A double-crawler-wheel obstacle crossing wheelchair comprises a chair part and a switching mechanism which is used for switching the roller transmission and the crawler wheel transmission of the double-crawler-wheel obstacle crossing wheelchair, wherein the crawler wheel transmission is provided with a first crawler wheel and a second crawler wheel, which are connected with each other through a connection bracket, the maximal angular speed of the crawler wheels is described in the specification, wherein omega represents the angular speed, m represents the mass of a multifunctional climbing wheelchair, h represents a gravity core height of the multifunctional climbing wheelchair, L represents the contact length between the crawler wheel and the floor, J represents the rotation inertness of the multifunctional climbing wheelchair, alpha represents an angle between a bottom line of the crawler wheel and the floor, and r represents an angle between a connection line of the gravity core of the multifunctional climbing chair and a front landing point and the crawler wheel. The structural error of a four-bar mechanism is compensated by applying a five-bar mechanism, so that the switching mechanism of the double-crawler-wheel obstacle crossing wheelchair realizes high-precision movement output, or completes a complicated movement principle; and the obstacles are crossed by adopting the double-crawler-wheel way, so that the obstacle crossing stability can be guaranteed.