161 results about "Stairs climbed" patented technology

The stair-climbing apparatus has a series of articulating wheel sets extending below the platform. All of the wheel sets are vertically adjustable to negotiate stairways and similar changes of elevation. The lead wheel set is fixed longitudinally relative to the platform, while following wheel sets are longitudinally adjustable to adjust for the pitch or slope of different stairways. The apparatus uses sensors (e.g., mechanical, infrared, ultrasonic, etc.) to detect the presence of the stair risers and their height, control of the assembly being accomplished by a control circuit on board the machine. The wheel sets are raised and lowered independently of one another by pantograph mechanisms extending between the platform and the wheel sets. The horizontally adjustable wheel sets are positioned by a longitudinally disposed rack on the platform.

The invention relates to a stair-climbing method for a crawler-type mobile robot with guide arms, which is characterized by comprising the following steps: step one: the robot moves near the stair, the guide arms rotate downward; the robot is lifted after being contacted with the stair step and climbs the stair forward; when an ultrasonic and infrared distance-measuring sensor on the robot measures that the distance between the robot and the object at the front is larger than the width of the stair step and judges that the robot climbs to the top of the stair, the robot can stop climbing; step two: the guide arms rotate downward till the front ends of the guide arms are contacted with the ground; when the rotating shafts of the guide arms generate torque M which is larger than the set value, the guide arms stop rotating, the robot climbs upward continuously, the guide arms are separated from the ground with the climbing of the robot, the torque M disappears and the robot stops climbing; step three: the step two is repeated, a two-dimensional attitude sensor measures that the inclined angle Phi between the body and the horizontal plane is reduced with the climbing of the robot, and when the robot climbs continuously till the inclined angle Phi is not reduced, the robot stops climbing, the guide arms rotate backward and stop rotating when the inclined angle Theta between the guide arms and the body is 45 degrees.

A transportation vehicle and methods for transporting persons, robots or cargo, and more particularly motorized vehicles, and methods for transporting over surfaces, including surfaces such as floors, roads, paths and sidewalks, and surfaces having obstacles or inclined surfaces and for enabling the ascending or descending of stairs without tilting while supporting a user or a load on a frame. The vehicle uses horizontal extending and retracting rods and vertical extending and retracting rods to pass over an obstacle or ascend or descend stairs. The horizontal extending and retracting rods are used as mechanisms to move the first set of ground contacting modules located to the fore of the vehicle or the last set of ground contacting modules located to the aft of the vehicle in a fore-aft plane to pass over an obstacle or to position the first set or last set of ground contacting modules upon a stair to be used for ascending and descending stairs. The vertical extending and retracting rods are used to raise or lower the frame, to raise or lower individual ground contracting members and to keep the vehicle stable.

The invention discloses a three-foot stair climbing device for helping the elder and the disabled in a corridor and an implementing method of the three-foot stair climbing device. A gravity adjusting device, a battery module and a control system are arranged in a working table, and according to the gravity adjusting device, a stepping motor is adopted to drive a lead screw to adjust the front-back position, relative to the working table, of a mass block, so that the stability of the gravity of the device in the stair climbing process is ensured; according to a front-back and up-down telescopic device, three main electric push rods vertically distributed are adopted so that three feet can ascend or descend, and two auxiliary electric push rods horizontally arranged are adopted so that the three feet can move horizontally in the stair climbing process; according to a driving traveling device, a rear wheel hub motor is adopted for driving, front wheels and middle wheels are steering wheels, a ratchet mechanism capable of being opened or closed is arranged on each wheel, on one hand, the safety of the stair climbing process is ensured, on the other hand, ratchet reverse locking is used for cooperating with the auxiliary electric push rods to achieve different moving combinations of the three feet, the three-foot stair climbing device can assist in stair climbing and can be used for riding instead of walking on the flat ground, the posture is horizontal in the stair climbing process, the gravity of the device is adjustable, three-foot stair climbing device is stable and reliable, and the wheels have the ratchet reverse locking function and are good in safety.

An extension / retraction cylinder stops or starts tilting the platform of the stair-climbing wheelchair carrier based on a detection signal from an inclination sensor provided in the crawler drive unit. When the crawler drive unit is detected to be not tilted, the tilting motion of the platform is stopped at an intermediate angle (e.g. 20°) of a maximum preset angle (e.g. 40°). When the crawler drive unit is detected to be tilted, the platform is tilted up to the maximum preset angle, and as soon as the crawler drive unit is detected not to be tilted after tilting, the platform is driven so as to decrease its inclination angle relative to the crawler drive unit. Thus, a comfortable and usable stair-climbing wheelchair carrier can be provided.

The invention provides an intelligent stair climbing walking replacing machine, which is characterized by comprising a controller, wherein the controller is arranged on a support frame, an automatic stair climbing conveying mechanism, a pedal folding mechanism and an upper and lower box door opening and closing mechanism are arranged in the support frame, the automatic stair climbing conveying mechanism comprises an upper starting switch and a lower starting switch, a chain speed regulating motor, an upper chain shaft and a lower chain shaft are arranged in the support frame, the upper chain shaft and the lower chain shaft are provided with an inclined conveying chain, a slide plate is arranged on a slide rail arranged on the support frame, a slide block is arranged under the slide rail arranged on the support frame, a pedal and an armrest rod are arranged on the slide plate, the pedal folding mechanism comprises an installing seat, a rotating rod connected under the pedal is matched with the installing seat through a rotating shaft, a pedal speed regulating motor is arranged on the slide plate and is used for driving the rotating shaft, the upper and lower box door opening and closing mechanism comprises a support frame upper guide rail and an upper box door speed regulating motor, an upper guide rod is connected onto the upper guide rail, an upper box door is arranged on the upper guide rod, an upper rack is arranged on the inner wall of the upper box door, an upper box door gear is connected onto the upper box door speed regulating motor and is engaged with the upper rack, the support frame is provided with a lower guide rail and a lower box door speed regulating motor, a lower guide rod is connected onto the lower guide rail, a lower box door is arranged on the lower guide rod, a lower rack is arranged on the inner wall of the lower box door, and a lower box door gear connected with the lower box door speed regulating motor is engaged with the lower rack.

A stairs-climbing trolley comprises a compartment, a bottom plate and wheels disposed under the bottom plate. A carrier is fixed to the lower end of the compartment. Two sides of the tail end of the carrier are provided with a pair of lugs. The tail end of the bottom plate is movably connected with the lugs of the carrier through a rotating shaft. The middle of the bottom end of the carrier is connected with the bottom plate through a telescopic bar. Each wheel structure comprises a central spindle and wheel sets, each which is composed of three planetary wheels and two of which are arranged on two sides of the central spindle; the three planetary wheels are evenly distributed at 120-degree angles around the central spindle. The stairs-climbing trolley can travel on the horizontal roads and can also climb a slope or stairs; during climbing the stairs, the trolley can keep articles in the compartment stably and rarely turned over; the stairs-climbing trolley is simple in structure and low in manufacturing costs and can help people climb upstairs and downstairs with less labor consumed and conveniences brought.

The invention provides an intelligent stair cleaning robot and a control method and a control system thereof. The intelligent stair cleaning robot comprises a lifting mechanism, a lifting platform and a cleaning mechanism; the lifting platform can move up and down along the lifting mechanism; the cleaning mechanism is mounted on the lifting platform; the movement mechanism is mounted at the bottom of the lifting mechanism. The intelligent stair cleaning robot can move in any direction flexibly, including in the stair width direction and along the front and back defense lines, the intelligent stair cleaning robot can be applicable to stars with corners, the stair climbing function can be realized in a reliable manner, including climbing upstairs and downstairs, the environment can be sensed by a distance sensor so as to adjust the stair climbing height and the advancing movement distance, and the intelligent stair cleaning robot can be suitable for stairs of different sizes.

The invention aims to provide an inner planetary gear type stair climbing device which is formed by wheels and a vehicle body. The vehicle body is connected with the wheels. Under the action of manpower, the operation of climbing up and down stairs is realized. Each wheel consists of a rubber tire, an annular gear, a planet carrier, a gear shaft system and a roller shaft system, wherein the rubber tire is connected with the annular gear; the annular gear is connected with the gear shaft system; and the gear shaft system and the roller shaft system are connected with the planet carrier, so that the stable and non-impact operation that the inner planetary gear type stair climbing device continuously climbs up and down the stairs is realized. For the the inner planetary gear type stair climbing device disclosed by the invention, due to the adoption of an nner planetary gear transmission mechanism and a centreless shaft design, the automatic switching of traveling on the flat ground and climbing up and down the stairs is realized by the manpower, and the wheels are in real-time contact with the ground in the process of climbing up and down the stairs so that the rigid impact is eliminated. The inner planetary gear type stair climbing device disclosed by the invention has no requirement on the sizes of a tread and a kicking surface of a step, can be widely applied to a stair climbing machine, a stair climbing cart, a stair climbing wheelchair and a luggage, has simple structure and low cost and is universal for various steps. The invention provides an effective solution for transportation under various conditions of climbing up and down the stairs.

A stair climbing wheelchair carrier operable by an unassisted wheelchair user is provided. The carrier includes a crawler drive unit and a carrying unit. The carrying unit includes a carrier main frame whose position is adjustable up and down relative to the crawler drive unit, an anchor unit for securely holding the back of the wheelchair set in a wheelchair mounting position on the carrier main frame, and a holding and moving unit for holding the wheelchair on the ground in the front part of the crawler drive unit and for moving the wheelchair to the wheelchair mounting position that is in the rear part of the crawler drive unit as the wheelchair user tilts the wheelchair backward by shifting the body weight. This stair climbing wheelchair carrier allows even a wheelchair with a relatively short front to back length to be mounted in the rear part of the carrier for stable transport up and down stairs.

The invention provides a stair climbing robot and a stair climbing control method thereof. Two sets of supporting mechanisms perform stair climbing movement relative to a machine body under the driveof a support driving wheel, a support driven wheel and lifting mechanisms, or the support driving wheel and a chassis driving wheel perform horizontal movement relative to the ground under the drive of a motor. The stair climbing robot is composed of the liftable supporting mechanisms with front and rear height differences, the supporting mechanisms lift the robot while descending, the lifted robot moves horizontally back and forth under the drive of wheel sets, and the two sets of lifting mechanisms perform alternate supporting and transverse-moving, so that the continuous lifting or loweringof multi-step steps is smoothly, rapidly and efficiently realized, and the function of ascending and descending stairs is completed

The invention relates to a portable semi automatic ladder climbing cart. Bottom plate installs with motor, worm decelerator and bracket, motor connected to the decelerator through the coupler, each set having a support shaft between two brackets, one end of the rocking bar hinges with each bracket shaft, the other in slide connection with one end of the sleeve barrel, crank at both ends of output shaft of the decelerator hinges with the bottom of the sleeve barrel, two support wheels installed outside the top of the sleeve barrel, two big wheels installed at both sides of the frame bottom plate, and two universal wheel installed at both sides of the bottom of the frame close to the motor. With the movement of the crankshaft, the support wheel moves in crescent shape. The support wheel sticks out to put on a ladder to pull up the small cart. When the support wheel is higher, it extracts to put the small cart on the ladder below.

The object of the invention is a stair-climbing device (1) for moving a wheelchair (2) on stairs by means of muscular force of a person sitting on the wheelchair (2) or by means of an electric drive assembly (76) without the assistance of third party. The stair-climbing device (1) comprises two crawler units (89), which are connected with each other by a drive axle (44); connecting units comprising an attachment devices (17) mountable on each hub of the main wheel (4) of the wheelchair (2) and a holders (26) for rotational mounting on the main wheel (4) to each attachment device (17) and comprising main arms (31) mounted slidingly in the holders (26) and rotationally connected at one its end with the main axle (44) for manual changing a position of the stair-climbing device (1) in relation to the wheelchair (2) between a transport mode position, stair-climbing mode position and optionally landing mode, if the landing mode is present; a levelling units (105) for setting the attached wheelchair (2) in a horizontal position during stair climbing. The invention also includes a wheelchair (2) suitable for attaching a stair-climbing device (1), wherein the wheelchair (2) comprises a frame (6), main wheels (4), front wheels (5), a seat (3) and a back-rest (8). Moreover, the invention includes a wheelchair (2) with a mounted stair-climbing device (1).

The invention aims to provide an Archimedes spiral wheel and double-rocker mechanism for a stair climbing trolley, which reflects brand new concepts on automation up and down stairs and has stable and continuous motion. The Archimedes spiral wheel and double-rocker mechanism consists of Archimedes spiral trilobed wheels and a double-rocker mechanism, which are connected. The Archimedes spiral wheel and double-rocker mechanism for the stair climbing trolley is applied to a stair cleaning robot which is provided with two sets of transmission mechanisms, a main motor is meshed with a driving centre shaft through a gear, and then four chain wheels on the centre shaft drive four Archimedes spiral trilobed wheels to move respectively. The Archimedes spiral wheel and double-rocker mechanism for the stair climbing trolley has the advantages of stable and continuous motion, strong bearing capacity and running on the flat ground. The invention provides a movable working platform for climbing the stairs, which is convenient to convey up and down the stairs. The mechanism is applied to cleaning the stairs.

The invention discloses a stair-climbing control method of a tracked mobile robot. The tracked mobile robot comprises a front wheel, a rear wheel and a track coating the front wheel and the rear wheel, and is characterized in that the front wheel is provided with a double-rod arm with a controllable rotating angle; the centre-of-gravity position of the tracked mobile robot is elevated step by step through adjusting the rotating angle of the double-rod arm to finish the climbing. The invention provides a step climbing control method which is suitable for a small-sized tracked mobile robot which is relatively small in size and cannot realize step self-climbing by a traditional control method. The new control method provided by the invention can realize the function that the small-sized tracked mobile robot climbs the stairs. During the process that the robot climbs the stairs, the robot realizes self control through a self carried sensor and can effectively avoid the time delay problem, and the control precision is improved.

The invention provides a transmission component for stairs climbing wheelchairs, as well as a gear and rack set thereof. The invention belongs to a transmission component for stairs climbing equipment, and particularly applies to a wheelchair transmission component moving in a straight line along an inclined track and in a curve along a steering track. The transmission component for stairs climbing wheelchairs comprises a transmission gear and a transmission rack, wherein the transmission rack is arranged on a track which can be fixed with stairs, and the gear is arranged on a fixed box capable of installing the wheelchair through a main transmission shaft and mutually meshes with the transmission rack on the track. In the gear and rack set, the gear consists of a roller wheel and movable teeth arranged on the roller wheel, and the movable teeth consist of a mandrel fixedly arranged on the roller wheel and a toothed sleeve which is sleeved on the mandrel and can rotate around the mandrel. The transmission component can effectively improve the steadiness degree of wheelchair transmission operation and the safety of the stairs climbing wheelchairs.

Provided is an imitated human foot type stair-climbing wheelchair. A first chair foot of the stair-climbing wheelchair comprises a first control rod, a first movable hinge, a second movable hinge, a first track, a first push rod, a first transverse rod, a first telescopic rod and a first telescopic rod control rod, wherein the first telescopic rod control rod is installed at the upper end of the first control rod, the first control rod is connected with a first armrest through the first movable hinge, the first control rod is connected with the first push rod through the second movable hinge, the first push rod is connected with the first track through a moving pair, the first track is welded on a chair body, the first transverse rod and the first push rod are welded together to form a whole, the first telescopic rod is welded at an appropriate position below the first push rod. A second chair foot is completely identical to the first chair foot in structure and is installed on the plane different from the first chair foot. The imitated human foot type stair-climbing wheelchair is manually operated, can roll on the ground, can also achieve imitated human foot type stair climbing and is light to operate, simple and convenient.

The invention discloses an electric stair climbing wheelchair, which comprises a chair body, planetary wheel groups, a driving mechanism and chair surface adjusting mechanisms, wherein a planetary wheel group is arranged on left and right sides below a chair surface respectively, and is connected integrally through a transmission shaft; a wheel disc frame of each planetary wheel group is a regular geometric plate or a radioactive column; a planetary wheel is arranged at a distal end; the chair surface adjusting mechanisms are arranged one after the other below the chair surface; the main body of each chair surface adjusting mechanism has an oblong-shaped frame structure; the back end of each chair surface adjusting mechanism is hinged on the back part of a chair frame; and the middle front part of each chair surface adjusting mechanism is hinged with the chair frame through a push-pull rod. The electric stair climbing wheelchair disclosed by the invention has a relatively simple structure, is convenient to operate, runs stably, and is safe and reliable.

The invention discloses a microminiature robot capable of walking up and down stairs automatically and belongs to the technical field of investigation, search and rescue. The robot comprises a tracked movable chassis, a stair climbing support component and a control component, wherein the tracked movable chassis enables the robot to travel on a flat ground, the stair climbing support component enables the tracked movable chassis to rise, fall and move horizontally relative to the stair climbing component, and the control component controls the movement of the tracked movable chassis and the stair climbing support component and detects the positions of the tracked movable chassis and the stair climbing support component relative to steps. According to the robot, the function of walking up and down stairs is realized automatically; the stair climbing component is additionally arranged based on an existing minitype tracked robot chassis, and the robot chassis can be raised upwards and pushed forwards to a step plane and a support can be retracted by means of the stair climbing support component; by the adoption of the structure and the operation scheme, the microminiature robot can walk up and down stairs.

The invention relates to a folding type transversely-moving electric stair climbing wheelchair. The folding type transversely-moving electric stair climbing wheelchair comprises stair climbing control handles, a seat frame, a backrest frame, armrests, a pedal, a stair climbing motor, front legs and rear legs, and is characterized in that walking push handles are arranged on the backrest frame; the stair climbing control handles are arranged at the front end of the seat frame; the rear legs can rise and fall; front stair climbing wheels, rear stair climbing wheels and antiskid positioning legs are arranged at the bottom of the seat frame; stair climbing legs are arranged on the two sides of the seat frame and are each composed of a horizontal rod, a fixed vertical leg and a length-adjustable vertical leg; a main shaft and an auxiliary shaft are arranged on the seat frame, the main shaft is connected with the stair climbing motor, the two ends of the main shaft are connected with one end of a main shaft crank, the two ends of the auxiliary shaft are connected with one end of an auxiliary shaft crank, the other end of the main shaft crank is connected with a horizontal rod, and the other end of the auxiliary shaft crank is connected with the horizontal rod; in the unfolded state, the backrest frame leans backwards in a flat and straight mode, the stair climbing control handles lean upwards towards the front, a headrest is arranged on the upper portion of the backrest frame, and the armrests and the pedal are horizontally arranged; in the folded state, the headrest is detached, the backrest frame is turned backwards to be vertical, the stair climbing control handles are turned backwards to be horizontal, the armrests are turned backwards to be in the same plane as the backrest frame, and the pedal is turned backwards to be vertical.

The invention discloses a planetary wheel type obstacle crossing robot stair climbing control method. The planetary wheel type obstacle crossing robot stair climbing control method comprises the following steps that (1) an obstacle crossing robot keeps moving forwards at a constant speed linearly, the distance between two planetary wheel sets of the same driving set and a step in the front as well as the rotating speed of the planetary wheel sets are measured, and the deflection angle is calculated; (2) the theoretical rotating speed of both the planetary wheel sets is calculated, and the planetary wheel sets move at the calculated rotating speed; (3) the L1 and the L2 in the current are detected, and the current deflection angle theta is calculated; (4) whether the current deflection angle theta exceeds the preset value or not is judged, if yes, the step (2) is executed again, and if not, the robot is controlled to continue to move forward at the constant speed linearly; (5) whether the two planetary wheel sets arrive at the step or not is judged, if not, the robot continues to move forward at the constant speed linearly, and if yes, the two planetary wheel sets turns over together to cross the step; and (6) whether the two planetary wheel sets arrive at the destination or not is judged, if yes, the steps from (1) to (5) are repeated, and if yes, the robot is stopped moving. The planetary wheel type obstacle crossing robot stair climbing control method has the advantages that control operation is simple, and the steering precision is high.

The invention relates to a portable folding caterpillar band type stairs climbing chair. The chair is provided with a chair back frame, wherein a lower end hinge fixing piece is fixed at the lower end of the chair back frame, and is hinged to a bottom chair wheel fixing frame; universal supporting wheels are arranged at the front part of the bottom chair wheel fixing frame; rear chair wheels are arranged at the rear part of the bottom chair wheel fixing frame; a rear chair wheel middle fixing shaft is arranged between the rear chair wheels; a folding type pedal rack is further arranged at the front part of the bottom chair wheel fixing frame; a caterpillar band stairs climbing device is further arranged on the lower end hinge fixing piece; sliding chutes through which a deploying and retracting frame slides up and down are formed in the caterpillar band stairs climbing device; the caterpillar band stairs climbing device is fixed on the rear surface of the chair back frame through the deploying and retracting frame. The portable folding caterpillar band type stairs climbing chair is suitable for being used by old people and disabled people who are unable to move freely, and has the advantages of scientific and reasonable structural design, steady work, convenience for operation, safety and reliability.

The invention discloses an auxiliary stair climbing device, and belongs to the field of auxiliary devices. The auxiliary stair climbing device comprises a shell, an upstairs constraint part and a downstairs control part, wherein a transmission shaft is arranged in the shell through a first bearing pack; a ratchet wheel, and a gear matched with a rack at the top of a guide rail are arranged on thetransmission shaft; a dismounting part is mounted on the first side wall of the shell; a second bearing matched with the bottom of the guide rail is installed on the inner side wall of the dismountingpart and the inner side wall of the second side wall of the shell; the second side wall is opposite to the first side wall, and the rotating plane of the second bearing is parallel to the rotating plane of the gear and the ratchet wheel; the upstairs constraint part comprises a first movable rod penetrating through the third side wall of the shell and capable of doing linear motion; the third side wall is adjacent to the first side wall; one end of the first movable rod is an inclined surface matched with the ratchet wheel; a first bulge is arranged on the first movable rod positioned in theshell; a first spring is arranged on the first movable rod between the first bulge and the third side wall; and a handle part extending outwards towards the second side wall is arranged outside the shell.

The invention discloses an automatic stairs climbing and stairs step sweeping device, which comprises a vehicle frame, a garbage can, a front wheel walking device, a back wheel walking device, a cleaning device, a cam connecting rod device and a support mechanism, wherein the garbage can is arranged above the vehicle frame; the front wheel walking device and the back wheel walking device are correspondingly arranged at the front end and the back end of the vehicle frame; the cleaning device is arranged at the front part of the vehicle frame and is used for stairs sweeping; the cam connecting rod device is arranged on the vehicle frame, is connected with the front wheel walking device, and is harmoniously matched with the front wheel walking device for realizing the stairs step climbing action; the support mechanism is connected with the vehicle frame, and is also harmoniously matched with the front wheel walking device to work for achieving the effect of temporarily supporting the whole device; the stairs climbing and stairs cleaning action coordination of the whole device, and the turning at the stairs platform part are transferred through collected information; a PLC (programmable logic controller) issues a command to automatically complete each action. The automatic stairs climbing and stairs step sweeping device has the advantages that the automatic stairs climbing sweeping work is realized; the problem of manual stairs cleaning difficulty is solved; the operation is simple; the dismounting and the mounting are convenient; safety and reliability are realized.

The invention relates to a stair-climbing wheelchair which comprises a seat, power wheels and a supporting frame, wherein the seat is arranged above the supporting frame and supported by the supporting frame, and the power wheels are respectively arranged at the rear parts of the two sides of the seat; meanwhile, the stair-climbing wheelchair also comprises rocking levers respectively arranged the two sides of the seat, a chain wheel drive device, a crawler-type bearing wheels, a worm wheel and a worm, wherein the worm is meshed with the worm wheel; the base end of the worm is connected with the chain wheel drive device arranged on the supporting frame; the worm wheel is connected with the power wheels by virtue of the worm so as to adjust the steering angles of the power wheels; one end of the crawler-type bearing wheel is fixedly connected with the chain wheel drive device, the crawler-type bearing wheel is connected with the front end of the supporting frame and the power wheels byvirtue of a crawler, and belt wheels are respectively arranged at the joint of the crawler and the supporting frame and the joints of the crawler and the power wheels. By using the stair-climbing wheelchair provided by the invention, the problem that people suffering lower limb disabilities or incapable of walking normally duo to injuries are difficult to carry out daily travel and walk up and down the stairs can be solved; the stair-climbing wheelchair is simple and reasonable in structure and low in cost; and because of being driven by human power, the wheelchair is energy-saving and environmentally-friendly.

The invention discloses a stair climbing wheelchair capable of crossing obstacles. The stair climbing wheelchair comprises a chair part, a switching mechanism and an auxiliary standing mechanism, wherein the switching mechanism is arranged below the chair part, and is used for switching between roller transmission and the crawler wheel transmission of the stair climbing wheelchair capable of crossing obstacles; the crawler wheel transmission is provided with a first crawler wheel and a second crawler wheel which are connected with each other through a connecting bracket; and the auxiliary standing mechanism is arranged on the lower side of the chair part, and is used for assisting a user in standing. In the horizontal moving process of the stair climbing wheelchair capable of crossing obstacles, the first crawler wheel is positioned in front of the second crawler wheel; and in a stair climbing process, the second crawler wheel is positioned in front of the first crawler wheel. Due to the adoption of the stair climbing wheelchair capable of crossing obstacles, switching between roller transmission and crawler wheel transmission can be realized; and meanwhile, the auxiliary standing mechanism is used for assisting a user in standing, so that the safety and comfort of the stair climbing wheelchair capable of crossing obstacles are enhanced, and the ascending, descending and obstacle crossing stability is ensured.

The invention discloses a stair cleaning device. The stair cleaning device comprises two stair climbing mechanism symmetrically arranged at intervals, wherein cleaning mechanisms are vertically arranged between the two stair climbing mechanisms, and each stair climbing mechanism comprises two movably connected travel wheel groups respectively arranged in front and rear parts; each travel wheel group comprises two stair climbing expansion links that are vertically arranged in parallel, and a transverse connection rod is horizontally arranged between the two stair climbing expansion links; a wheel support is arranged at the lower end of each stair climbing expansion link; wheels are rotationally connected to the wheel supports; and a wheel travel motor is fixedly installed on each wheel support, and the output end of the wheel travel motor is fixedly connected to the corresponding wheel. According to the stair cleaning device, the two stair climbing mechanisms are arranged in front and rear parts, and the stair climbing expansion links are arranged in the stair climbing mechanisms, so that when the cleaning device travels to the lower side of a stair, the stair climbing expansion links are extended and retracted to drive the wheels to lift up along a stair surface, and thus automatic lifting of the cleaning devices is achieved; and the cleaning mechanisms are arranged between thestair climbing mechanism, so that cleaning of the floor and corridor stairs is achieved.