This invention relates to a stair climbing assistance device, comprising a frame body unit, a driving unit, a position limiting unit, and a climbing unit. The frame body unit comprises a frame and a pair of moving wheels. The driving unit comprises a driving motor disposed to the frame, an outputting shaft driven by the driving motor, and a pair of cranks respectively disposed to two opposite ends of the outputting shaft. Each crank has an axis end sleeved to the outputting shaft and a swinging end away from the axis end. The position limiting unit is disposed to the frame. The climbing unit comprises a pair of leg rods respectively connected to those cranks and the position limiting unit. The driving motor can drive the outputting shaft to rotate, so as to couple those cranks and further drive those leg rods to swing, thereby enabling those leg rods to climb the stair.一種攀階輔助裝置,包含一架體單元、一驅動單元、一限位單元,及一爬升單元。該架體單元包括一框架,及一對移動輪。該驅動單元包括一設置於該框架的驅動馬達、一受該驅動馬達驅動的輸出軸,及一對分別設置於該輸出軸兩相反端的曲柄,每一曲柄具有一套設於該輪出軸的軸心端,及一遠離該軸心端的擺動端。該限位單元設置於該框架。該爬升單元包括一對分別連接於該等曲柄與該限位單元的腳桿。其中,該驅動馬達能夠驅動該輸出軸轉動,而連動該等曲柄進而帶動該等腳桿擺動,以讓該等腳桿能攀爬該階梯。2‧‧‧架體單元21‧‧‧框架211‧‧‧板本體212‧‧‧馬達固定座213‧‧‧彎管22‧‧‧移動輪23‧‧‧承載座231‧‧‧椅座部24‧‧‧拖拉握把組241‧‧‧連接座242‧‧‧套管25‧‧‧前導輪3‧‧‧驅動單元31‧‧‧驅動馬達32‧‧‧輸出軸33‧‧‧曲柄331‧‧‧軸心端332‧‧‧擺動端4‧‧‧限位單元41‧‧‧限位擺臂5‧‧‧爬升單元51‧‧‧腳桿511‧‧‧接抵段512‧‧‧驅動段513‧‧‧防滑腳套L‧‧‧軸線
