Obstacle crossing wheelchair

Abstract

The utility model discloses an obstacle crossing wheelchair which comprises a rack and a seat, the seat is fixed on the rack, the left side and the right side of the rack are respectively provided with a caterpillar band assembly and a wheel-caterpillar band switching device, the wheel-caterpillar band switching device is arranged on the outer side of the caterpillar band assembly, and the wheel-caterpillar band switching device is fixedly connected with the rack through a box body. The wheel-track switching device comprises a shape sealing type cam connecting rod mechanism, a crank rocker assembly and a motor assembly, the shape sealing type cam connecting rod mechanism is arranged in the box body, the crank rocker assembly is arranged below the box body and movably connected with the shape sealing type cam connecting rod mechanism, and the motor assembly comprises a first motor, a second motor and a third motor. The first motor is arranged below the rack and electrically connected with the shape sealing type cam connecting rod mechanism, the second motor is fixedly arranged on the box body and electrically connected with the first rocker, and the third motor is fixedly arranged on the wheel; according to different terrains, the wheelchair walks through the wheels and the crawler belts, and the antiskid plates enable the wheelchair to be stably fixed in situ to wait for rescue.

Description

Technical Field

[0001] The utility model relates to the technical field of wheelchairs, in particular to an obstacle-crossing wheelchair. Background Art

[0002] Electric wheelchairs were created to help people with limited mobility and improve their quality of life and independence. Currently, they are widely used and their technology is constantly improving.

[0003] Turning to modern times, with the advancement of science and technology and the development of society, the design and technology of electric wheelchairs are constantly innovating. At present, electric wheelchairs not only use high-performance power drive devices, intelligent control devices and batteries, but also new products such as smart wheelchairs and shared wheelchairs, which greatly enrich the market and user choices. In addition, due to the increasing aging of the population, the demand for electric wheelchairs is also growing, and the market space is huge.

[0004] Traditional electric wheelchairs generally have difficulty in overcoming obstacles, but due to their own structural defects and limited power, the convenience and safety of overcoming obstacles cannot be well guaranteed. It is necessary to improve the walking ability and safety performance of electric wheelchairs. Utility Model Content

[0005] In view of the above situation, it is necessary to provide an obstacle-crossing wheelchair to address the problems of walking ability and safety performance of electric wheelchairs in the prior art.

[0006] A wheelchair for overcoming obstacles comprises a frame and a seat, wherein the seat is fixed on the frame, and track assemblies and wheel-track switching devices are provided on the left and right sides of the frame, wherein the wheel-track switching device is arranged on the outside of the track assembly, and the wheel-track switching device is fixedly connected to the frame through a box body, and the wheel-track switching device comprises a form-sealed cam-link mechanism, a crank rocker assembly and a motor assembly, wherein the form-sealed cam-link mechanism is arranged in the box body, and the crank rocker assembly is arranged below the box body, and the crank rocker assembly is movably connected to the form-sealed cam-link mechanism, and the crank rocker assembly comprises a first rocker and an anti-skid plate, wherein the anti-skid plate is fixed on the first rocker, and a wheel is provided at the lower end of the first rocker, and the motor assembly comprises a first motor, a second motor and a third motor, wherein the first motor is arranged below the frame, and the first motor is electrically connected to the form-sealed cam-link mechanism, the second motor is fixed on the box body, and the second motor is electrically connected to the first rocker, and the third motor is fixed on the wheel, and the third motor is used to drive the wheel.

[0007] The utility model can use different walking modes for different terrains, and walking is achieved through wheels and tracks respectively. When the terrain is flat, the wheels are driven to walk by the third motor, and at this time the track assembly is suspended from the ground. When the terrain is complex, the walking mode is switched from wheels to tracks, and the first motor drives the form-sealed cam connecting rod mechanism to move downward, and the second motor drives the first rocker arm rotating pair to move, and the wheels and the anti-skid plate are retracted into the box body, and the bottom surface of the box body gradually approaches the ground. After the track contacts the ground, the anti-skid plate is parallel to the ground. When the wheelchair needs to pass through stairs, the wheelchair may slip due to power. At this time, the first motor drives the form-sealed cam connecting rod mechanism to drive the crank rocker arm mechanism to move downward, and the anti-skid plate is quickly lowered and contacts the stairs to increase friction, so as to steadily fix the wheelchair in place and wait for rescue.

[0008] Furthermore, the track assembly includes a driving wheel, a guide wheel and a plurality of load-bearing wheels, the driving wheel and the guide wheel are respectively arranged above the load-bearing wheels, the driving wheel is connected to the fourth motor, the fourth motor is arranged on the frame, the guide wheel is fixed to the frame through a connecting shaft, the driving wheel is arranged behind the guide wheel, a load-bearing bracket is fixedly connected to the bottom of the frame, a plurality of the load-bearing wheels are fixedly connected to the load-bearing bracket through electromagnetic shock absorbers, and the driving wheel, the guide wheel and the load-bearing wheels are connected through tracks.

[0009] The utility model realizes the wheelchair walking on the crawler tracks through the cooperation of the driving wheels, the guide wheels and the load-bearing wheels with the crawler tracks.

[0010] Furthermore, the form-sealed cam-link mechanism includes a cam assembly, an oil tank and a transverse support shaft, the cam assembly is provided on both sides of the oil tank, the cam assembly includes a cam housing and a cam, the cam is provided in the cam housing, the cam housing extends downward to form an extension portion, the extension portion is vertically fixed to the transverse support shaft, both ends of the transverse support shaft protrude out of the housing body, a platform portion is provided at the lower end of the transverse support shaft, the extension portion is movably connected to the platform portion, a first damper is provided between the platform portion and the transverse support shaft, and the oil tank is connected to the second motor.

[0011] In the utility model, the first motor drives the cam to drive the cam housing to move, the movement trajectory of the cam housing is a plane quadrilateral, the extension part and the platform part are connected by bolts, the transverse support shaft is a virtual constraint, and the transverse support shaft performs reciprocating linear motion back and forth in the box body to improve the supporting rigidity and movement stability of the cam housing.

[0012] Furthermore, the crank rocker assembly also includes a first connecting rod and a first crank rod, one end of the first connecting rod is connected to the wheel, the other end of the first connecting rod is movably connected to the first crank rod, and the first rocker is movably connected to the bottom surface of the platform part.

[0013] In the utility model, the first rocker, the first connecting rod and the first crank rod cooperate, and the first rocker is connected to the bottom surface rotation pair of the platform part to realize the contraction and extension of the wheel.

[0014] Furthermore, the wheel-track switching device also includes a piston assembly, which includes a hydraulic cylinder, a piston rod and a piston head. The hydraulic cylinder is connected to the oil tank, and the piston head is arranged in the hydraulic cylinder. The piston head is fixedly connected to one end of the piston rod, and the other end of the piston rod is respectively connected to the first connecting rod and the first crank rod. The end of the hydraulic cylinder away from the piston rod is fixedly connected to the second connecting rod, and the second connecting rod is movably connected to the box body.

[0015] According to the utility model, the second connecting rod is connected to the rotating pair of the box body. When the hydraulic rod is working, the movement of the piston is realized by changing the flow of hydraulic oil in the hydraulic cylinder. When the hydraulic oil enters the hydraulic cylinder, the piston moves the hydraulic rod outward, thereby generating thrust; when the hydraulic oil is discharged from the hydraulic cylinder, the piston head retracts inward, and the hydraulic rod stops pushing. While the piston rod moves, it drives the first connecting rod and the first crank rod connected to the hydraulic rod to shrink and expand.

[0016] Furthermore, a second damper and a placement groove are respectively provided at both ends below the platform portion, the second damper is provided between the second motor and the placement groove, and the size of the placement groove is larger than the size of the wheel.

[0017] The utility model drives the first rocker arm to rotate the pair connection through the second motor, so that the first rocker arm drives the wheel to shrink into the placement groove. During the shrinkage of the wheel, the second damper is used to buffer the first rocker arm pair.

[0018] Furthermore, the frame is provided with a center of gravity adjustment mechanism, which includes a base, and a support shaft and a transmission shaft relatively parallel to the base, the support shaft is provided with a movably connected hydraulic push rod, the transmission shaft is fixed with a support rod, and the top of the hydraulic push rod and the top of the support rod are respectively fixedly connected to the seat.

[0019] According to the utility model, when passing through an obstacle, such as stairs, the fifth motor drives the transmission shaft to rotate, and the transmission shaft drives the base to change the fixed angle, so that the center of gravity of the seat is adjusted forward relative to the frame, and the hydraulic push rod is also extended synchronously to move the seat to a horizontal position consistent with the stair surface.

[0020] Furthermore, the seat includes a base plate, a backrest plate and a leg rest plate, the backrest plate and the leg rest plate are movably connected to the two ends of the base plate respectively, armrests are provided on the left and right sides of the seat, a accommodating cavity is provided under the armrests, a table top is provided in the accommodating cavity, and the table top is slidably connected to the accommodating cavity.

[0021] In the utility model, when the wheelchair is overcoming obstacles or making an emergency stop, the user may lean forward and away from the wheelchair due to inertia, gravity and the like. A table board is provided in the armrest box to protect the user. Of course, items can also be placed on the table board.

[0022] Furthermore, the handrail on one side is provided with a control end, and the control end is electrically connected to the track assembly and the wheel-track switching device respectively.

[0023] The utility model switches the walking mode of the wheelchair through the control end and realizes the forward movement, backward movement and turning of the wheelchair.

[0024] Furthermore, a headrest is provided above the backrest board, a sun visor is provided above the headrest, and the sun visor is connected to the backrest board through a third connecting rod.

[0025] The utility model provides a better use experience for the user by arranging the headrest and the sun visor. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 It is a front view of the overall structure of the first embodiment of the utility model;

[0027] Figure 2 It is a rear view of the overall structure of the first embodiment of the utility model;

[0028] Figure 3 This is a schematic diagram of the structure of the center of gravity adjustment assembly of the first embodiment of the utility model;

[0029] Figure 4 This is a schematic diagram of the crawler structure installed on the frame of the first embodiment of the utility model;

[0030] Figure 5 This is a schematic diagram of the structure of the frame mounting tracks and wheels of the first embodiment of the utility model;

[0031] Figure 6 It is a structural schematic diagram of the wheel-track switching device of the first embodiment of the utility model.

[0032] Reference numerals: 1, frame; 11, center of gravity adjustment mechanism; 12, base; 13, support shaft; 14, hydraulic push rod; 15, transmission shaft; 16, support rod;

[0033] 2. Seat; 21. Bottom plate; 22. Backrest plate; 23. Leg support plate; 24. Armrest; 25. Accommodation cavity; 251. Table plate; 26. Control terminal; 27. Headrest; 28. Sun visor; 29. ​​Third connecting rod;

[0034] 3. Track assembly; 31. Driving wheel; 32. Guide wheel; 33. Load-bearing wheel; 34. Load-bearing bracket; 35. Electromagnetic shock absorber; 36. Track;

[0035] 4. Wheel-track switching device; 40. Box body; 41. Shape-sealed cam-connecting rod mechanism; 42. Crank rocker assembly; 421. First rocker; 422. Anti-skid plate; 423. First connecting rod; 424. First crank rod; 43. Motor assembly; 431. First motor; 432. Second motor; 433. Third motor; 44. Wheel; 45. Cam assembly; 451. Cam housing; 452. Cam; 453. Extension; 46. Oil tank; 461. Oil pipe; 47. Transverse support rod; 48. Platform part; 481. First damper; 482. Second damper; 483. Mounting groove; 49. Piston assembly; 491. Hydraulic cylinder; 492. Piston head; 493. Piston rod; 494 Second connecting rod. DETAILED DESCRIPTION

[0036] In order to facilitate the understanding of the present invention, the present invention will be described more fully below with reference to the relevant drawings. The drawings provide embodiments of the present invention. However, the present invention can be implemented in many different forms and is not limited to the embodiments described herein. On the contrary, the purpose of providing this embodiment is to make the disclosure of the present invention more thorough and comprehensive.

[0037] It should be noted that when an element is referred to as being "fixed to" another element, it may be directly on the other element or there may be a central element. When an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be a central element at the same time. The terms "vertical", "horizontal", "left", "right" and similar expressions used herein are for illustrative purposes only.

[0038] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those generally understood by technicians in the technical field of the present invention. The terms used herein in the specification of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention. The term "and / or" used herein includes any and all combinations of one or more related listed items. In addition, the various embodiments of the present invention, the features in the embodiments, and the features of the embodiments can be freely combined without obvious conflicts or contradictions.

[0039] A wheelchair for overcoming obstacles, such as Figures 1 to 6 As shown, it includes a frame 1 and a seat 2, the seat 2 is fixed on the frame 1, and track assemblies 3 and wheel-track switching devices 4 are provided on the left and right sides of the frame 1, and the wheel-track switching device 4 is arranged on the outside of the track assembly 3.

[0040] Specifically, the upper end of the track assembly 3 is connected to the bottom of the frame 1, and the track assembly 3 includes a driving wheel 31, a guide wheel 32 and a load-bearing wheel 33. The driving wheel 31 and the guide wheel 32 are respectively arranged above the load-bearing wheel 33, and the driving wheel 31 is connected to the fourth motor (not shown), and the fourth motor is arranged on the frame 1. The guide wheel 32 is fixed to the frame 1 through a connecting shaft, and the driving wheel 31 is arranged behind the guide wheel 32. A load-bearing bracket 34 is fixedly connected to the lower part of the frame 1, and the load-bearing wheel 33 is fixedly connected to the load-bearing bracket 34 through an electromagnetic shock absorber 35. The driving wheel 31, the guide wheel 32 and the load-bearing wheel 33 are connected through a track 36.

[0041] Specifically, the wheel-track switching device 4 is fixedly connected to the frame 1 through a box body 40, and the wheel-track switching device 4 includes a form-sealed cam-connecting rod mechanism 41, a crank rocker assembly 42 and a motor assembly 43. The form-sealed cam-connecting rod mechanism 41 is arranged in the box body, and the crank rocker assembly 42 is arranged below the box body. The form-sealed cam-connecting rod mechanism 41 is movably connected to the crank rocker assembly 42.

[0042] Specifically, the form-sealed cam-link mechanism 41 includes a cam assembly 45, an oil tank 46, a transverse support shaft 47 and a platform portion 48. Cam assemblies 45 are provided on both sides of the oil tank 46. The cam assembly 45 includes a cam housing 451 and a cam 452. A cam 452 is provided in the cam housing 451. An extension portion 453 is formed downwardly in the cam housing 451. The extension portion 453 is vertically fixed to the transverse support shaft 47. A platform portion 48 is provided at the lower end of the transverse support shaft 47. The extension portion 453 is movably connected to the platform portion 48. A first damper 481 is provided between the transverse support shaft 47 and the platform portion 48. The oil tank 46 is connected to the second motor 432. A second damper 482 and a mounting groove 483 are respectively provided at both ends below the platform portion 48. The second damper 482 is provided between the second motor 432 and the mounting groove 483.

[0043] Specifically, the crank rocker assembly 42 includes a first rocker 421, an anti-skid plate 422, a first connecting rod 423 and a first crank rod 424. The anti-skid plate 422 is fixed parallel to the first rocker 421, one end of the first rocker 421 is provided with a wheel 44, one end of the first connecting rod 423 is connected to the wheel 44, the other end of the first connecting rod 423 is movably connected to one end of the first crank rod 424, and the other end of the first crank rod 424 is connected to the bottom surface rotating pair of the platform portion 48.

[0044] Specifically, the wheel-track switching device 4 also includes a piston assembly 49, which includes a hydraulic cylinder 491, a piston head 492 and a piston rod 493. The hydraulic cylinder 491 is connected to the oil tank 46, and the piston head 492 is arranged in the hydraulic cylinder 491. One end of the hydraulic cylinder 491 away from the piston rod 493 is fixedly connected to the second connecting rod 494, the piston head 492 is fixedly connected to one end of the piston rod 493, and the other end of the piston rod 493 is respectively connected to the first connecting rod and the first crank rod, and the second connecting rod 494 is connected to the rotating pair of the box body 40.

[0045] Specifically, the motor assembly 43 includes a first motor 431, a second motor 432 and a third motor 433. The first motor 431 is arranged under the frame, the first motor 431 is electrically connected to the cam 452, the second motor 432 is fixed to the lower end of the box 40, the second motor 432 is electrically connected to the first rocker 421, and the third motor 433 is fixed on the wheel 44, and the third motor 433 is electrically connected to the wheel 44.

[0046] Specifically, the seat 2 includes a base plate 21, a backrest plate 22 and a leg support plate 23, the backrest plate 22 and the leg support plate 23 are movably connected to the two ends of the base plate 21 respectively, armrests 24 are provided on the left and right sides of the seat 2, a receiving cavity 25 is provided below the armrest 24, a table plate 251 is provided in the receiving cavity 25, the table plate 251 is slidably connected to the receiving cavity 25, and the table plate 251 can be pulled out along the slide rail on the inner wall of the receiving cavity 25, a control end 26 is provided near one side of the armrest 25, the control end 26 is electrically connected to the track assembly 3 and the wheel-track switching device 4, a headrest 27 is provided above the backrest plate, a sun visor 28 is provided above the headrest 27, and both ends of the sun visor 28 are connected to the two sides of the upper end of the backrest plate 22 through a third connecting rod 29.

[0047] Specifically, a center of gravity adjustment mechanism 11 is provided in the middle position of the frame 1, and the center of gravity adjustment mechanism 11 includes a base 12, and a support shaft 13 and a transmission shaft 15 relatively parallel to the base. A movably connected hydraulic push rod 14 is provided on the support shaft 13, and a support rod 16 is fixed on the transmission shaft 15. The top of the hydraulic push rod 14 and the top of the support rod 16 are respectively fixedly connected to the seat 2.

[0048] Specifically, the transmission shaft 15 is connected to the fifth motor (not shown) arranged on the frame 1. The fifth motor drives the transmission shaft 15 to rotate the support rod 16, thereby driving the seat 2 to move and adjust the front and rear position of the seat 2 relative to the frame 1. The hydraulic push rod 14 is hinged to the support shaft 13. The hydraulic push rod 14 moves up and down to adjust the angle of the seat 2 relative to the ground so that the seat always remains level.

[0049] Specifically, when the wheel 44 is needed to be used as a walking mode, the track 36 contacts the ground, the wheel 44 is placed in the placement groove 483, the first rocker 421, the first connecting rod 423 and the first crank rod 424 are retracted below the platform portion 48, and the cam 452 is driven by the first motor 431 to drive the cam housing 451 to move. The motion trajectory of the cam housing 450 is a plane quadrilateral, the extension portion 453 is connected to the platform portion 48 by bolts, and the transverse support shaft 47 is a virtual constraint. The transverse support shaft 47 makes a reciprocating linear motion back and forth in the box body 40 to improve the supporting rigidity and movement stability of the cam housing 451. When a certain height is reached, the control end 26 controls the second motor 432 to drive the first rocker 421 to drive the wheel 44 from the placement groove 483. The wheel 44 moves outward and the second damper 482 is used to buffer the first rocker arm 421 during the contraction process. The first rocker arm 421 is gradually expanded, and the movement of the piston is realized by changing the inflow and outflow of the hydraulic oil in the hydraulic cylinder 491. When the hydraulic oil enters the hydraulic cylinder 491, the piston head 492 moves the hydraulic rod 493 outward, thereby generating a thrust. The hydraulic rod 493 drives the first connecting rod 423 and the first crank rod 424 to gradually expand, and then the first connecting rod 423 and the first crank rod 424 are collinear, and finally reach the dead point position. The first rocker arm 421, the first connecting rod 423 and the first crank rod 424 form a rigid truss, and the entire wheelchair is propped up. The track 36 is off the ground, and the rigid truss supports the wheelchair and drives the wheel 44 to walk by controlling the third motor 433.

[0050] Specifically, when the track 36 is needed to be used as a walking mode, the wheel 44 contacts the ground, and when the hydraulic oil is discharged from the hydraulic cylinder 491, the piston head 492 is retracted inward, and the hydraulic rod 493 stops pushing. While the piston rod 493 moves, the piston rod 493 contracts and drives the crank-connecting rod mechanism 42 to pass the dead point position, and then the second motor 432 drives the first rocker 421 to rotate, and finally the wheel 44 enters the mounting groove 482 of the platform part 48. At this time, the anti-skid plate 422 is parallel to the ground. In this process, the track 36 gradually contacts the ground from a suspended state. After the wheel 44 completes the contraction, the driving wheel 31 is driven by the fourth motor (not shown), and at the same time, the guide wheel 32 and the load-bearing wheel 33 cooperate with the track to realize the walking of the track 36.

[0051] Specifically, the obstacle is overcome by walking on the tracks 36. When the obstacle is a staircase, the transmission shaft 15 drives the support rod 16 to rotate, thereby driving the seat 2 to move, adjusting the front and rear position of the seat 2 relative to the frame 1, and realizing the front and rear adjustment of the center of gravity of the wheelchair relative to the frame 1, so as to prevent the wheelchair from tipping over and falling over due to unstable center of gravity when overcoming obstacles. The hydraulic push rod 14 is hinged to the support shaft 13, and the hydraulic push rod 14 moves up and down to adjust the angle of the seat 2 relative to the ground, so that the seat always remains horizontal; when overcoming obstacles, the wheelchair may slip due to power. At this time, the first motor 431 drives the sealed cam connecting rod mechanism 41 to drive the crank rocker rod mechanism 42 to move up and down, and the anti-slip plate 422 is quickly lowered and contacts the stairs to increase friction, so that the wheelchair stays steadily in place and waits for rescue.

[0052] Specifically, due to inertia, gravity and the like, the body may lean forward and away from the wheelchair. A table top 251 is provided in the accommodating cavity 25 below the armrest 24 to protect the user. Of course, items can also be placed on the table top 251. In addition, a headrest 27 and a sun visor 28 are provided to provide the user with a better user experience.

[0053] The utility model can use different walking modes for different terrains, and walking is achieved by wheels 44 and tracks 36 respectively. When the terrain is flat, walking is achieved by wheels 44, and tracks 36 are suspended from the ground. When the terrain is complex, the walking mode is switched from wheels 44 to tracks 36, and the anti-skid plate 422 is parallel to the ground. When the wheelchair needs to pass through stairs, the wheelchair may be unbalanced or slip. At this time, the first motor 431 drives the sealed cam connecting rod mechanism 41 to drive the crank rocker mechanism 42 to move up and down, and the anti-skid plate 422 is quickly lowered and contacts the stairs to increase friction, so as to stably fix the wheelchair in place and wait for rescue; in addition, the posture adjustment mechanism 11, the table board 251, the headrest 27 and the sun visor 285 can provide a better experience for the user.

[0054] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the utility model. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0055] The above-mentioned embodiments only express the implementation methods of the utility model, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the patent of the utility model. It should be pointed out that, for ordinary technicians in this field, several modifications and improvements can be made without departing from the concept of the utility model, and these all belong to the protection scope of the utility model. Therefore, the protection scope of the utility model patent shall be based on the attached claims.

Claims

1. An obstacle-crossing wheelchair, comprising a frame and a seat, wherein the seat is fixed to the frame, and characterized in that: The wheel-track switching device is provided on opposite sides of the frame, the wheel-track switching device is provided on the outside of the wheel-track switching device, and the wheel-track switching device is fixedly connected to the frame through a box body. The wheel-track switching device comprises a form-sealed cam connecting rod mechanism, a crank rocker assembly and a motor assembly. The form-sealed cam connecting rod mechanism is arranged in the box body, the crank rocker assembly is arranged below the box body, the crank rocker assembly is movably connected to the form-sealed cam connecting rod mechanism, the crank rocker assembly comprises a first rocker and an anti-skid plate, the anti-skid plate is fixed on the first rocker, and a wheel is provided at the lower end of the first rocker. The motor assembly comprises a first motor, a second motor and a third motor, the first motor is arranged below the frame, the first motor is electrically connected to the form-sealed cam connecting rod mechanism, the second motor is fixed on the box body, the second motor is electrically connected to the first rocker arm, the third motor is fixed on the wheel, and the third motor is used to drive the wheel.

2. The obstacle-crossing wheelchair according to claim 1, characterized in that: The track assembly includes a driving wheel, a guide wheel and a plurality of load-bearing wheels, the driving wheel and the guide wheel are both arranged above the load-bearing wheel, the driving wheel is connected to the fourth motor, the fourth motor is arranged on the frame, the guide wheel is fixed to the frame through a coupling, the driving wheel is arranged behind the guide wheel, a load-bearing bracket is fixedly connected to the bottom of the frame, and a plurality of the load-bearing wheels are fixedly connected to the load-bearing bracket through electromagnetic shock absorbers.

3. The obstacle-crossing wheelchair according to claim 1, characterized in that: The form-sealed cam-link mechanism includes a cam assembly, an oil tank and a transverse support shaft, the cam assembly is provided on both sides of the oil tank, the cam assembly includes a cam housing and a cam, the cam is provided in the cam housing, the cam housing extends downward to form an extension portion, the extension portion is vertically fixed to the transverse support shaft, both ends of the transverse support shaft protrude out of the housing body, a platform portion is provided at the lower end of the transverse support shaft, the extension portion is movably connected to the platform portion, a first damper is provided between the platform portion and the transverse support shaft, and the oil tank is connected to the second motor.

4. The obstacle-crossing wheelchair according to claim 3, characterized in that: The crank rocker assembly also includes a first connecting rod and a first crank rod, one end of the first connecting rod is connected to the wheel, the other end of the first connecting rod is movably connected to the first crank rod, and the first rocker is movably connected to the bottom surface of the platform part.

5. The obstacle-crossing wheelchair according to claim 4, characterized in that: The wheel-track switching device also includes a piston assembly, which includes a hydraulic cylinder, a piston rod and a piston head. The hydraulic cylinder is connected to the oil tank, and the piston head is arranged in the hydraulic cylinder. The piston head is fixedly connected to one end of the piston rod, and the other end of the piston rod is respectively connected to the first connecting rod and the first crank rod. The end of the hydraulic cylinder away from the piston rod is fixedly connected to the second connecting rod, and the second connecting rod is movably connected to the box body.

6. The obstacle-crossing wheelchair according to claim 4, characterized in that: A second damper and a placement groove are provided at both ends below the platform portion. The second damper is provided between the second motor and the placement groove. The size of the placement groove is larger than the size of the wheel.

7. The obstacle-crossing wheelchair according to claim 1, characterized in that: The frame is provided with a center of gravity adjustment mechanism, which includes a base, and a support shaft and a transmission shaft relatively parallel to the base, the support shaft is provided with a movably connected hydraulic push rod, the transmission shaft is fixed with a support rod, and the top of the hydraulic push rod and the top of the support rod are respectively fixedly connected to the seat.

8. The obstacle-crossing wheelchair according to claim 1, characterized in that: The seat includes a base plate, a backrest plate and a leg rest plate, wherein the backrest plate and the leg rest plate are movably connected to two ends of the base plate respectively, armrests are provided on opposite sides of the seat, a receiving cavity is provided below the armrests, a table top is provided in the receiving cavity, and the table top is slidably connected to the receiving cavity.

9. The obstacle-crossing wheelchair according to claim 8, characterized in that: The handrail on one side is provided with a control end, and the control end is electrically connected to the track assembly and the wheel-track switching device respectively.

10. The obstacle-crossing wheelchair according to claim 8, characterized in that: The backrest is provided with a headrest, a sun visor is provided above the headrest, and the sun visor is connected to the backrest through a third connecting rod.

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