Wheel-track combined full-automatic climbing wheelchair

Abstract

The utility model discloses a wheel-track combined full-automatic climbing wheelchair, belongs to the technical field of wheelchair equipment, and adopts the technical scheme that the wheel-track combined full-automatic climbing wheelchair comprises a seat mechanism, four chassis driving mechanisms, a track stair climbing mechanism and an electrical control mechanism. The Mecanum wheels and the crawler belts are used for dividing the movement process into the flat ground situation and the stair climbing situation for respective design, the structural assembly difficulty coefficient is low, the stair climbing robot can adapt to stairs of various sizes, and meanwhile the effects of high stability and safety are achieved.

Description

Technical Field

[0001] This application relates to the field of wheelchair equipment technology, and more specifically to a wheel-track hybrid fully automatic hill-climbing wheelchair. Background Technology

[0002] The elderly and disabled are the main users of wheelchairs, and their demand for wheelchairs is increasing.

[0003] Currently, some public places in my country have been equipped with accessible facilities for people with lower limb mobility impairments to improve their mobility. However, these facilities are limited to ordinary wheelchairs that travel on flat ground, which does not meet the needs of the elderly and disabled to freely climb stairs.

[0004] For the elderly and disabled, ordinary wheelchairs cannot fully meet their mobility needs, especially when it comes to going up and down stairs, which is particularly prominent and challenging.

[0005] In view of this, the inventor has designed a wheel-track composite fully automatic climbing wheelchair capable of going up and down stairs to meet the actual needs of the elderly and disabled, and improve their quality of life and social participation. Utility Model Content

[0006] To address the shortcomings of existing technologies, the purpose of this utility model is to provide a fully automatic wheelchair with wheel and track composite structure. Its advantages are that it is a fully automatic wheelchair that can be used for both flat ground movement and stair climbing. It uses Mecanum wheels and tracks to design the movement process separately for flat ground and stair climbing, which reduces the difficulty of structural assembly. It can not only adapt to stairs of various sizes, but also has high stability and safety.

[0007] To achieve the above objectives, this utility model provides the following technical solution: a wheel-tracked composite fully automatic climbing wheelchair, comprising a seat mechanism, four chassis drive mechanisms, a tracked stair-climbing mechanism, and an electrical control mechanism.

[0008] A seating mechanism for people to sit upright, wherein the side of the seating mechanism for people to sit upright is the front;

[0009] A tracked stair-climbing mechanism is located directly below the seat mechanism. The tracked stair-climbing mechanism is used to drive the seat mechanism to climb stairs. When the seat mechanism moves up and down stairs, the front of the seat mechanism always remains horizontal and faces away from the stairs.

[0010] The chassis driving mechanism is arranged below the seat mechanism, two chassis driving mechanisms are arranged at the front end of the seat mechanism and symmetrically arranged along the track climbing mechanism, two chassis driving mechanisms are arranged at the rear end of the seat mechanism and symmetrically arranged along the track climbing mechanism, and the four chassis driving mechanisms are used to drive the seat mechanism to move forward, backward, rotate in place and turn.

[0011] The electrical control mechanism is arranged above the seat mechanism and used to control the movement of the track climbing mechanism and the chassis driving mechanism.

[0012] When the wheel-track composite full-automatic climbing wheelchair moves on the ground, the four chassis driving mechanisms can drive the seat mechanism to move forward, backward, rotate in place and turn through the electrical control mechanism; when the wheel-track composite full-automatic climbing wheelchair needs to climb stairs, the seat mechanism can be driven to move up and down the stairs through the electrical control mechanism; and when the wheel-track composite full-automatic climbing wheelchair encounters rough road, the seat mechanism can be driven to move on the rough road through the electrical control mechanism.

[0013] In summary, the wheel-track composite full-automatic climbing wheelchair can adapt to various road conditions on the ground through the electrical control mechanism, the chassis driving mechanism and the track climbing mechanism, and can climb stairs through the track climbing mechanism, thereby achieving a wheel-track composite full-automatic climbing wheelchair that can meet the requirements of ground movement and stair climbing, has a low structure assembly difficulty coefficient, can adapt to stairs of various sizes, and has high stability and safety.

[0014] The utility model further sets up: the crawler belt climbs mechanism one end rotation setting in the front crawler belt transmission air cylinder below seat mechanism, rotation setting in the front crawler belt transmission air cylinder far away from seat mechanism one end's front crawler belt air cylinder push cross bar, rotation setting on the main structure pole of front crawler belt air cylinder push cross bar, setting on the drive motor of main structure pole far away from front crawler belt air cylinder push cross bar one end, setting on the main transmission shaft of drive motor pivot and with front crawler belt air cylinder push cross bar each other parallelly arranged, one end rotation setting in the rear crawler belt transmission air cylinder of seat mechanism rear end, rotation setting in the rear crawler belt transmission air cylinder far away from seat mechanism one end's rear crawler belt air cylinder push cross bar, rotation setting respectively in the two front crawler belt driven gear of front crawler belt air cylinder push cross bar both ends, two driving gear fixed respectively in the both ends of main transmission shaft, the front part crawler belt of being set on front crawler belt driven gear and driving gear, rotation setting respectively in the two adapter wheel of both ends of main transmission shaft, two rear crawler belt driven gear rotation setting respectively in the both ends of rear crawler belt air cylinder push cross bar, the rear part crawler belt of being set on adapter wheel and rear crawler belt driven gear, and setting in the same support frame of main transmission shaft and rear crawler belt air cylinder push cross bar, front crawler belt air cylinder push cross bar, main transmission shaft and rear crawler belt air cylinder push cross bar two two each other parallelly arranged, the front crawler belt air cylinder push cross bar extension direction and seat mechanism's front direction each other vertical, main structure pole and front crawler belt air cylinder push cross bar each other vertical, front crawler belt transmission air cylinder and front crawler belt air cylinder push cross bar each other vertical, rear crawler belt transmission air cylinder and rear crawler belt air cylinder push cross bar each other vertical, the front part crawler belt and front crawler belt driven gear, driving gear are engaged setting respectively, the rear part crawler belt and adapter wheel, rear crawler belt driven gear are engaged setting respectively, main transmission shaft and rear crawler belt air cylinder push cross bar are rotation setting in support frame.

[0015] By adopting the above technical scheme, when the wheel-track composite full-automatic climbing wheelchair needs to climb stairs, first, the seat mechanism is moved to the stairs by the chassis driving mechanism, then the front of the seat mechanism is made to face away from the side of the stairs, and then the piston rods of the front track transmission cylinder and the rear track transmission cylinder are controlled to move by the electrical control mechanism, so that the front track cylinder pushes the cross rod to drive the front track driven gear to move down, and the rear track cylinder pushes the cross rod to drive the rear track driven gear to move down. Due to the linkage relationship of the main structure rod, the support frame, the main transmission shaft, the front track cylinder pushing rod and the rear track cylinder pushing rod, the front track driven gear, the rear track driven gear, the driving gear and the adapter wheel move down, and the front track and the rear track are in close contact with the ground, so that the seat mechanism drives the chassis driving mechanism to rise off the ground. In this process, the seat mechanism always maintains a horizontal state, and then the piston rods of the front track transmission cylinder and the rear track transmission cylinder are controlled to move by the electrical control mechanism, so that the rear track cylinder pushing rod is inclined upward along the main transmission shaft to a proper angle, so that the front track and the rear track form an included angle, and then the driving motor drives the driving gear to rotate, so that the front track drives the seat mechanism to move backward, and the rear track first abuts against the stair step. During the continuous backward movement of the seat mechanism, the electrical control mechanism controls the piston rods of the front track transmission cylinder and the rear track transmission cylinder to move, so that the seat mechanism always maintains a horizontal state, and after the front track is separated from the ground, the front track and the rear track are in parallel state, so that the wheel-track composite full-automatic climbing wheelchair can climb stairs.

[0016] The utility model further sets up: the chassis drive mechanism includes setting in the shock absorber conversion head of seat mechanism lower extreme, the shock absorbing inner shaft is vertically arranged in shock absorber conversion head lower extreme, the shock absorbing inner shaft is away from the shock absorber conversion head one end shock absorber bushing of slipping cover, the shock absorbing spring is covered in shock absorbing inner shaft, the conversion sheet metal is set in shock absorber bushing lower extreme, the mecanum wheel is rotationally arranged in conversion sheet metal and is used for driving seat mechanism movement, and the wheel main motor is set in conversion sheet metal and is used for driving mecanum wheel rotation, the both ends of shock absorbing spring are respectively with shock absorber conversion head, shock absorber bushing and always apply the force of far away reverse to shock absorber conversion head, shock absorber bushing, the rotation axis of mecanum wheel is connected with wheel main motor rotation axis, and the rotation axis of mecanum wheel is perpendicular with the forward direction of seat mechanism.

[0017] By adopting the above technical scheme, when it is needed to drive the seat mechanism to move by the chassis drive mechanism, the wheel main motor can be driven to rotate by the electrical control mechanism, so that the mecanum wheel rotates, thereby driving the seat mechanism to move forward, backward, rotate in place and turn.

[0018] The utility model further sets up: shock absorbing inner shaft, shock absorber bushing and shock absorbing spring all are provided with two pairs, two shock absorbing inner shafts are set up on same shock absorber conversion head, two shock absorber bushings are set up on same conversion sheet metal.

[0019] By adopting the above technical scheme, shock absorbing inner shaft, shock absorber bushing and shock absorbing spring are all provided with two pairs, which can effectively increase the damping effect.

[0020] The utility model further sets up: seat mechanism includes bearing frame and handrail seat of setting in bearing frame upper end, and the chassis drive mechanism, caterpillar band stair climbing mechanism and electrical control mechanism all set up in bearing frame.

[0021] In conclusion, the utility model has the advantages of:

[0022] The electrical control mechanism, the chassis drive mechanism and the caterpillar band stair climbing mechanism realize the wheel-track composite full-automatic climbing wheelchair to cope with various road conditions of walking on the flat ground, and the caterpillar band stair climbing mechanism realizes the climbing motion of the wheel-track composite full-automatic climbing wheelchair, so as to realize the wheel-track dual-purpose full-automatic wheelchair that meets the functions of flat ground motion and stair climbing, has low structure assembly difficulty coefficient, can adapt to various size staircases, and has high stability and safety. BRIEF DESCRIPTION OF DRAWINGS

[0023] Figure 1It is the overall structure schematic diagram of the embodiment;

[0024] Figure 2 It is the structure schematic diagram of the track climbing mechanism of the embodiment;

[0025] Figure 3 It is the side view structure schematic diagram of the embodiment;

[0026] Figure 4 It is the movement schematic diagram of the chassis driving mechanism of the embodiment;

[0027] Figure 5 It is the display diagram of the stair climbing movement of the embodiment.

[0028] The figure mark explanation: 1, bearing frame; 2, handrail seat; 3, front track transmission cylinder; 4, front track cylinder push cross bar; 5, main structure pole; 6, driving motor; 7, main transmission shaft; 8, rear track transmission cylinder; 9, rear track cylinder push cross bar; 10, front track driven gear; 11, driving gear; 12, front track; 13, adapter wheel; 14, rear track driven gear; 15, rear track; 16, support frame; 17, shock absorber conversion head; 18, shock absorber inner shaft; 19, shock absorber shaft sleeve; 20, shock absorber spring; 21, conversion sheet metal; 22, Mecanum wheel; 23, Mecanum wheel driving motor. DETAILED DESCRIPTION

[0029] The utility model will be further explained in detail in connection with the drawings.

[0030] A wheel-track composite full-automatic climbing chair, as shown in Figure 1 , 2 , including seat mechanism, four chassis driving mechanisms, track climbing mechanism and electrical control mechanism,

[0031] Seat mechanism, used for personnel to sit, one side of the seat mechanism for personnel to sit is the front side;

[0032] Track climbing mechanism, installed below the seat mechanism, the track climbing mechanism is used to drive the seat mechanism to perform the stair climbing movement, and when the seat mechanism moves up and down the stairs, the front side of the seat mechanism always remains horizontal and faces away from the stairs;

[0033] Chassis driving mechanism, four are installed below the seat mechanism, two chassis driving mechanisms are installed at the front end of the front side of the seat mechanism and are symmetrically arranged along the track climbing mechanism, two chassis driving mechanisms are installed at the rear end of the front side of the seat mechanism and are symmetrically arranged along the track climbing mechanism, and the four chassis driving mechanisms are used to drive the seat mechanism to perform forward movement, backward movement, in-place rotation movement and turning movement;

[0034] The electrical control mechanism is installed above the seat mechanism to control the movement of the track climbing mechanism and the chassis driving mechanism.

[0035] As shown in Figure 1 , 2 , the seat mechanism comprises a load-bearing frame 1 and a handrail seat 2 installed at the front end of the upper end of the load-bearing frame 1. The electrical control mechanism is installed at the rear end of the upper end of the load-bearing frame 1, and the chassis driving mechanism and the track climbing mechanism are installed at the lower end of the load-bearing frame 1.

[0036] As shown in the figure, the track climbing mechanism comprises a front track driving cylinder 3 rotatably installed at the lower end of the seat mechanism, a front track cylinder pushing cross rod 4 rotatably installed at the end of the front track driving cylinder 3 away from the seat mechanism, a main structural rod 5 rotatably installed on the front track cylinder pushing cross rod 4, a driving motor 6 installed at the end of the main structural rod 5 away from the front track cylinder pushing cross rod 4, a main transmission shaft 7 installed on the rotating shaft of the driving motor 6 and arranged in parallel with the front track cylinder pushing cross rod 4, a rear track driving cylinder 8 rotatably installed at the rear end of the seat mechanism, a rear track cylinder pushing cross rod 9 rotatably installed at the end of the rear track driving cylinder 8 away from the seat mechanism, two front track driven gears 10 rotatably installed at both ends of the front track cylinder pushing cross rod 4, respectively, two driving gears 11 fixed at both ends of the main transmission shaft 7, a front track 12 sleeved on the front track driven gear 10 and the driving gear 11, two transfer wheels 13 rotatably installed at both ends of the main transmission shaft 7, respectively, two rear track driven gears 14 rotatably installed at both ends of the rear track cylinder pushing cross rod 9, a rear track 15 sleeved on the transfer wheel 13 and the rear track driven gear 14, and a same support frame 16 installed on the main transmission shaft 7 and the rear track cylinder pushing cross rod 9. The front track cylinder pushing cross rod 4, the main transmission shaft 7 and the rear track cylinder pushing cross rod 9 are arranged in parallel with each other, the extension direction of the front track cylinder pushing cross rod 4 is perpendicular to the forward direction of the seat mechanism, the main structural rod 5 is perpendicular to the front track cylinder pushing cross rod 4, the front track driving cylinder 3 is perpendicular to the front track cylinder pushing cross rod 4, the rear track driving cylinder 8 is perpendicular to the rear track cylinder pushing cross rod 9, the front track 12 is meshed with the front track driven gear 10 and the driving gear 11, respectively, the rear track 15 is meshed with the transfer wheel 13 and the rear track driven gear 14, respectively, and the main transmission shaft 7 and the rear track cylinder pushing cross rod 9 are rotatably arranged on the support frame 16.

[0037] As shown in Figure 3 , 5When the wheel-track composite full-automatic climbing wheelchair needs to go upstairs, first, the seat mechanism is moved to the stairs by the chassis driving mechanism, then the front of the seat mechanism is made to face away from the side of the stairs, and then the piston rod of the front track driving cylinder 3 and the piston rod of the rear track driving cylinder 8 are controlled to move by the electrical control mechanism, so that the front track cylinder pushes the cross rod 4 to drive the front track driven gear 10 to move down, and the rear track cylinder pushes the cross rod 9 to drive the rear track driven gear 14 to move down. Due to the linkage relationship of the main structure rod 5, the support frame 16, the main transmission shaft 7, the front track cylinder pushing cross rod 4 and the rear track cylinder pushing cross rod 9, the front track driven gear 10, the rear track driven gear 14, the driving gear 11 and the adapter wheel 13 move down, and the front track 12 and the rear track 15 are both in close contact with the ground, so that the seat mechanism drives the chassis driving mechanism to rise off the ground. In this process, the seat mechanism always maintains a horizontal state, and then the piston rod of the front track driving cylinder 3 and the piston rod of the rear track driving cylinder 8 are controlled to move by the electrical control mechanism, so that the rear track cylinder pushing cross rod 9 is inclined upward along the main transmission shaft 7 to a proper angle, so that the front track 12 and the rear track 15 form an included angle, and then the driving motor 6 drives the driving gear 11 to rotate, so that the front track 12 drives the seat mechanism to move backward, and the rear track 15 first contacts the stair step. During the continuous backward movement of the seat mechanism, the electrical control mechanism controls the piston rod of the front track driving cylinder 3 and the piston rod of the rear track driving cylinder 8 to move, so that the seat mechanism always maintains a horizontal state, and after the front track 12 is separated from the ground, the front track 12 and the rear track 15 are in parallel, so that the wheel-track composite full-automatic climbing wheelchair can go upstairs.

[0038] As Figure 1 、 2As shown, the chassis driving mechanism includes a shock absorber conversion head 17 mounted at the lower end of the seat mechanism, a shock absorber inner shaft 18 vertically mounted at the lower end of the shock absorber conversion head 17, a shock absorber shaft sleeve 19 sleeved at the end of the shock absorber inner shaft 18 away from the shock absorber conversion head 17, a shock absorber spring 20 sleeved on the shock absorber inner shaft 18, a conversion sheet metal 21 provided at the lower end of the shock absorber shaft sleeve 19, a Mecanum wheel 22 rotatably mounted on the conversion sheet metal 21 and used to drive the seat mechanism to move, and a Mecanum wheel driving motor 23 mounted on the conversion sheet metal 21 and used to drive the Mecanum wheel 22 to rotate. The shock absorber spring 20 is in abutting contact with the shock absorber conversion head 17 and the shock absorber shaft sleeve 19 at both ends and always exerts a repulsive force on the shock absorber conversion head 17 and the shock absorber shaft sleeve 19. The rotation axis of the Mecanum wheel 22 is connected with the rotation shaft of the Mecanum wheel driving motor 23. The rotation axis of the Mecanum wheel 22 is perpendicular to the forward direction of the seat mechanism.

[0039] When it is needed to drive the seat mechanism to move by the chassis driving mechanism, the Mecanum wheel driving motor 23 can be driven by the electrical control mechanism to rotate, so that the Mecanum wheel 22 rotates, thereby driving the seat mechanism to move forward, backward, rotate in place, and turn.

[0040] As shown in Figure 2 , 4 , during the movement, the four Mecanum wheels 22 are directly controlled by the electrical control mechanism to rotate in the forward and reverse directions, thereby controlling the overall omnidirectional planar movement of the machine. As shown in Figure 4 ,

[0041] When the four Mecanum wheels 22 all rotate clockwise (counterclockwise), the wheelchair moves straight forward (backward);

[0042] When the Mecanum wheels 22-1 and 22-4 rotate clockwise (counterclockwise) and the Mecanum wheels 22-2 and 22-3 rotate counterclockwise (clockwise), the wheelchair moves straight right (left);

[0043] When the Mecanum wheels 22-1 and 22-4 rotate clockwise (driven) and the Mecanum wheels 22-2 and 22-3 rotate counterclockwise (driven), the wheelchair moves to the right front (left front);

[0044] When the Mecanum wheels 22-1 and 22-3 rotate clockwise (driven) and the Mecanum wheels 22-2 and 22-4 rotate counterclockwise (driven), the wheelchair turns right (left) with the Mecanum wheel 22-4 (307-3) as the rotation center;

[0045] When the Mecanum wheels 22 and 22-3 rotate clockwise (counterclockwise) and the Mecanum wheels 22-2 and 22-4 rotate counterclockwise (clockwise), the wheelchair rotates in place to the right (left) with the wheelchair center as the rotation center;

[0046] When the Mecanum wheels 22-1 rotate clockwise (counterclockwise), the Mecanum wheels 22-2 rotate counterclockwise (clockwise), and the Mecanum wheels 22-3 and 22-4 are driven, the wheelchair turns right (left) with the rear end center as the rotation center.

[0047] During the movement of the seat mechanism, when the bumpy road section is encountered, the shock absorbing shaft sleeve 19 and the shock absorbing inner shaft 18 move relative to each other, and the shock absorbing spring 20 applies a force in the direction away from the shock absorbing shaft sleeve 19 and the shock absorbing inner shaft 18, thereby achieving the damping effect.

[0048] Further, the shock absorbing inner shaft 18, the shock absorbing shaft sleeve 19 and the shock absorbing spring 20 are provided with two pairs, two shock absorbing inner shafts 18 are installed on the same shock absorber conversion head 17, and two shock absorbing shaft sleeves 19 are installed on the same conversion sheet metal 21. By providing two pairs of shock absorbing inner shafts 18, shock absorbing shaft sleeves 19 and shock absorbing springs 20, the damping effect can be effectively increased.

[0049] The working process and beneficial effects of the utility model are as follows:

[0050] When the wheel-track composite full-automatic climbing wheelchair moves on the flat ground, the four chassis driving mechanisms can drive the seat mechanism to move forward, backward, rotate in place and turn through the control of the electrical control mechanism; when the wheel-track composite full-automatic climbing wheelchair needs to climb stairs, the seat mechanism can be driven by the track climbing mechanism to move up and down the stairs through the control of the electrical control mechanism, and when encountering rough road, the seat mechanism can be driven by the track climbing mechanism to travel on the rough road through the control of the electrical control mechanism.

[0051] In summary, the above-mentioned wheel-track composite full-automatic climbing wheelchair can cope with various road conditions of flat ground walking through the electrical control mechanism, the chassis driving mechanism and the track climbing mechanism, and the climbing motion of the wheel-track composite full-automatic climbing wheelchair is realized through the track climbing mechanism, so as to realize the wheel-track dual-purpose full-automatic wheelchair that meets the functions of flat ground motion and stair climbing, has a low structure assembly difficulty coefficient, can adapt to stairs of various sizes, and has high stability and safety.

[0052] The above only describes the preferred embodiments of the utility model, and is not used to limit the utility model, and any modification, equivalent replacement, improvement, etc. within the design concept of the utility model should be included in the protection scope of the utility model.

Claims

1. A wheel-track composite fully automatic hill-climbing wheelchair, characterized in that: The chair mechanism, four chassis driving mechanisms, the crawler climbing mechanism and the electrical control mechanism, The chair mechanism is used for personnel to sit, and the front of the chair mechanism is a front surface; The crawler climbing mechanism is arranged below the chair mechanism, and is used to drive the chair mechanism to climb stairs. The chassis driving mechanisms are arranged below the chair mechanism, and are used to drive the chair mechanism to move forward, backward, rotate in place and turn. The electrical control mechanism is arranged above the chair mechanism, and is used to control the crawler climbing mechanism and the chassis driving mechanism.

2. The wheel-track composite full-automatic climbing wheelchair of claim 1, characterized in that: The crawler climbing mechanism comprises a front crawler transmission cylinder (3) rotatably arranged below the chair mechanism, a front crawler cylinder pushing cross rod (4) rotatably arranged at a front end of the front crawler transmission cylinder (3) away from the chair mechanism, a main structure rod (5) rotatably arranged on the front crawler cylinder pushing cross rod (4), a driving motor (6) arranged at a front end of the main structure rod (5) away from the front crawler cylinder pushing cross rod (4), a main transmission shaft (7) arranged on a rotating shaft of the driving motor (6) and parallel to the front crawler cylinder pushing cross rod (4), a rear crawler transmission cylinder (8) rotatably arranged at a rear end of the chair mechanism, a rear crawler cylinder pushing cross rod (9) rotatably arranged at a rear end of the rear crawler transmission cylinder (8) away from the chair mechanism, two front crawler driven gears (10) rotatably arranged at two ends of the front crawler cylinder pushing cross rod (4), respectively, two driving gears (11) fixed at two ends of the main transmission shaft (7), respectively, a front crawler belt (12) sleeved on the front crawler driven gears (10) and the driving gears (11), two transfer wheels (13) rotatably arranged at two ends of the main transmission shaft (7), respectively, two rear crawler driven gears (14) rotatably arranged at two ends of the rear crawler cylinder pushing cross rod (9), and a rear crawler belt (15) sleeved on the transfer wheels (13) and the rear crawler driven gears (14).

3. The wheel-track composite full-automatic climbing wheelchair of claim 1, characterized in that: The chassis driving mechanism comprises a shock absorber conversion head (17) arranged at the lower end of the seat mechanism, a shock absorber inner shaft (18) arranged vertically at the lower end of the shock absorber conversion head (17), a shock absorber shaft sleeve (19) sleeved on the shock absorber inner shaft (18) away from the shock absorber conversion head (17), a shock absorber spring (20) sleeved on the shock absorber inner shaft (18), a conversion sheet metal (21) arranged at the lower end of the shock absorber shaft sleeve (19), a Mecanum wheel (22) arranged rotatably on the conversion sheet metal (21) and used for driving the seat mechanism to move, and a Mecanum wheel driving motor (23) arranged on the conversion sheet metal (21) and used for driving the Mecanum wheel (22) to rotate, the two ends of the shock absorber spring (20) are abutted against the shock absorber conversion head (17) and the shock absorber shaft sleeve (19) respectively and always apply a force away from the reverse direction to the shock absorber conversion head (17) and the shock absorber shaft sleeve (19), the rotating shaft of the Mecanum wheel (22) is connected with the rotating shaft of the Mecanum wheel driving motor (23), and the rotating shaft of the Mecanum wheel (22) is perpendicular to the forward direction of the seat mechanism.

4. The wheel-track composite full-automatic climbing wheelchair of claim 3, characterized in that: The shock absorber inner shaft (18), the shock absorber shaft sleeve (19) and the shock absorber spring (20) are all provided with two pairs, two shock absorber inner shafts (18) are arranged on the same shock absorber conversion head (17), and two shock absorber shaft sleeves (19) are arranged on the same conversion sheet metal (21).

5. The wheel-track composite full-automatic climbing wheelchair of claim 1, characterized in that: The seat mechanism comprises a load-bearing frame (1) and an armrest seat (2) arranged at the upper end of the load-bearing frame (1), and the chassis driving mechanism, the track climbing mechanism and the electrical control mechanism are all arranged on the load-bearing frame (1).

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