft motor, 2 Dynamic tail fin, 3 Coupling, 4 Chain, 5 Gear, 6 Eccentric component, 7 Side plate, 8 Drive shaft, 9 Fuselage base plate, 10 Inner connecting rod, 11 Outer connecting rod, 12 Tail fin motor, 13 Manned / cargo platform, 14 Elastic component. Detailed Implementation
[0039] The following specific examples illustrate the implementation of this utility model. Those skilled in the art can easily understand other advantages and effects of this utility model from the content disclosed in this specification. This utility model can also be implemented or applied through other different specific embodiments, and various details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of this utility model. It should be noted that the illustrations provided in the following embodiments are only schematic representations of the basic concept of this utility model. Unless otherwise specified, the following embodiments and features can be combined with each other.
[0040] The accompanying drawings are for illustrative purposes only and are schematic diagrams, not actual pictures. They should not be construed as limiting the present invention. To better illustrate the embodiments of the present invention, some parts in the drawings may be omitted, enlarged, or reduced, and do not represent the actual product dimensions. It is understandable to those skilled in the art that some well-known structures and their descriptions may be omitted in the drawings.
[0041] In the accompanying drawings of this utility model, the same or similar reference numerals correspond to the same or similar components. In the description of this utility model, it should be understood that if terms such as "upper," "lower," "left," "right," "front," and "rear" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, they are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, the terms used to describe positional relationships in the drawings are only for illustrative purposes and should not be construed as limiting this utility model. For those skilled in the art, the specific meaning of the above terms can be understood according to the specific circumstances.
[0042] Please see Figures 1-6 This is a stable human- and cargo-carrying robot that can climb stairs. Its core structure and operating mechanism are as follows:
[0043] 1. Overall structural composition
[0044] like Figure 1As shown, the robot includes the following main components:
[0045] Dual-shaft motor 1: As a power source, its output end is connected to the transmission shaft 8 through coupling 3 to drive the double linkage mechanism.
[0046] Parallelogram double-link obstacle-crossing mechanism: It consists of an inner link 10 and an outer link 11, with a fixed phase difference of 180 degrees between them. The outer link 11 has a small circular tooth at its end for engaging the edge of the stair step.
[0047] Synchronization device: includes gear 5 and chain 4. Gear 5 is fixed on the front and rear drive shafts 8 and connected by chain 4 to ensure that the drive shafts 8 on both sides rotate in the same phase.
[0048] Eccentric component 6: connects the drive shaft 8 and the outer connecting rod 11. Its eccentricity is designed to be small in order to reduce the fluctuation of the center of gravity during the movement.
[0049] Dynamic tail wing 2: Driven by tail wing motor 12, it is used for steering adjustment and to provide support and cushioning when going down stairs.
[0050] The manned and cargo-carrying platform 13 is flexibly connected to the base plate 9 of the machine body through an elastic element 14 (such as an electric push rod or a hydraulic spring) to adjust the level of the platform in real time.
[0051] Side plate 7: Fixed to both sides of the base plate 9 of the machine body, and fits in close contact with the inner connecting rod 10 to ensure 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 has a 60-degree angle with the horizontal plane, which is used to precisely engage the edge of the step.
[0055] The long section is parallel to the horizontal plane and adapts to the slope of the staircase.
[0056] The process of going up the stairs:
[0057] The dual-output shaft motor 1 drives the transmission shaft 8 to rotate, which in turn drives the outer connecting rod 11 to move periodically through the eccentric component 6.
[0058] The small circular teeth at the front of the short rod of the outer connecting rod 11 engage first with the edge of the first step, and the inner connecting rod 10 engages synchronously thereafter (with a phase difference of 180 degrees).
[0059] Through several alternating movements, the double-linkage mechanism crosses the steps at the corner, with the long link section parallel to the staircase slope, and the machine body steadily ascends along the slope.
[0060] The elastic element 14 adjusts the manned and cargo-carrying platform 13 to a horizontal state in real time to ensure stable cargo loading.
[0061] The 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 into the step plane to form a buffer.
[0063] The alternating motion of the two linkages guides the fuselage downwards, while the small circular teeth suppress the forward tilt of the center of gravity.
[0064] The elastic element 14 synchronizes with the leveling platform 13, and the dynamic tail fin 2 retracts after the fuselage tilts, completing the stepped transition.
[0065] 3. Synergistic effect of synchronization device and dynamic tail fin
[0066] The synchronization device forces the front and rear drive shafts 8 to rotate in the same phase through the chain 4, eliminating motion deviation caused by uneven load.
[0067] The dynamic tail fin 2 adjusts the fuselage direction when turning and provides instantaneous support when going down stairs. Its rotation angle range is 0° to 90°, and the curvature of the support surface matches the edge of the step.
[0068] Example 1: Basic Double Linkage Synchronous Drive Structure
[0069] Structural composition and operation process
[0070] like Figure 1 As shown, in this embodiment, the upper end of the outer connecting rod 11 is hinged to the eccentric member 6, and the lower end of the eccentric member 6 is rigidly fixed to the transmission shaft 8. The transmission shaft 8 is directly connected to the output end of the dual-output shaft motor 1 through the coupling 3. The upper end of the inner connecting rod 10 is welded to the transmission shaft 8 through the eccentric member 6, and its inner plane is tightly fitted with the side plate 7 to ensure that the inner connecting rod 10 moves synchronously with the machine body.
[0071] Details of climbing stairs:
[0072] Initial drive phase: Dual-shaft motor 1 starts, driving transmission shaft 8 to rotate clockwise. Eccentric component 6 rotates with transmission shaft 8, causing outer connecting rod 11 to move in a circle with the eccentricity as the radius. At this time, the small circular teeth at the front of the short rod of outer connecting rod 11 first contact the edge of the first step. The 60-degree angle between the short rod and the horizontal plane ensures that the tooth tips are precisely embedded in the step gap.
[0073] Alternating engagement phase: After the small circular teeth of the outer connecting rod 11 are fully engaged with the step, the drive shaft 8 rotates 180 degrees, and the small circular teeth at the front of the short rod of the inner connecting rod 10 simultaneously contact the edge of the same step. Since the phase difference between the inner and outer connecting rods is 180 degrees, when the outer connecting rod 11 is lifted upward, the inner connecting rod 10 applies downward pressure, forming an alternating "lifting-supporting" force, which propels the entire machine body forward.
[0074] Obstacle crossing transition phase: After 2-3 alternating movements, the double-link corner (the connection point between the short and long links) crosses the step. At this point, the long link is parallel to the staircase slope, and the machine body steadily ascends along the slope. The elastic element 14 (hydraulic spring) extends and retracts in real time to counteract the tilt angle of the machine body, ensuring that the personnel and cargo platform 13 remains level at all times.
[0075] Details of descending stairs:
[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 90° counterclockwise, so that its arc-shaped support surface (the radius of curvature matches the edge of the step) is in close contact with the plane of the next step, forming a temporary fulcrum.
[0077] The connecting rods alternate downwards: the dual output shaft motor 1 reverses, the small circular teeth of the outer connecting rod 11 gradually disengage from the current step, and the tips of the short teeth of the inner connecting rod 10 engage with the edge of the next step. The fuselage center of gravity slowly shifts downwards with the movement of the connecting rods, and the supporting force of the dynamic tail fin 2 disperses the instantaneous load, preventing forward tilting.
[0078] Platform leveling and tail fin recovery: When the fuselage has fully transitioned to the next step, the elastic element 14 adjusts the platform 13 to a horizontal position, and the dynamic tail fin 2 rotates and resets, preparing for the next cycle.
[0079] Example 2: Coaxial Double-Set Eccentric Connecting Rod Structure
[0080] Structural optimization and coordinated action
[0081] like Figure 5 As shown, this embodiment employs two sets of coaxially arranged eccentric connecting rods. Both the outer connecting rod (outer connecting rod 2) and the inner connecting rod (inner connecting rod 3) are located on the outer side of the machine body, achieving phase synchronization through a coaxial transmission shaft. The eccentric components 1 of the outer connecting rod 2 and the inner connecting rod 3 are installed at 180-degree differences, ensuring absolute synchronization of the alternating movements of the two sets of connecting rods.
[0082] Action characteristics:
[0083] Two-team cooperative obstacle crossing:
[0084] When climbing stairs, after the tip of the short rod of the outer connecting rod 2 engages with the step, the short rod of the inner connecting rod 3 immediately engages with the same step from the other side, forming a double-sided clamping force, which significantly improves the stability of climbing stairs.
[0085] When descending the stairs, the two sets of linkages alternately disengage from the steps. The supporting force of the dynamic tail fin 2 works in conjunction with the synchronous disengagement action of the linkages on both sides to reduce fuselage sway.
[0086] Phase-forced locking: The coaxial drive shaft is rigidly connected to the eccentric component 1 via a keyway, ensuring a constant 180-degree phase difference between the inner and outer connecting rods. Even under uneven loads or sudden changes in step height, chain 4 forces the front and rear drive shafts to rotate synchronously, preventing unilateral jamming.
[0087] Application scenarios: Suitable for narrow spiral staircases; the double-sided connecting rod design can adapt to environments with asymmetrical steps or partial damage.
[0088] Example 3: Four-motor driven L-shaped linkage structure
[0089] Multi-motor synchronization and L-shaped obstacle crossing optimization
[0090] like Figure 6 As shown, this embodiment uses four sets of dual-output shaft motors 1, which drive four sets of transmission shafts 8 respectively. The transmission shafts 8 are synchronized across the entire shaft (left and right and front and back phases are consistent) through chains 4. The outer connecting rod 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 together with the outer connecting rod 2 forms a rigid support frame.
[0091] Action flow and advantages:
[0092] Four-motor coordinated drive:
[0093] When going up the stairs, the four sets of motors start simultaneously, and the short rod teeth of the outer connecting rod 2 simultaneously engage with the edge of the step from the four corners, forming a "four-point contact" support, which greatly reduces the stress at a single point.
[0094] Chain 4 connects four sets of drive shafts 8 to ensure that the rotation angle of the four sets of external connecting rods 2 is consistent at any time, avoiding motion deviation caused by differences in motor speed.
[0095] L-shaped structure obstacle crossing performance:
[0096] The 60-degree tilt of the short pole makes it easier for the tooth tips to embed into the gaps in the steps, while the parallel design of the long pole allows it to quickly fit into the slope of the stairs after overcoming obstacles, reducing the pitch angle of the fuselage.
[0097] The L-shaped structure of side panel 1 contacts the side wall of the step during climbing, providing lateral restraint and preventing the fuselage from sliding sideways.
[0098] Extreme environment adaptation: Suitable for wet, slippery or snow-covered stairs, the four-motor redundancy design ensures that obstacle crossing can still be completed when a single motor fails.
[0099] Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of this utility model and are not intended to limit it. Although this utility model has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solution of this utility model without departing from the spirit and scope of this technical solution, and all such modifications or substitutions should be covered within the scope of the claims of this utility model.
Claims
1. A people and cargo carrying platform for stable stair climbing, characterized by, include: The base plate (9) has side plates (7) fixed on both sides. Two sets of dual-output shaft motors (1) are connected to the front and rear drive shafts (8); The inner connecting rod (10) and the outer connecting rod (11) are rigidly connected to the transmission shaft (8). The phase difference between the inner connecting rod (10) and the outer connecting rod (11) is 180 degrees. The end of the outer connecting rod (11) is provided with a small circular tooth. The side plate (7) is provided with a slide rail. The inner connecting rod (10) is slidably connected to the side plate (7) through the slide rail. A synchronization device is installed on the transmission shaft (8) to ensure the synchronous movement of the two connecting rods; The loading platform is connected to the side plate (7) by an elastic element, which adjusts the platform level in real time according to the inclination angle of the steps.
2. The stair climbing, people-carrying platform as claimed in claim 1, characterized in that It also includes a dynamic tail fin (2) for adjusting the direction of the aircraft when turning and for providing support when going down stairs.
3. The stair climbing, people and cargo carrying platform of claim 2, wherein, The dynamic tail fin (2) is hinged to the tail of the fuselage via a tail fin motor (12), and its support surface is in contact with the stair steps.
4. The stair climbing, people and cargo carrying platform of claim 2, wherein, The supporting surface of the dynamic tail fin (2) is an arc-shaped structure, and its curvature matches the edge of the stair step.
5. The stair climbing, people-carrying platform of claim 1, wherein, Two sets of dual-output shaft motors (1) are connected to the front and rear drive shafts (8) respectively via couplings (3).
6. The stair climbing, people-carrying platform of claim 1, wherein, The inner connecting rod (10) and the outer connecting rod (11) are rigidly connected to the drive shaft (8) through the eccentric part (6).
7. The stable stair-climbing and cargo-carrying platform according to claim 6, characterized in that, The eccentricity of the eccentric component (6) is less than the step height, and the length of the short rod of the double connecting rod is 1 / 3 of the length of the long rod.
8. The stair climbing, people-carrying platform of claim 1, wherein, The synchronization device includes a gear (5) and a chain (4). The gear (5) is fixed on the front and rear drive shafts (8) and rotates synchronously through the chain (4).
9. The stair climbing, people-carrying platform of claim 1, wherein, The manned and cargo platform (13) is connected to the base plate (9) of the machine body by a push rod or a hydraulic spring.
10. The stair climbing, people-carrying platform of claim 1, wherein, The short rod of the double connecting rod forms a 60-degree angle with the horizontal plane, while the long rod is parallel to the horizontal plane, forming an L-shaped structure.