200904392 九、發明說明： 鉍本ίϊίΐ關於—種電動輪椅底盤機構，特別是指-種呈有一 輪、二驅動輪和二後輪的六輪電動輪椅底盤機構種具有—則 【絲技術】 動輪力者用以代步的醫療輔具，早期的電 足’為了增加輪椅的穩定性， 加長的四輪賴簡，歧會有_半徑狀 t ^^距 的穩^且避免過大的迴轉摊，開始出現六輪的Ϊ動^椅 人-ίΐϊ二i障礙空間雖然受到重視’但是落實情況卻不盡理相， 切道常有突_高度瓶，耻電雜_ 卩=重“ ϊί=:Γ’ί，與椅座之間的介面’主要的目的在於維持 、、夺也此具備良好的跨障能力與乘坐舒適性。 構1參:d取自产專利號:2。。4嶋748)所示為現有底盤機 ΐ 3 H 裝i 11、-前輪架裝置12 ' —驅動輪架裝 f 連動裝置14、—彈性回復裝置15及—驅動裝置16。車架 裝置11主要包括車架川、後轉向臂112和後輪m，其 和後轉向臂112拖接於樞轴1121，讎向f 112和車架川框接於 轉向軸1113;驅動輪架裝置13，主要包括驅動輪架131和驅動輪 132，且=者樞接於樞軸1311，驅動輪架131和車架彳彳彳樞接於樞 軸1112，如輪架裝置12主要包括前輪架121、前轉向臂拕2和前輪 12^’其中前輪123和前轉向臂122樞接於枢軸1221，前轉向臂122 和前輪架121樞接於轉向轴1213，前輪架121和驅動輪架131樞接 於樞轴1211;連動裝置14，主要包括連動桿141，其分別和前輪架 121和驅動輪架131樞接於樞軸1212和樞軸1111;彈性回復裝置 主要包括彈簧151和彈簧152，彈簧151兩端點分別與車架1Ή的 6 200904392 前端和驅動輪架131的前端相連結，彈簧152的兩端點分別與車架 111的後端和驅動輪架131的後端相連結;驅動裝置16主要句括一 動馬達161,其安裝於驅動輪架131上。 主要匕括電 參閱第-圖所示，底盤機構彳主要的特點是將前輪123、驅動輪 132和後輪113分別安裝在前輪架裝置12、驅動輪架裝置13和車架 裝置11上，使前輪123、驅動輪132和後輪113彼此間可作相動^ 動，所以該型底盤機構對於地形變化的適應性佳，行駛時輪子易維持 貼地，穩疋性咼，但在跨障過程中車架111變化量過大，使得椅座傾 角晃動量過大(椅座安裝於車架上，椅座與車架1<Μ傾角的變化 量相同），造成舒適性不佳的缺點。 參閱第一圖底盤機構1跨越60mm障礙過程所示，底盤機構] 的前輪123開始跨障(狀態Ί)至完成跨障(狀態2)椅座傾角由〇度變化 至後傾1.41度;驅動輪132開始跨障(狀態3)至完成跨障(狀態4)椅座 傾角由後傾1.41度變化至後傾7·29度;後輪113開始跨障(狀態5)至 完成跨障(狀態6)椅座傾角由後傾7·29度回覆至〇度，底盤機構1跨 越60mm鬲台的椅座傾角變化量高達7 29度，而電動輪椅使用者都 為身體機能較差者，因此將會造成乘坐者很大的不舒適感。 由以上的討論可知，美國第20040060748號專利之底盤機構的 穩定性佳，但影響舒適性的椅座傾角變化角度過大有待改善，本創作 明顯地改善了該缺點。 【剌内容】 本創作包括一車架裝置、一前連動裝置、一後連動裝置'一前輪 架裝置、一驅動輪架裝置、一後輪架裝置、一彈性回復裝置和一驅動 裝置。本創作之特色在於可使跨障時所有輪子維持貼地、椅座傾角變 化量小，且能相對於底盤機構本身產生後縮、提高的動作，因此可提 高電動輪椅的跨障能力、穩定性和舒適性。 該車架装置，具有一車架和一子車架，兩者以前、後連結段相互 連結。 該駆動輪架裝置，具有一與子車架相樞接的驅動輪架，—與驅動 輪架相樞接的驅動輪。 200904392 該前輪架裝置，具有一與驅動輪 ;邊連動與前輪架相樞接的前連動桿。 連動n h 〃 ~分顺前物柄驅動輪雜樞接的後 --；：I^ 簧。該彈性回復裝置，具有一分別與子“和轉驅向動imr的彈 馬達雜動裝置’具有-安裝在驅動輪架上，用以帶動驅動輪的電動 參閱第—®所讀本創作較 ，裝設身體支承裝置2，包括椅座21體匕=的上: 板25 ’以供缺乏獨立行動能力的人士在日常生活中用以 車架佳Hi爆炸圖’缝麟3包括一 驅動裝置38，其中前輪料w —祕日復裝置37和二 34 ^ 35 "ΪJJL 36 ί 33 ' 38分別左右對稱安裝、彈性回復裝置37和驅動裝置 進行描述。 車*裝置31上，以下僅針對單_構的组成 各裝示分別為本創作較佳實施例爆炸圖及前視圖， 313 ^要包括—車架州、—子車架312和-子車_ -：4；23ri：rr^ 3122，用以連結車架311。^有别連結長3121、—後連結段 200904392 驅動輪架裝置33主要包含一驅動輪架331,及一由電動馬達381 驅動的驅動輪332，驅動輪架331與子車架312樞接於子車架樞轴 3123。 、 則輪架裝置32主要包含一前輪架321、一前轉向臂322和一前 輪323 ’其中前輪323和前轉向臂322枢接於前輪樞軸3221，前轉 向臂322和前輪架321枢接於轉向軸3213，前輪架321和驅動輪卒 331樞接於樞轴3211。 前連動裝置35主要包含一前連動桿351，該前連動桿351和前 輪架321樞接於樞軸3212。 &後連動裝置36主要包含一後連動桿361，後連動桿361分別和 前連動桿351與驅動輪架331樞接於樞軸3511和樞轴3312。 後輪架裝置34主要包含一後輪架341、一後轉向臂342和一後 輪343，其中後輪343和後轉向臂342樞接於後輪樞轴3421，後轉 向臂342和後輪架341樞接於轉向軸3412，後輪架341分別與子車 架312和後連動桿361樞接於樞軸3124及樞軸3411。 彈性回復裝置37主要包含受力啦生可回復地雜形變的彈簧 371彈簧371相反的兩端分別連結於子車架312上的彈簧扣環 3125 ’以及驅動輪架331上的彈簧扣環3313。 ，動裝置38主要包含-電動馬達381，電動馬達381設置於驅 動輪架331上，可提供動力帶動驅動輪332轉動。 所祕本創作較佳實施之前輪跨_賴，當前輪 障時’前輪323會先與障礙物4的碰撞點41接觸，此時 仍持續轉動帶動底盤機構3往前移動，受到驅動輪3泣 輪架321、前轉向臂322和前輪323會逐漸後縮且 35Γ )，進而帶動子車架312'驅動輪架331和前連動桿 i 以及帶動後連動桿361和後輪架341逆時針轉動。 ，、中刖輪323跨越障礙物過程中，前輪323 ^ ^ ，端323 嫌+她ί 架樞軸期的水平距離&逐漸減少 (Lf>Lf>Lf )，該後縮且提南動作可減低前輪如與碰撞_間的阻 200904392 力，因此可減低前輪323跨障所需的驅動力矩。 332 係本創作較佳實施之驅動輪跨障示意圖，♦驅動於 早物時，驅動輪332會先鱗礙物4的碰撞點41 = ΐ 夺驅動輪332仍持續轉動帶動底盤機構3往前移動 3和輪f2會逐漸後縮且提高(逆時針轉動），進而=== ^架321、後輪架341和後連動桿361順時針轉動，以及 動則連動桿351逆時針轉動。其中驅動輪332跨越 二 對於底盤機構3產生後縮且提高的動作，轉動輪^ t=H3123為例，跨_中驅動輪框㈣車 二軸23的水平距離Ld逐漸增加(Ld<Ld，<Ld”），該後 * —^332 參閱第八_本創作較佳實施之後輪跨障示意圖， 輪343會先鱗礙物4的碰撞點41接觸，此時驅動 帶動底盤機構3往前移動，受到驅動輪332的向 如、後轉向f 342和後輪343會逐漸後縮且提高(逆 緖f動’進而帶動驅動輪架331 *前連動桿351順時針轉動，以 子車架312、前輪架321和後連動桿361逆時針轉動。其中 跨越障礙物過程中，後輪343會相對於底盤機構3產i後 总提1¾的動作’以後輪343相對於子車架梅軸3123為例，跨障過 f中後輪樞軸3421與子車架樞軸3123的水平距離Lb逐漸增加 b<Lb >，該後縮且提高動作可減低後輪343與碰撞點μ間的 阻力，因此可減低後輪343跨障所需的驅動力矩。 ^閱第九圖係底盤機構3跨越6〇_障礙過程示意圖，底盤機 3别輪323開始跨障(狀態1)至完成跨障(狀態2)椅座傾角由〇度 &化至後傾4.17度;驅動輪332開始跨障(狀態3)至完成跨障(狀態4) ^座，由後傾4.17度變化至後傾4 78度;後輪343開始跨障(狀態 )至完成跨障(狀態6)椅座傾角由後傾4 78度回覆至〇度，底盤機構 3跨越60mm高台的椅座傾角變化量僅為4_78度，因此可減低乘坐 者的不舒適感。 200904392 综合上述說明可知，電動輪椅跨障時輪子與障礙物碰撞產生的振 動會造絲坐麵将韻’若跨_難絲高(紐大驅動力矩或 較高速度找断），碰撞產生的鶴麵大，綠相骑適感也 會隨之提高，本猶較佳實施之底顧構3各輪跨料_有後縮提 高的特性’故具有良㈣跨障能力，能降低跨_程產生的振動，進 而減低乘坐者的不舒舰，提高舒義，此外，摘做佳實施的底 盤機構3分別將前輪323、驅動輪332和後輪343分別安裝在不同 的巧上’前輪322、驅動輪332和後輪343彼此間可做相動運動， 不涂刖輪323、驅動輪332和後輪343跨越障礙時，各個輪子都能 維持貼地’故對於地形變化的適應性佳，敎性高；再者，本創作較 佳實施之椅座傾角變化量(4_78度)顯著地改善跨障過程因椅座晃動 所造成不舒韻的缺點’故本創作為—舒雜、跨障能力和安全性 兼、具且新穎性高的發明。 士⑷^上所^者’僅為摘作之較佳實施例而已，當*能以此限定 λΛ貫，之細’即大凡依本創作巾請專利範圍及說明書内容所作 之間早的等效變化與_，皆域本創作專繼蓋之範圍内。 200904392 【圈式簡單就明】 第一圖 係習知六輪電動輪椅底盤機構之側視圖以及其跨障 過程對應的椅座傾角變化圖 第二圖 係本創作較佳實施例之立體圖 第三圖 係本創作較佳實施例之立體分解圖(1) 第四圖 係本創作較佳實施例之立體分解圖(2) 第五圖 係本創作較佳實施例之側視圖 第六圖 係本創作較佳實施例之前輪跨障過程示意圖 第七圖 係本創作較佳實施例之驅動輪跨障過程示意圖 第八圖 係本創作較佳實施例之後輪跨障過程示意圖 第九圖 係本創作較佳實施例之跨障過程的椅座傾角變化圖 1 底盤機構 11 車架裝置 111 車架 1111 樞軸 1112 樞轴 112 後轉向臂 1121 轉向軸 1122 後輪樞軸 113 後輪 12 前輪架裝置 121 前輪架 1211 樞軸 1212 樞軸 122 前轉向臂 1221 轉向軸 1222 前輪樞軸 123 前輪 13 驅動輪架裝置 131 驅動輪架 1311 驅動輪樞轴 132 驅動輪 14 連動裝置 141 連動桿 15 彈性回復裝置 151 前彈簧 152 後彈簧 16 驅動裝置 161 電動馬達 2 身體支承裝置 21 椅座 22 靠背 23 扶手 24 頭靠 25 腳踏板 12 200904392 3 底盤機構 31 車架裝置 311 車架 312 子車架 3121 前連結段 3122 後連結段 3123 子車架樞軸 3124 柩轴 3125 彈簧扣環 313 子車架 32 前輪架裝置 321 前輪架 3211 樞軸 3212 樞軸 3213 轉向轴 322 前轉向臂 3221 前輪樞車由 323 前輪 33 驅動輪架裝置 331 驅動輪架 3311 驅動輪樞軸 3312 樞軸 3313 彈簧扣環 332 驅動輪 34 後輪架裝置 341 後輪架 3411 樞軸 3412 轉向軸 342 後轉向臂 3421 後輪樞軸 343 後輪 35 前連動裝置 351 前連動桿 3511 樞軸 36 後連動裝置 361 後輪動桿 37 彈性回復裝置 371 彈簧 38 驅動裝置 381 電動馬達 4 障礙物 41 碰撞點 13200904392 IX. Inventor's Note: 铋本ϊϊϊΐAbout the electric wheelchair chassis mechanism, especially the six-wheel electric wheelchair chassis mechanism with one, two and two rear wheels. Medical aids for transportation, the early electric foot 'in order to increase the stability of the wheelchair, lengthen the four-wheeled simple, the difference will be _ radius t ^ ^ distance stability ^ and avoid excessive swing stalls, began to appear six rounds The swaying ^ chair man - ΐϊ ΐϊ i i i i i i i i i i i i i i i i i i i i i i i i i i i i i i i i i i i i i i i i i i i i i i i The interface between the seat's main purpose is to maintain, and also have good cross-barrier capability and ride comfort. The structure 1 parameter: d take the production patent number: 2. 4嶋 748) is shown as existing The chassis ΐ 3 H is equipped with i 11 , the front wheel carrier device 12 ′ — the drive wheel frame assembly f linkage device 14 , the elastic recovery device 15 and the drive device 16 . The frame device 11 mainly comprises a frame frame and a rear steering arm 112 . And the rear wheel m, and the rear steering arm 112 is dragged to the pivot 1121, facing the f 1 12 and the frame frame are connected to the steering shaft 1113; the drive wheel frame device 13 mainly includes a drive wheel frame 131 and a drive wheel 132, and is pivotally connected to the pivot 1311, the drive wheel frame 131 and the frame armature Connected to the pivot 1112, such as the wheel carrier device 12 mainly includes a front wheel frame 121, a front steering arm 拕 2 and a front wheel 12 ′′, wherein the front wheel 123 and the front steering arm 122 are pivotally connected to the pivot 1221, the front steering arm 122 and the front wheel frame 121 Connected to the steering shaft 1213, the front wheel frame 121 and the driving wheel frame 131 are pivotally connected to the pivot shaft 1211. The linkage device 14 mainly includes a linkage rod 141, which is pivotally connected to the front wheel frame 121 and the driving wheel frame 131 respectively to the pivot shaft 1212 and the pivot. The shaft 1111; the elastic returning device mainly comprises a spring 151 and a spring 152. The two ends of the spring 151 are respectively coupled with the front end of the frame 20090392 and the front end of the driving wheel frame 131, and the two ends of the spring 152 are respectively associated with the frame 111. The rear end is coupled to the rear end of the driving wheel frame 131; the driving device 16 mainly includes a moving motor 161, which is mounted on the driving wheel frame 131. Mainly including the electric power, as shown in the first figure, the main feature of the chassis mechanism is Mounting the front wheel 123, the drive wheel 132, and the rear wheel 113 to the front wheel frame, respectively The device 12, the drive wheel frame device 13 and the frame device 11 enable the front wheel 123, the drive wheel 132 and the rear wheel 113 to move relative to each other, so that the chassis mechanism has good adaptability to terrain changes while driving. The wheel is easy to maintain the ground and stable, but the change of the frame 111 during the cross-barrier process is too large, so that the seat tilting angle is too large (the seat is mounted on the frame, the seat and the frame 1< The same amount of change), resulting in the disadvantage of poor comfort. Referring to the first figure chassis mechanism 1 across the 60mm obstacle process, the front wheel 123 of the chassis mechanism] begins to cross the barrier (state Ί) to complete the cross-barrier (state 2) seat The inclination angle is changed from the twist to the rearward inclination of 1.41 degrees; the driving wheel 132 starts to cross the obstacle (state 3) to complete the cross-barrier (state 4). The seat inclination angle is changed from the rearward inclination of 1.41 degrees to the backward inclination of 7.29 degrees; the rear wheel 113 starts. From the barrier (state 5) to the completion of the cross-barrier (state 6), the seat inclination angle is back to the twist from the backward tilt of 7.29 degrees, and the tilt angle of the seat mechanism 1 spanning the 60mm platform is as high as 7 29 degrees, while the electric wheelchair The user is a poorly performing body and therefore will cause great discomfort to the occupant. As can be seen from the above discussion, the stability of the chassis mechanism of U.S. Patent No. 20040060748 is good, but the angle of inclination change of the seat which affects comfort is too large to be improved, and the present invention significantly improves the disadvantage. [剌Contents] The creation includes a frame device, a front linkage device, a rear linkage device, a front wheel carrier device, a drive wheel carrier device, a rear wheel carrier device, an elastic recovery device and a drive device. The feature of this creation is that it can keep all the wheels in the cross-barrier from sticking to the ground, the amount of inclination of the seat is small, and it can retract and improve relative to the chassis mechanism itself, thus improving the cross-barrier capability and stability of the electric wheelchair. And comfort. The frame device has a frame and a sub-frame, and the front and rear connecting sections are connected to each other. The swaying wheel carrier device has a drive wheel frame pivotally coupled to the sub-frame, and a drive wheel pivotally coupled to the drive wheel frame. 200904392 The front wheel frame device has a front linkage rod that is pivotally connected to the front wheel frame. Linking n h 〃 ~ after the front handle to drive the wheel after the pivotal connection --;: I ^ spring. The elastic recovery device has a sub-"and a bouncing-driven imr-propelled ball motor squirrel device" having a mounting on the driving wheel frame for driving the driving wheel to be electrically driven. The body support device 2 is provided, including a seat 21 body upper=board 25' for a person lacking independent action ability to use the frame in daily life, the Hi-explosion diagram 'seam 3 includes a driving device 38, wherein The front wheel w--secret device 37 and the two 34^35 "ΪJJL 36 ί 33 '38 are respectively described by left and right symmetrical mounting, elastic recovery device 37 and driving device. On the car * device 31, the following is only for the single frame Each of the components is an exploded view and a front view of the preferred embodiment of the present invention, and 313 ^ includes - frame state, - frame 312 and - car _ -: 4; 23ri: rr ^ 3122, for linking The frame 311. The different length 3121, the rear connecting section 200904392 The driving wheel frame device 33 mainly includes a driving wheel frame 331, and a driving wheel 332 driven by the electric motor 381, and drives the wheel frame 331 and the sub-frame 312. Pivoted to the sub-frame pivot 3123. Then, the wheel carrier device 32 is mainly The front wheel frame 321 and the front wheel arm 322 are pivotally connected to the front wheel pivot 3221. The front steering arm 322 and the front wheel frame 321 are pivotally connected to the steering shaft 3213. The front wheel frame 321 is included. And the driving wheel 331 is pivotally connected to the pivot 3211. The front linkage device 35 mainly includes a front linkage rod 351, and the front linkage rod 351 and the front wheel carrier 321 are pivotally connected to the pivot shaft 3212. The rear linkage device 36 mainly includes a rear The linkage rod 361 and the rear linkage rod 361 are respectively pivotally coupled to the front linkage rod 351 and the drive wheel carrier 331 to the pivot 3511 and the pivot shaft 3312. The rear wheel carrier device 34 mainly includes a rear wheel frame 341, a rear steering arm 342 and a The rear wheel 343, wherein the rear wheel 343 and the rear steering arm 342 are pivotally connected to the rear wheel pivot 3421, the rear steering arm 342 and the rear wheel frame 341 are pivotally connected to the steering shaft 3412, and the rear wheel frame 341 is respectively associated with the sub-frame 312 and the rear. The interlocking rod 361 is pivotally connected to the pivot shaft 3124 and the pivot shaft 3411. The elastic recovery device 37 mainly comprises a spring 371 which is responsively deformed and variably deformed. The spring end of the spring 371 opposite the opposite ends of the spring 371 is respectively coupled to the sub-frame 312. 3125 'and the spring buckle 3313 on the drive wheel frame 331. Including - an electric motor 381, the electric motor 381 is disposed on the driving wheel frame 331, and can provide power to drive the driving wheel 332 to rotate. The creation of the secret is better before the implementation of the wheel span _ Lai, the current wheel obstacles, the front wheel 323 will first and the obstacle The collision point 41 of the object 4 is in contact, and the rotation of the chassis mechanism 3 is continued to move forward. The driven wheel 3, the front wheel arm 321 and the front wheel 323 are gradually retracted and 35 Γ), thereby driving the sub-frame. The 312' drive wheel frame 331 and the front linkage rod i and the rear linkage rod 361 and the rear wheel carrier 341 are rotated counterclockwise. , the middle wheel 323 crosses the obstacle process, the front wheel 323 ^ ^, the end 323 is suspected + the horizontal distance of the pivot period & gradually decreases (Lf > Lf > Lf), the retraction and the lifting action The force of the front wheel and the collision _200904392 is reduced, so that the driving torque required for the front wheel 323 to cross the obstacle can be reduced. 332 is a schematic diagram of a driving wheel cross-barrier which is preferably implemented in the present invention. ♦ When driving in an early object, the driving wheel 332 will first hit the collision point of the object 4 41. The driving wheel 332 continues to rotate to drive the chassis mechanism 3 to move forward. 3 and the wheel f2 will gradually retract and increase (counterclockwise rotation), and then the === ^ frame 321, the rear wheel frame 341 and the rear linkage rod 361 rotate clockwise, and the linkage rod 351 rotates counterclockwise. Wherein, the driving wheel 332 crosses two actions for retracting and increasing the chassis mechanism 3, and the rotating wheel ^ t=H3123 is taken as an example, and the horizontal distance Ld of the two axles 23 of the driving wheel frame (four) is gradually increased (Ld < Ld, <;Ld"), the latter * - ^ 332 Referring to the eighth embodiment of the present invention, after the preferred implementation of the wheel cross-barrier diagram, the wheel 343 will first contact the collision point 41 of the obstacle 4, at this time the drive drives the chassis mechanism 3 to move forward , the direction of the drive wheel 332, the rearward turn f 342 and the rear wheel 343 will gradually retract and improve (reversely f move) and then drive the drive wheel frame 331 * the front linkage rod 351 rotates clockwise, to the sub-frame 312, The front wheel frame 321 and the rear linkage rod 361 rotate counterclockwise. In the process of crossing the obstacle, the rear wheel 343 will raise the total movement 13⁄4 with respect to the chassis mechanism 3, and the rear wheel 343 is relative to the sub-frame shaft 3123 as an example. The horizontal distance Lb of the rear wheel pivot 3421 and the sub-frame pivot 3123 gradually increases b<Lb>, and the retracting and raising action can reduce the resistance between the rear wheel 343 and the collision point μ, The driving torque required for the rear wheel 343 to cross the obstacle can be reduced. ^The ninth figure is the chassis mechanism 3 spanning 6 〇 _ _ obstacle process diagram, the chassis 3 wheel 323 starts to cross the obstacle (state 1) to complete the cross-barrier (state 2) seat inclination from the twist & to the backward tilt 4.17 degrees; the drive wheel 332 begins to cross the barrier (state 3) to complete the cross-barrier (state 4) ^ seat, from 4.17 degrees backward to 4 degrees 78 degrees backward; the rear wheel 343 begins to cross the obstacle (state) to complete the cross-barrier (state 6) the seat angle is tilted back 4 78 degrees to the twist, the chassis mechanism 3 spans the 60mm platform, the tilt angle of the seat is only 4_78 degrees, so the occupant's discomfort can be reduced. 200904392 According to the above description, the wheel of the electric wheelchair crosses the obstacle and collides with the obstacle. The generated vibration will make the surface of the silk surface. If the cross is too high (the driving force of the New Zealand or the higher speed is found), the collision surface will be large, and the green riding will increase. The better implementation of the bottom structure of each of the three rounds of _ _ with improved shrinkage characteristics 'have good (four) cross-barrier capability, can reduce the vibration generated by the cross-process, thereby reducing the occupant's uncomfortable ship, improve Shu Yi, In addition, the chassis mechanism 3, which is preferably implemented, respectively mounts the front wheel 323, the drive wheel 332, and the rear wheel 343 respectively. The front wheel 322, the driving wheel 332 and the rear wheel 343 can be moved relative to each other. When the uncoated wheel 323, the driving wheel 332 and the rear wheel 343 cross the obstacle, each wheel can maintain the grounding position. The adaptability of the change is good and the ambiguity is high. Moreover, the variation of the seat inclination angle (4_78 degrees), which is better implemented in this creation, significantly improves the shortcomings caused by the sway of the seat in the cross-barrier process. -Inventives with a combination of comfort, cross-barrier capability and safety, and high novelty. The person who is on the board is only the preferred embodiment of the excerpt, and when * can limit the λ, the fine 'That is the original equivalent change between the scope of the patent and the content of the manual, and the scope of the original cover. 200904392 [Circle type is simple and clear] The first picture is a side view of a conventional six-wheel electric wheelchair chassis mechanism and a seat angle change diagram corresponding to the cross-barrier process. The second picture is a perspective view of the third embodiment of the preferred embodiment of the present invention. 3D exploded view of the preferred embodiment of the present invention (1) The fourth drawing is a perspective exploded view of the preferred embodiment of the present invention. (5) The fifth drawing is a side view of the preferred embodiment of the present invention. FIG. 7 is a schematic diagram of a driving wheel cross-barrier process according to a preferred embodiment of the present invention. FIG. 8 is a schematic diagram of a second embodiment of the present invention. Seat change of the seat crossover process of the embodiment Figure 1 Chassis mechanism 11 Frame device 111 Frame 1111 Pivot 1112 Pivot 112 Rear steering arm 1121 Steering shaft 1122 Rear wheel pivot 113 Rear wheel 12 Front wheel frame 121 Front wheel frame 1211 Pivot 1212 Pivot 122 Front steering arm 1221 Steering shaft 1222 Front wheel pivot 123 Front wheel 13 Drive wheel set 131 Drive wheel frame 1311 Drive wheel pivot 132 Drive wheel 14 Linkage Setting 141 Linkage lever 15 Elastic recovery device 151 Front spring 152 Rear spring 16 Drive unit 161 Electric motor 2 Body support device 21 Seat 22 Backrest 23 Armrest 24 Headrest 25 Foot pedal 12 200904392 3 Chassis mechanism 31 Frame device 311 Frame 312 sub-frame 3121 front link section 3122 rear link section 3123 sub-frame pivot 3124 柩 shaft 3125 spring buckle 313 sub-frame 32 front wheel frame unit 321 front wheel frame 3211 pivot 3212 pivot 3213 steering shaft 322 front steering arm 3221 The front wheel pivot is driven by the 323 front wheel 33. The wheel carrier device 331 drives the wheel carrier 3311. The drive wheel pivot 3312 pivot 3313 the spring buckle 332 the drive wheel 34 the rear wheel frame device 341 the rear wheel frame 3411 the pivot shaft 3412 the steering shaft 342 the rear steering arm 3421 Rear wheel pivot 343 Rear wheel 35 Front linkage 351 Front linkage 3511 Pivot 36 Rear linkage 361 Rear wheel lever 37 Elastic recovery device 371 Spring 38 Drive 381 Electric motor 4 Obstruction 41 Collision point 13